From 5d401e1a83226a8a53185627d87f38f8adde6fc9 Mon Sep 17 00:00:00 2001
From: Simon Alibert <alibert.sim@gmail.com>
Date: Wed, 22 May 2024 11:29:22 +0200
Subject: [PATCH] Add dev build

---
 .github/workflows/build-docker-images.yml | 62 +++++++++++++++++++++++
 docker/lerobot-gpu-dev/Dockerfile         | 35 +++++++++++++
 docker/lerobot-gpu/Dockerfile             | 14 ++---
 3 files changed, 101 insertions(+), 10 deletions(-)
 create mode 100644 docker/lerobot-gpu-dev/Dockerfile

diff --git a/.github/workflows/build-docker-images.yml b/.github/workflows/build-docker-images.yml
index 45972ae8..36291a27 100644
--- a/.github/workflows/build-docker-images.yml
+++ b/.github/workflows/build-docker-images.yml
@@ -137,3 +137,65 @@ jobs:
       #       }
       #   env:
       #     SLACK_BOT_TOKEN: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}
+
+  latest-cuda-dev:
+    name: GPU Dev
+    runs-on: ubuntu-latest
+    steps:
+      - name: Cleanup disk
+        run: |
+          sudo df -h
+          # sudo ls -l /usr/local/lib/
+          # sudo ls -l /usr/share/
+          sudo du -sh /usr/local/lib/
+          sudo du -sh /usr/share/
+          sudo rm -rf /usr/local/lib/android
+          sudo rm -rf /usr/share/dotnet
+          sudo du -sh /usr/local/lib/
+          sudo du -sh /usr/share/
+          sudo df -h
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Check out code
+        uses: actions/checkout@v4
+
+      - name: Login to DockerHub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_PASSWORD }}
+
+      - name: Build and Push GPU
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: ./docker/lerobot-gpu-dev/Dockerfile
+          push: true
+          tags: huggingface/lerobot-gpu-dev
+          build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}
+
+      # - name: Post to a Slack channel
+      #   id: slack
+      #   #uses: slackapi/slack-github-action@v1.25.0
+      #   uses: slackapi/slack-github-action@6c661ce58804a1a20f6dc5fbee7f0381b469e001
+      #   with:
+      #     # Slack channel id, channel name, or user id to post message.
+      #     # See also: https://api.slack.com/methods/chat.postMessage#channels
+      #     channel-id: ${{ env.CI_SLACK_CHANNEL }}
+      #     # For posting a rich message using Block Kit
+      #     payload: |
+      #       {
+      #         "text": "lerobot-gpu-dev Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}",
+      #         "blocks": [
+      #           {
+      #             "type": "section",
+      #             "text": {
+      #               "type": "mrkdwn",
+      #               "text": "lerobot-gpu-dev Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}"
+      #             }
+      #           }
+      #         ]
+      #       }
+      #   env:
+      #     SLACK_BOT_TOKEN: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}
diff --git a/docker/lerobot-gpu-dev/Dockerfile b/docker/lerobot-gpu-dev/Dockerfile
new file mode 100644
index 00000000..000fbc0c
--- /dev/null
+++ b/docker/lerobot-gpu-dev/Dockerfile
@@ -0,0 +1,35 @@
+FROM nvidia/cuda:12.4.1-base-ubuntu22.04
+
+# Configure image
+ARG PYTHON_VERSION=3.10
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install apt dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    build-essential cmake \
+    git git-lfs openssh-client \
+    nano vim ffmpeg \
+    htop atop nvtop \
+    sed gawk grep curl wget \
+    tcpdump sysstat screen \
+    libglib2.0-0 libgl1-mesa-glx libegl1-mesa \
+    python${PYTHON_VERSION} python${PYTHON_VERSION}-venv \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# Install gh cli tool
+RUN (type -p wget >/dev/null || (apt update && apt-get install wget -y)) \
+    && mkdir -p -m 755 /etc/apt/keyrings \
+    && wget -qO- https://cli.github.com/packages/githubcli-archive-keyring.gpg | tee /etc/apt/keyrings/githubcli-archive-keyring.gpg > /dev/null \
+    && chmod go+r /etc/apt/keyrings/githubcli-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main" | tee /etc/apt/sources.list.d/github-cli.list > /dev/null \
+    && apt update \
+    && apt install gh -y
+
+# Setup `python`
+RUN ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python
+
+# Install poetry
+RUN curl -sSL https://install.python-poetry.org | python -
+
+# Set EGL as the rendering backend for MuJoCo
+ENV MUJOCO_GL="egl"
diff --git a/docker/lerobot-gpu/Dockerfile b/docker/lerobot-gpu/Dockerfile
index 4803ca33..2c36b484 100644
--- a/docker/lerobot-gpu/Dockerfile
+++ b/docker/lerobot-gpu/Dockerfile
@@ -4,29 +4,23 @@ FROM nvidia/cuda:12.4.1-base-ubuntu22.04
 ARG PYTHON_VERSION=3.10
 ARG DEBIAN_FRONTEND=noninteractive
 
+
 # Install apt dependencies
 RUN apt-get update && apt-get install -y --no-install-recommends \
     build-essential cmake \
-    git git-lfs openssh-client \
-    nano vim ffmpeg \
-    htop atop nvtop \
-    sed gawk grep curl wget \
-    tcpdump sysstat screen \
     libglib2.0-0 libgl1-mesa-glx libegl1-mesa \
     python${PYTHON_VERSION} python${PYTHON_VERSION}-venv \
     && apt-get clean && rm -rf /var/lib/apt/lists/*
 
-# Install poetry
-RUN ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python
-RUN curl -sSL https://install.python-poetry.org | python -
 
+# Create virtual environment
+RUN ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python
 RUN python -m venv /opt/venv
 ENV PATH="/opt/venv/bin:$PATH"
 RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
 
 # Install LeRobot
-RUN git lfs install
-RUN git clone https://github.com/huggingface/lerobot.git
+COPY . /lerobot
 WORKDIR /lerobot
 RUN pip install --upgrade --no-cache-dir pip
 RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]"