Add dev docker image (#189)

Co-authored-by: Remi <re.cadene@gmail.com>

.github/workflows/build-docker-images.yml

@@ -10,7 +10,6 @@ on:
 
 env:
   PYTHON_VERSION: "3.10"
-#   CI_SLACK_CHANNEL: ${{ secrets.CI_DOCKER_CHANNEL }}
 
 jobs:
   latest-cpu:
@@ -51,30 +50,6 @@ jobs:
           tags: huggingface/lerobot-cpu
           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-cpu 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-cpu 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 }}
 
   latest-cuda:
     name: GPU
@@ -113,27 +88,40 @@ jobs:
           tags: huggingface/lerobot-gpu
           build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}
 
-      # - name: Post to a Slack channel
+
-      #   id: slack
+  latest-cuda-dev:
-      #   #uses: slackapi/slack-github-action@v1.25.0
+    name: GPU Dev
-      #   uses: slackapi/slack-github-action@6c661ce58804a1a20f6dc5fbee7f0381b469e001
+    runs-on: ubuntu-latest
-      #   with:
+    steps:
-      #     # Slack channel id, channel name, or user id to post message.
+      - name: Cleanup disk
-      #     # See also: https://api.slack.com/methods/chat.postMessage#channels
+        run: |
-      #     channel-id: ${{ env.CI_SLACK_CHANNEL }}
+          sudo df -h
-      #     # For posting a rich message using Block Kit
+          # sudo ls -l /usr/local/lib/
-      #     payload: |
+          # sudo ls -l /usr/share/
-      #       {
+          sudo du -sh /usr/local/lib/
-      #         "text": "lerobot-gpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}",
+          sudo du -sh /usr/share/
-      #         "blocks": [
+          sudo rm -rf /usr/local/lib/android
-      #           {
+          sudo rm -rf /usr/share/dotnet
-      #             "type": "section",
+          sudo du -sh /usr/local/lib/
-      #             "text": {
+          sudo du -sh /usr/share/
-      #               "type": "mrkdwn",
+          sudo df -h
-      #               "text": "lerobot-gpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}"
+      - name: Set up Docker Buildx
-      #             }
+        uses: docker/setup-buildx-action@v3
-      #           }
+
-      #         ]
+      - name: Check out code
-      #       }
+        uses: actions/checkout@v4
-      #   env:
+
-      #     SLACK_BOT_TOKEN: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}
+      - name: Login to DockerHub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_PASSWORD }}
+
+      - name: Build and Push GPU dev
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: ./docker/lerobot-gpu-dev/Dockerfile
+          push: true
+          tags: huggingface/lerobot-gpu:dev
+          build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}

.gitignore

@@ -2,12 +2,17 @@
 logs
 tmp
 wandb
+
+# Data
 data
 outputs
-.vscode
+
-rl
+# Apple
 .DS_Store
 
+# VS Code
+.vscode
+
 # HPC
 nautilus/*.yaml
 *.key
@@ -90,6 +95,7 @@ instance/
 docs/_build/
 
 # PyBuilder
+.pybuilder/
 target/
 
 # Jupyter Notebook
@@ -102,13 +108,6 @@ ipython_config.py
 # pyenv
 .python-version
 
-# pipenv
-#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
-#   However, in case of collaboration, if having platform-specific dependencies or dependencies
-#   having no cross-platform support, pipenv may install dependencies that don't work, or not
-#   install all needed dependencies.
-#Pipfile.lock
-
 # PEP 582; used by e.g. github.com/David-OConnor/pyflow
 __pypackages__/
 
@@ -119,6 +118,15 @@ celerybeat.pid
 # SageMath parsed files
 *.sage.py
 
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
 # Spyder project settings
 .spyderproject
 .spyproject
@@ -136,3 +144,9 @@ dmypy.json
 
 # Pyre type checker
 .pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/

docker/lerobot-gpu-dev/Dockerfile

@@ -0,0 +1,40 @@
+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 less util-linux \
+    htop atop nvtop \
+    sed gawk grep curl wget \
+    tcpdump sysstat screen tmux \
+    libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
+    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=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main" | tee /etc/apt/sources.list.d/github-cli.list > /dev/null \
+    && apt update \
+    && apt install gh -y \
+    && apt clean && rm -rf /var/lib/apt/lists/*
+
+# Setup `python`
+RUN ln -s /usr/bin/python3 /usr/bin/python
+
+# Install poetry
+RUN curl -sSL https://install.python-poetry.org | python -
+ENV PATH="/root/.local/bin:$PATH"
+RUN echo 'if [ "$HOME" != "/root" ]; then ln -sf /root/.local/bin/poetry $HOME/.local/bin/poetry; fi' >> /root/.bashrc
+RUN poetry config virtualenvs.create false
+RUN poetry config virtualenvs.in-project true
+
+# Set EGL as the rendering backend for MuJoCo
+ENV MUJOCO_GL="egl"

docker/lerobot-gpu/Dockerfile

@@ -4,18 +4,15 @@ 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/*
 
+
 # Create virtual environment
 RUN ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python
 RUN python -m venv /opt/venv
@@ -23,8 +20,7 @@ ENV PATH="/opt/venv/bin:$PATH"
 RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
 
 # Install LeRobot
-RUN git lfs install
+COPY . /lerobot
-RUN git clone https://github.com/huggingface/lerobot.git
 WORKDIR /lerobot
 RUN pip install --upgrade --no-cache-dir pip
 RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]"