mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-30 18:31:25 +00:00
57 lines
2.7 KiB
Docker
57 lines
2.7 KiB
Docker
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# Copyright 2026 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 RoboMME integration tests.
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# Extends the nightly GPU image (which has lerobot[all]) with Vulkan system
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# libs for ManiSkill/SAPIEN and the robomme extra. robomme isn't in [all]
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# because mani-skill hard-pins gymnasium==0.29.1 and numpy<2.0.0 which
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# conflict with lerobot's defaults; both are safe at runtime:
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# - gymnasium 0.29.x has the same 5-tuple step() API as 1.x (since 0.26)
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# - numpy 1.26.4 is API-compatible with lerobot's actual usage.
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#
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# Build: docker build -f docker/Dockerfile.benchmark.robomme -t lerobot-benchmark-robomme .
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# Run: docker run --gpus all --rm lerobot-benchmark-robomme lerobot-eval ...
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FROM huggingface/lerobot-gpu:latest
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# NVIDIA Container Toolkit: expose Vulkan driver capability for headless rendering.
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ENV NVIDIA_DRIVER_CAPABILITIES=all \
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VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json
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# ManiSkill/SAPIEN's renderer needs Vulkan, which isn't in the base image.
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USER root
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RUN apt-get update \
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&& apt-get install -y --no-install-recommends \
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libvulkan1 libvulkan-dev mesa-vulkan-drivers \
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&& mkdir -p /usr/share/vulkan/icd.d \
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&& echo '{"file_format_version":"1.0.0","ICD":{"library_path":"libGLX_nvidia.so.0","api_version":"1.3.0"}}' \
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> /usr/share/vulkan/icd.d/nvidia_icd.json \
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&& apt-get clean && rm -rf /var/lib/apt/lists/*
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USER user_lerobot
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# Install smolvla + av-dep via the PR's pyproject, then layer robomme on top
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# with gymnasium/numpy overrides. robomme isn't a pyproject extra because its
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# mani-skill pin conflicts with lerobot's base numpy>=2 (see pyproject.toml).
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COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml uv.lock README.md MANIFEST.in ./
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RUN printf 'gymnasium==0.29.1\nnumpy==1.26.4\n' > /tmp/robomme_override.txt \
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&& uv pip install --no-cache --override /tmp/robomme_override.txt \
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-e ".[smolvla,av-dep]" \
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"robomme @ git+https://github.com/RoboMME/robomme_benchmark.git@main" \
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&& python -c "import robomme; print('robomme import OK')"
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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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CMD ["/bin/bash"]
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