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Pepijn
babc85b553
RoboCasa's lightwheel kitchen fixtures embed references to `generative_textures/wall/tex*.png` directly in their MuJoCo XML, so `MjModel.from_xml_string` errors out at reset time with "No such file or directory" even when the env is constructed with `generative_textures=None`. The generative textures live under a separate asset registry key (`tex_generative`) in `download_kitchen_assets`, distinct from the base `tex` pack we were already fetching. - Add `tex_generative` to the download list so the fixture XMLs resolve. - Document the remaining omissions (objaverse/aigen, ~30GB) and how the runtime side pairs this with obj_registries=["lightwheel"] to avoid sampling from categories whose assets aren't on disk. Made-with: Cursor
55 lines
2.7 KiB
Docker
55 lines
2.7 KiB
Docker
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# Benchmark image for RoboCasa365 integration tests.
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# Extends the nightly GPU image (which already has all extras installed)
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# with the PR's source code and RoboCasa-specific asset setup.
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#
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# Build: docker build -f docker/Dockerfile.benchmark.robocasa -t lerobot-benchmark-robocasa .
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# Run: docker run --gpus all --rm lerobot-benchmark-robocasa lerobot-eval ...
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FROM huggingface/lerobot-gpu:latest
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# Install robocasa + robosuite as editable clones. pip-installing from git
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# omits data files like robocasa/models/assets/box_links/box_links_assets.json
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# (not declared in package_data), which download_kitchen_assets needs at import.
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RUN git clone --depth 1 https://github.com/robocasa/robocasa.git ~/robocasa && \
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git clone --depth 1 https://github.com/ARISE-Initiative/robosuite.git ~/robosuite && \
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uv pip install --no-cache -e ~/robocasa -e ~/robosuite
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# Set up robocasa macros and download kitchen assets. We need:
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# - tex : base environment textures
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# - tex_generative : AI-generated textures; kitchen fixture XMLs embed
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# refs to generative_textures/wall/tex*.png
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# unconditionally, so MjModel.from_xml_string fails
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# at reset time without them (even if the env is
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# constructed with generative_textures=None).
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# - fixtures_lw : lightwheel kitchen fixtures (fridge, counters...)
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# - objs_lw : lightwheel object meshes (stools, misc props)
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# We skip the objaverse/aigen object packs (~30GB combined) by pairing
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# this with --env.obj_registries=["lightwheel"] on the lerobot side.
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# The download script prompts interactively, so pipe 'y' to auto-accept.
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RUN python -m robocasa.scripts.setup_macros && \
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yes y | python -m robocasa.scripts.download_kitchen_assets \
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--type tex tex_generative fixtures_lw objs_lw
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# Overlay the PR's source code on top of the nightly image.
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COPY --chown=user_lerobot:user_lerobot . .
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# Re-install lerobot editably so the new source (with RoboCasaEnv registration)
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# replaces the stale package baked into the nightly image.
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RUN uv pip install --no-cache --no-deps -e .
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CMD ["/bin/bash"]
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