tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

refactor(ci): workflows improvements (#1535)

Browse Source 
* refactor(ci): consolidate documentation workflows

* refactor(ci): improve quality workflow

* refactor(ci): edit security workflow

* refactor(ci): improve testing workflows

* fix(ci): several fixes

* chore(ci): renaming + permissions

* chore(ci): remove now unused dockerfiles

* chore(docs): add license headers to dockerfiles

* chore(ci): add cache-binary false to setup-buildx actions

* fix(ci): several fixes

* dgb(ci): explicit env in the workflow

* fix(ci): more explicit env vars for writing

* fix(ci): nightly gpu tag
This commit is contained in:
Steven Palma
2025-07-19 20:09:12 +02:00
committed by GitHub
parent e6e1f085d4
commit 89f59b0703
19 changed files with 654 additions and 733 deletions
Download Patch File Download Diff File Expand all files Collapse all files

135
.github/workflows/build-docker-images.yml vendored
View File

@@ -1,135 +0,0 @@
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# Inspired by
# https://github.com/huggingface/peft/blob/main/.github/workflows/build_docker_images.yml
name: Builds
on:
workflow_dispatch:
workflow_call:
schedule:
- cron: "0 1 * * *"
permissions: {}
env:
PYTHON_VERSION: "3.10"
jobs:
latest-cpu:
name: CPU
runs-on:
group: aws-general-8-plus
steps:
- name: Install Git LFS
run: |
sudo apt-get update
sudo apt-get install git-lfs
git lfs install
- name: Set up Docker Buildx
uses: docker/setup-buildx-action@b5ca514318bd6ebac0fb2aedd5d36ec1b5c232a2 # v3.10.0
with:
cache-binary: false
- name: Check out code
uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
with:
lfs: true
persist-credentials: false
- name: Login to DockerHub
uses: docker/login-action@74a5d142397b4f367a81961eba4e8cd7edddf772 # v3.4.0
with:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
- name: Build and Push CPU
uses: docker/build-push-action@ca052bb54ab0790a636c9b5f226502c73d547a25 # v5.4.0
with:
context: .
file: ./docker/lerobot-cpu/Dockerfile
push: true
tags: huggingface/lerobot-cpu
build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}
latest-cuda:
name: GPU
runs-on:
group: aws-general-8-plus
steps:
- name: Install Git LFS
run: |
sudo apt-get update
sudo apt-get install git-lfs
git lfs install
- name: Set up Docker Buildx
uses: docker/setup-buildx-action@b5ca514318bd6ebac0fb2aedd5d36ec1b5c232a2 # v3.10.0
with:
cache-binary: false
- name: Check out code
uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
with:
lfs: true
persist-credentials: false
- name: Login to DockerHub
uses: docker/login-action@74a5d142397b4f367a81961eba4e8cd7edddf772 # v3.4.0
with:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
- name: Build and Push GPU
uses: docker/build-push-action@ca052bb54ab0790a636c9b5f226502c73d547a25 # v5.4.0
with:
context: .
file: ./docker/lerobot-gpu/Dockerfile
push: true
tags: huggingface/lerobot-gpu
build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}
latest-cuda-dev:
name: GPU Dev
runs-on:
group: aws-general-8-plus
steps:
- name: Set up Docker Buildx
uses: docker/setup-buildx-action@b5ca514318bd6ebac0fb2aedd5d36ec1b5c232a2 # v3.10.0
with:
cache-binary: false
- name: Check out code
uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
with:
persist-credentials: false
- name: Login to DockerHub
uses: docker/login-action@74a5d142397b4f367a81961eba4e8cd7edddf772 # v3.4.0
with:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
- name: Build and Push GPU dev
uses: docker/build-push-action@ca052bb54ab0790a636c9b5f226502c73d547a25 # v5.4.0
with:
context: .
file: ./docker/lerobot-gpu-dev/Dockerfile
push: true
tags: huggingface/lerobot-gpu:dev
build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}

23
.github/workflows/build_documentation.yml vendored
View File

@@ -1,23 +0,0 @@
name: Build documentation
on:
workflow_dispatch:
push:
paths:
- "docs/**"
branches:
- main
- doc-builder*
- v*-release
jobs:
build: # zizmor: ignore[excessive-permissions] We follow the same pattern as in Transformers
uses: huggingface/doc-builder/.github/workflows/build_main_documentation.yml@main
with:
commit_sha: ${{ github.sha }}
package: lerobot
additional_args: --not_python_module
secrets:
token: ${{ secrets.HUGGINGFACE_PUSH }}
hf_token: ${{ secrets.HF_DOC_BUILD_PUSH }}

19
.github/workflows/build_pr_documentation.yml vendored
View File

@@ -1,19 +0,0 @@
name: Build PR Documentation
on:
pull_request:
paths:
- "docs/**"
concurrency:
group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
cancel-in-progress: true
jobs:
build: # zizmor: ignore[excessive-permissions] We follow the same pattern as in Transformers
uses: huggingface/doc-builder/.github/workflows/build_pr_documentation.yml@main
with:
commit_sha: ${{ github.event.pull_request.head.sha }}
pr_number: ${{ github.event.number }}
package: lerobot
additional_args: --not_python_module

40
.github/workflows/documentation-upload-pr.yml vendored Normal file
View File

@@ -0,0 +1,40 @@
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# This workflow uploads the documentation preview built for a PR and comments the link on the PR.
name: Documentation PR Upload
permissions:
contents: read
pull-requests: write
on:
# Triggered by the completion of the main 'Documentation' workflow.
workflow_run: # zizmor: ignore[dangerous-triggers] We follow the same pattern as in Transformers
workflows: ["Documentation"]
types:
- completed
jobs:
# This job uploads a preview of the documentation for a pull request.
upload_and_comment:
name: Upload Preview and Comment
if: >
github.event.workflow_run.event == 'pull_request' &&
github.event.workflow_run.conclusion == 'success'
uses: huggingface/doc-builder/.github/workflows/upload_pr_documentation.yml@main
with:
package_name: lerobot
secrets:
hf_token: ${{ secrets.HF_DOC_BUILD_PUSH }}
comment_bot_token: ${{ secrets.COMMENT_BOT_TOKEN }}

70
.github/workflows/documentation.yml vendored Normal file
View File

@@ -0,0 +1,70 @@
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# This workflow handles building documentation for both main branches and PRs.
name: Documentation
on:
# Allows running this workflow manually from the Actions tab
workflow_dispatch:
# Triggers the workflow on push events to main for the docs folder
push:
branches:
- main
paths:
- "docs/**"
# Triggers the workflow on pull request events targeting main for the docs folder
pull_request:
branches:
- main
paths:
- "docs/**"
# Ensures that only the latest commit for a PR or branch is built, canceling older runs.
concurrency:
group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
cancel-in-progress: true
jobs:
# This job builds and deploys the official documentation.
build_main_docs:
name: Build Main Docs
if: github.event_name == 'push' || github.event_name == 'workflow_dispatch'
permissions:
contents: read
uses: huggingface/doc-builder/.github/workflows/build_main_documentation.yml@main
with:
commit_sha: ${{ github.sha }}
package: lerobot
additional_args: --not_python_module
secrets:
token: ${{ secrets.HUGGINGFACE_PUSH }}
hf_token: ${{ secrets.HF_DOC_BUILD_PUSH }}
# This job builds a preview of the documentation for a pull request.
# The result of this job triggers the 'Upload PR Documentation' workflow.
build_pr_docs:
name: Build PR Docs
if: github.event_name == 'pull_request'
permissions:
contents: read
pull-requests: write
uses: huggingface/doc-builder/.github/workflows/build_pr_documentation.yml@main
with:
commit_sha: ${{ github.event.pull_request.head.sha }}
pr_number: ${{ github.event.number }}
package: lerobot
additional_args: --not_python_module

93
.github/workflows/nightly-tests.yml vendored
View File

@@ -1,93 +0,0 @@
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# Inspired by
# https://github.com/huggingface/peft/blob/main/.github/workflows/nightly.yml
name: Nightly
on:
workflow_dispatch:
schedule:
- cron: "0 2 * * *"
permissions: {}
# env:
# SLACK_API_TOKEN: ${{ secrets.SLACK_API_TOKEN }}
jobs:
run_all_tests_cpu:
name: CPU
strategy:
fail-fast: false
runs-on:
group: aws-general-8-plus
container:
image: huggingface/lerobot-cpu:latest # zizmor: ignore[unpinned-images]
options: --shm-size "16gb"
credentials:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
defaults:
run:
shell: bash
working-directory: /lerobot
steps:
- name: Tests
run: pytest -v --cov=./src/lerobot --disable-warnings tests
- name: Tests end-to-end
run: make test-end-to-end
run_all_tests_single_gpu:
name: GPU
strategy:
fail-fast: false
runs-on:
group: aws-g6-4xlarge-plus
env:
CUDA_VISIBLE_DEVICES: "0"
TEST_TYPE: "single_gpu"
container:
image: huggingface/lerobot-gpu:latest # zizmor: ignore[unpinned-images]
options: --gpus all --shm-size "16gb"
credentials:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
defaults:
run:
shell: bash
working-directory: /lerobot
steps:
- name: Nvidia-smi
run: nvidia-smi
- name: Test
run: pytest -v --cov=./src/lerobot --cov-report=xml --disable-warnings tests
# TODO(aliberts): Link with HF Codecov account
# - name: Upload coverage reports to Codecov with GitHub Action
# uses: codecov/codecov-action@v4
# with:
# files: ./coverage.xml
# verbose: true
- name: Tests end-to-end
env:
DEVICE: cuda
run: make test-end-to-end
# - name: Generate Report
# if: always()
# run: |
# pip install slack_sdk tabulate
# python scripts/log_reports.py >> $GITHUB_STEP_SUMMARY

160
.github/workflows/nightly.yml vendored Normal file
View File

@@ -0,0 +1,160 @@
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# This workflow handles nightly testing & docker images publishing.
name: Nightly
permissions:
contents: read
on:
# Allows running this workflow manually from the Actions tab
workflow_dispatch:
# Runs at 02:00
schedule:
- cron: "0 2 * * *"
# Sets up the environment variables
env:
UV_VERSION: "0.8.0"
PYTHON_VERSION: "3.10"
DOCKER_IMAGE_NAME_CPU: huggingface/lerobot-gpu:latest
DOCKER_IMAGE_NAME_GPU: huggingface/lerobot-cpu:latest
# Ensures that only the latest commit is built, canceling older runs.
concurrency:
group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
cancel-in-progress: true
jobs:
build-docker-cpu-nightly:
# This job builds a CPU image for testing & distribution
name: Build CPU Docker for Nightly
runs-on:
group: aws-general-8-plus
outputs:
image_tag: ${{ env.DOCKER_IMAGE_NAME_CPU }}
steps:
- name: Install Git LFS
run: |
sudo apt-get update
sudo apt-get install git-lfs
git lfs install
- uses: actions/checkout@v4
with:
lfs: true
persist-credentials: false
- name: Set up Docker Buildx
uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
with:
cache-binary: false
- name: Login to Docker Hub
uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
with:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
- name: Build and push Docker image CPU
uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
with:
context: .
file: ./docker/Dockerfile.user
push: true
tags: ${{ env.DOCKER_IMAGE_NAME_CPU }}
build-docker-gpu-nightly:
# This job builds a GPU image for testing & distribution
name: Build GPU Docker for Nightly
runs-on:
group: aws-general-8-plus
outputs:
image_tag: ${{ env.DOCKER_IMAGE_NAME_GPU }}
steps:
- name: Install Git LFS
run: |
sudo apt-get update
sudo apt-get install git-lfs
git lfs install
- uses: actions/checkout@v4
with:
lfs: true
persist-credentials: false
- name: Set up Docker Buildx
uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
with:
cache-binary: false
- name: Login to Docker Hub
uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
with:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
- name: Build and push Docker image GPU
uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
with:
context: .
file: ./docker/Dockerfile.internal
push: true
tags: ${{ env.DOCKER_IMAGE_NAME_GPU }}
nightly-cpu-tests:
# This job runs the E2E tests + pytest with all extras in the CPU image
name: Nightly CPU Tests
needs: [build-docker-cpu-nightly]
runs-on:
group: aws-g6-4xlarge-plus
env:
HF_HOME: /home/user_lerobot/.cache/huggingface
HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
TORCH_HOME: /home/user_lerobot/.cache/torch
TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
container:
image: ${{ needs.build-docker-cpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
credentials:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
defaults:
run:
shell: bash
working-directory: /lerobot
steps:
- name: Run pytest on CPU
run: pytest tests -vv --maxfail=10
- name: Run end-to-end tests
run: make test-end-to-end
nightly-gpu-tests:
# This job runs the E2E tests + pytest with all extras in the GPU image
name: Nightly GPU Tests
needs: [build-docker-gpu-nightly]
runs-on:
group: aws-g6-4xlarge-plus
env:
HF_HOME: /home/user_lerobot/.cache/huggingface
HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
TORCH_HOME: /home/user_lerobot/.cache/torch
TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
container:
image: ${{ needs.build-docker-gpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
options: --gpus all --shm-size "16gb"
credentials:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
defaults:
run:
shell: bash
working-directory: /lerobot
steps:
- name: Run pytest on GPU
run: pytest tests -vv --maxfail=10
- name: Run end-to-end tests
run: make test-end-to-end

64
.github/workflows/quality.yml vendored
View File

@@ -1,4 +1,4 @@
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@@ -12,61 +12,47 @@
# See the License for the specific language governing permissions and
# limitations under the License.
# This workflow handles linting, formatting, and static analysis checks for the codebase.
name: Quality
permissions:
contents: read
on:
# Allows running this workflow manually from the Actions tab
workflow_dispatch:
workflow_call:
pull_request:
# Triggers the workflow on push events to main
push:
branches:
- main
permissions: {}
# Triggers the workflow on pull request events targeting main
pull_request:
branches:
- main
env:
PYTHON_VERSION: "3.10"
# Ensures that only the latest commit for a PR or branch is built, canceling older runs.
concurrency:
group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
cancel-in-progress: true
jobs:
style:
name: Style
# This job runs pre-commit hooks to check code style and formatting.
pre-commit-checks:
name: Run Pre-commit Hooks (Lint, Format & Static Analysis)
runs-on: ubuntu-latest
steps:
- name: Checkout Repository
uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
- name: Checkout code
uses: actions/checkout@v4
with:
persist-credentials: false
- name: Set up Python
uses: actions/setup-python@7f4fc3e22c37d6ff65e88745f38bd3157c663f7c # v4.9.1
uses: actions/setup-python@v5
with:
python-version: ${{ env.PYTHON_VERSION }}
python-version: '3.10'
- name: Get Ruff Version from pre-commit-config.yaml
id: get-ruff-version
run: |
RUFF_VERSION=$(awk '/repo: https:\/\/github.com\/astral-sh\/ruff-pre-commit/{flag=1;next}/rev:/{if(flag){print $2;exit}}' .pre-commit-config.yaml)
echo "ruff_version=${RUFF_VERSION}" >> $GITHUB_OUTPUT
- name: Install Ruff
env:
RUFF_VERSION: ${{ steps.get-ruff-version.outputs.ruff_version }}
run: python -m pip install "ruff==${RUFF_VERSION}"
- name: Ruff check
run: ruff check --output-format=github
- name: Ruff format
run: ruff format --diff
typos:
name: Typos
runs-on: ubuntu-latest
steps:
- name: Checkout Repository
uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
- name: Run pre-commit hooks
uses: pre-commit/action@v3.0.1 # zizmor: ignore[unpinned-uses]
with:
persist-credentials: false
- name: typos-action
uses: crate-ci/typos@db35ee91e80fbb447f33b0e5fbddb24d2a1a884f # v1.29.10
extra_args: --all-files --show-diff-on-failure --color=always

54
.github/workflows/security.yml vendored Normal file
View File

@@ -0,0 +1,54 @@
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# This workflow handles secret scanning using TruffleHog to detect sensitive information in the codebase.
name: Security
permissions:
contents: read
on:
# Allows running this workflow manually from the Actions tab
workflow_dispatch:
# Triggers the workflow on push events to main
push:
branches:
- main
# Triggers the workflow on pull request events targeting main
pull_request:
branches:
- main
# Ensures that only the latest commit for a PR or branch is built, canceling older runs.
concurrency:
group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
cancel-in-progress: true
jobs:
# This job runs TruffleHog to scan the full history of the repository for secrets.
trufflehog:
name: Secret Leaks Scan
runs-on: ubuntu-latest
steps:
- name: Checkout code
uses: actions/checkout@v4 # zizmor: ignore[unpinned-uses]
with:
fetch-depth: 0
persist-credentials: false
- name: Secret Scanning
uses: trufflesecurity/trufflehog@v3.90.0 # zizmor: ignore[unpinned-uses]
with:
extra_args: --only-verified

84
.github/workflows/test-docker-build.yml vendored
View File

@@ -1,84 +0,0 @@
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# Inspired by
# https://github.com/huggingface/peft/blob/main/.github/workflows/test-docker-build.yml
name: Test Dockerfiles
on:
pull_request:
paths:
# Run only when DockerFile files are modified
- "docker/lerobot-cpu/**"
- "docker/lerobot-gpu/**"
- "docker/lerobot-gpu-dev/**"
permissions: {}
env:
PYTHON_VERSION: "3.10"
jobs:
get_changed_files:
name: Detect modified Dockerfiles
runs-on: ubuntu-latest
outputs:
matrix: ${{ steps.set-matrix.outputs.matrix }}
steps:
- name: Check out code
uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
with:
persist-credentials: false
- name: Get changed files
id: changed-files
uses: tj-actions/changed-files@3f54ebb830831fc121d3263c1857cfbdc310cdb9 #v42
with:
files: docker/**
json: "true"
- name: Run step if only the files listed above change # zizmor: ignore[template-injection]
if: steps.changed-files.outputs.any_changed == 'true'
id: set-matrix
run: |
echo "matrix=${{ steps.changed-files.outputs.all_changed_files}}" >> $GITHUB_OUTPUT
build_modified_dockerfiles:
name: Build modified Docker images
needs: get_changed_files
runs-on:
group: aws-general-8-plus
if: needs.get_changed_files.outputs.matrix != ''
strategy:
fail-fast: false
matrix:
docker-file: ${{ fromJson(needs.get_changed_files.outputs.matrix) }}
steps:
- name: Set up Docker Buildx
uses: docker/setup-buildx-action@b5ca514318bd6ebac0fb2aedd5d36ec1b5c232a2 # v3.10.0
with:
cache-binary: false
- name: Check out code
uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
with:
persist-credentials: false
- name: Build Docker image
uses: docker/build-push-action@ca052bb54ab0790a636c9b5f226502c73d547a25 # v5.4.0
with:
file: ${{ matrix.docker-file }}
context: .
push: False
build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}

150
.github/workflows/test.yml vendored
View File

@@ -1,150 +0,0 @@
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
name: Tests
on:
pull_request:
paths:
- "src/**"
- "tests/**"
- "examples/**"
- ".github/**"
- "pyproject.toml"
- ".pre-commit-config.yaml"
- "Makefile"
- ".cache/**"
push:
branches:
- main
paths:
- "src/**"
- "tests/**"
- "examples/**"
- ".github/**"
- "pyproject.toml"
- ".pre-commit-config.yaml"
- "Makefile"
- ".cache/**"
permissions: {}
env:
UV_VERSION: "0.6.0"
jobs:
pytest:
name: Pytest
runs-on: ubuntu-latest
env:
MUJOCO_GL: egl
steps:
- uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
with:
lfs: true # Ensure LFS files are pulled
persist-credentials: false
- name: Install apt dependencies
# portaudio19-dev is needed to install pyaudio
run: |
sudo apt-get update && \
sudo apt-get install -y libegl1-mesa-dev ffmpeg portaudio19-dev
- name: Install uv and python
uses: astral-sh/setup-uv@d4b2f3b6ecc6e67c4457f6d3e41ec42d3d0fcb86 # v5.4.2
with:
enable-cache: true
version: ${{ env.UV_VERSION }}
python-version: "3.10"
- name: Install lerobot (all extras)
run: uv sync --all-extras
- name: Test with pytest
run: |
uv run pytest tests -v --cov=./src/lerobot --durations=0 \
-W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
-W ignore::UserWarning:torch.utils.data.dataloader:558 \
-W ignore::UserWarning:gymnasium.utils.env_checker:247 \
&& rm -rf tests/outputs outputs
pytest-minimal:
name: Pytest (minimal install)
runs-on: ubuntu-latest
env:
MUJOCO_GL: egl
steps:
- uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
with:
lfs: true # Ensure LFS files are pulled
persist-credentials: false
- name: Install apt dependencies
run: sudo apt-get update && sudo apt-get install -y ffmpeg
- name: Install uv and python
uses: astral-sh/setup-uv@d4b2f3b6ecc6e67c4457f6d3e41ec42d3d0fcb86 # v5.4.2
with:
enable-cache: true
version: ${{ env.UV_VERSION }}
python-version: "3.10"
- name: Install lerobot
run: uv sync --extra "test"
- name: Test with pytest
run: |
uv run pytest tests -v --cov=./src/lerobot --durations=0 \
-W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
-W ignore::UserWarning:torch.utils.data.dataloader:558 \
-W ignore::UserWarning:gymnasium.utils.env_checker:247 \
&& rm -rf tests/outputs outputs
end-to-end:
name: End-to-end
runs-on: ubuntu-latest
env:
MUJOCO_GL: egl
steps:
- uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
with:
lfs: true # Ensure LFS files are pulled
persist-credentials: false
- name: Install apt dependencies
# portaudio19-dev is needed to install pyaudio
run: |
sudo apt-get update && \
sudo apt-get install -y libegl1-mesa-dev ffmpeg portaudio19-dev
- name: Install uv and python
uses: astral-sh/setup-uv@d4b2f3b6ecc6e67c4457f6d3e41ec42d3d0fcb86 # v5.4.2
with:
enable-cache: true
version: ${{ env.UV_VERSION }}
python-version: "3.10"
- name: Install lerobot (all extras)
run: |
uv venv
uv sync --all-extras
- name: venv
run: |
echo "PYTHON_PATH=${{ github.workspace }}/.venv/bin/python" >> $GITHUB_ENV
- name: Test end-to-end
run: |
make test-end-to-end \
&& rm -rf outputs

243
.github/workflows/tests.yml vendored Normal file
View File

@@ -0,0 +1,243 @@
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# This workflow handles testing.
name: Tests
on:
# Allows running this workflow manually from the Actions tab
workflow_dispatch:
pull_request:
branches:
- main
paths:
- "src/**"
- "tests/**"
- ".github/workflows/**"
- "pyproject.toml"
- "Makefile"
pull_request_review:
types: [submitted]
push:
branches:
- main
paths:
- "src/**"
- "tests/**"
- ".github/workflows/**"
- "pyproject.toml"
- "Makefile"
permissions:
contents: read
# Sets up the environment variables
env:
UV_VERSION: "0.8.0"
PYTHON_VERSION: "3.10"
DOCKER_IMAGE_NAME: huggingface/lerobot-gpu
# Ensures that only the latest commit for a PR or branch is built, canceling older runs.
concurrency:
group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
cancel-in-progress: true
jobs:
# This job runs pytests with the default dependencies.
# It runs everytime we commit to a PR or push to main
fast-pytest-tests:
name: Fast Pytest Tests
if: |
github.event_name == 'pull_request' ||
github.event_name == 'push' ||
github.event_name == 'workflow_dispatch'
runs-on: ubuntu-latest
env:
MUJOCO_GL: egl
steps:
- uses: actions/checkout@v4
with:
persist-credentials: false
lfs: true
# TODO(Steven): Evaluate the need of these dependencies
- name: Install apt dependencies
run: |
sudo apt-get update && sudo apt-get install -y build-essential git \
curl libglib2.0-0 libegl1-mesa-dev ffmpeg \
libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev
- name: Setup uv and Python
uses: astral-sh/setup-uv@v6 # zizmor: ignore[unpinned-uses]
with:
enable-cache: true
version: ${{ env.UV_VERSION }}
python-version: ${{ env.PYTHON_VERSION }}
- name: Install lerobot with test extras
run: uv sync --extra "test"
- name: Run pytest
run: uv run pytest tests -vv --maxfail=10
full-tests-gate:
# This job evaluates the need to run the full tests suite.
name: Full Tests Gate
runs-on: ubuntu-latest
if: |
(github.event_name == 'pull_request_review' && github.event.review.state == 'approved') ||
github.event_name == 'push' ||
github.event_name == 'workflow_dispatch'
steps:
- name: Gate check
run: echo "Full tests will run."
full-tests:
# This job runs the E2E tests + pytest with all extras
# It runs everytime a PR is approved or a push to main
name: Full Tests
needs: full-tests-gate
runs-on: ubuntu-latest
env:
MUJOCO_GL: egl
steps:
- uses: actions/checkout@v4
with:
lfs: true
persist-credentials: false
- name: Install apt dependencies
run: |
sudo apt-get update && sudo apt-get install -y build-essential \
git curl libglib2.0-0 libegl1-mesa-dev ffmpeg libusb-1.0-0-dev \
speech-dispatcher libgeos-dev portaudio19-dev
- name: Setup uv and Python
uses: astral-sh/setup-uv@v6 # zizmor: ignore[unpinned-uses]
with:
enable-cache: true
version: ${{ env.UV_VERSION }}
python-version: ${{ env.PYTHON_VERSION }}
- name: Install lerobot with all extras
run: uv sync --all-extras
- name: Run pytest (all extras)
run: uv run pytest tests -vv --maxfail=10
- name: Run end-to-end tests
run: uv run make test-end-to-end
build-and-push-docker:
# This job builds a GPU enabled image for testing
# It runs everytime a PR is approved or a push to main
name: Build and Push Docker
needs: full-tests-gate
runs-on:
group: aws-general-8-plus
outputs:
image_tag: ${{ env.DOCKER_IMAGE_NAME }}:pr-${{ github.event.pull_request.number }}
steps:
- name: Install Git LFS
run: |
sudo apt-get update
sudo apt-get install git-lfs
git lfs install
- uses: actions/checkout@v4
with:
lfs: true
persist-credentials: false
- name: Set up Docker Buildx
uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
with:
cache-binary: false
- name: Login to Docker Hub
uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
with:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
- name: Build and push Docker image
uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
with:
context: .
file: ./docker/Dockerfile.internal
push: true
tags: ${{ env.DOCKER_IMAGE_NAME }}:pr-${{ github.event.pull_request.number }}
gpu-tests:
# This job runs pytest with all extras in a GPU enabled host
# It runs everytime a test image is created
name: GPU Tests
needs: [build-and-push-docker]
runs-on:
group: aws-g6-4xlarge-plus
env:
HF_HOME: /home/user_lerobot/.cache/huggingface
HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
TORCH_HOME: /home/user_lerobot/.cache/torch
TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
container:
image: ${{ needs.build-and-push-docker.outputs.image_tag }} # zizmor: ignore[unpinned-images]
options: --gpus all --shm-size "16gb"
credentials:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
defaults:
run:
shell: bash
working-directory: /lerobot
steps:
- name: Run pytest on GPU
run: pytest tests -vv --maxfail=10
- name: Run end-to-end tests
run: make test-end-to-end
delete-pr-image:
# This job deletes the test image recently created
# It runs everytime after the gpu-tests have finished
name: Delete PR Image
needs: [gpu-tests, build-and-push-docker]
if: always() && github.event.review.state == 'approved' && needs.build-and-push-docker.result == 'success'
runs-on: ubuntu-latest
steps:
- name: Get Docker Hub Token and Delete Image
# zizmor: ignore[template-injection]
run: |
IMAGE_NAME=$(echo "${{ needs.build-and-push-docker.outputs.image_tag }}" | cut -d':' -f1)
IMAGE_TAG=$(echo "${{ needs.build-and-push-docker.outputs.image_tag }}" | cut -d':' -f2)
echo "Attempting to delete image: $IMAGE_NAME:$IMAGE_TAG"
TOKEN=$(curl -s -H "Content-Type: application/json" \
-X POST \
-d '{"username": "${{ secrets.DOCKERHUB_USERNAME }}", "password": "${{ secrets.DOCKERHUB_PASSWORD }}"}' \
https://hub.docker.com/v2/users/login/ | jq -r .token)
if [ "$TOKEN" == "null" ] || [ -z "$TOKEN" ]; then
echo "::error::Failed to get Docker Hub token."
exit 1
fi
HTTP_RESPONSE=$(curl -s -o /dev/null -w "%{http_code}" \
-H "Authorization: JWT ${TOKEN}" \
-X DELETE \
https://hub.docker.com/v2/repositories/${IMAGE_NAME}/tags/${IMAGE_TAG}/)
if [ "$HTTP_RESPONSE" -eq 204 ]; then
echo "Successfully deleted Docker image tag: $IMAGE_NAME:$IMAGE_TAG"
else
echo "::error::Failed to delete Docker image. HTTP status: $HTTP_RESPONSE"
exit 1
fi

35
.github/workflows/trufflehog.yml vendored
View File

@@ -1,35 +0,0 @@
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
on:
push:
name: Secret Leaks
permissions: {}
jobs:
trufflehog:
runs-on: ubuntu-latest
steps:
- name: Checkout code
uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
with:
fetch-depth: 0
persist-credentials: false
- name: Secret Scanning
uses: trufflesecurity/trufflehog@90694bf9af66e7536abc5824e7a87246dbf933cb # v3.88.35
with:
extra_args: --only-verified

16
.github/workflows/upload_pr_documentation.yml vendored
View File

@@ -1,16 +0,0 @@
name: Upload PR Documentation
on: # zizmor: ignore[dangerous-triggers] We follow the same pattern as in Transformers
workflow_run:
workflows: [ "Build PR Documentation" ]
types:
- completed
jobs:
build: # zizmor: ignore[excessive-permissions] We follow the same pattern as in Transformers
uses: huggingface/doc-builder/.github/workflows/upload_pr_documentation.yml@main
with:
package_name: lerobot
secrets:
hf_token: ${{ secrets.HF_DOC_BUILD_PUSH }}
comment_bot_token: ${{ secrets.COMMENT_BOT_TOKEN }}

44
docker/Dockerfile.internal
View File

@@ -1,12 +1,26 @@
# Dockerfile.internal
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# This Dockerfile is designed for HuggingFace internal CI environments
# that require GPU access. It starts from an NVIDIA CUDA base image.
# docker build -f docker/Dockerfile.internal -t lerobot-ci .
# Configure the base image for CI with GPU access
ARG CUDA_VERSION=12.9.1
ARG OS_VERSION=24.04
# TODO(Steven): Bump these versions
ARG CUDA_VERSION=12.4.1
ARG OS_VERSION=22.04
FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
# Define Python version argument
@@ -14,16 +28,17 @@ ARG PYTHON_VERSION=3.10
# Configure environment variables
ENV DEBIAN_FRONTEND=noninteractive \
MUJOCO_GL="egl" \
PATH="/lerobot/.venv/bin:$PATH"
MUJOCO_GL=egl \
PATH=/lerobot/.venv/bin:$PATH \
CUDA_VISIBLE_DEVICES=0 \
TEST_TYPE=single_gpu \
DEVICE=cuda
# Install Python, system dependencies, and uv (as root)
RUN apt-get update && apt-get install -y --no-install-recommends \
software-properties-common \
build-essential git curl \
software-properties-common build-essential git curl \
libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
libusb-1.0-0-dev \
speech-dispatcher libgeos-dev \
libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
&& add-apt-repository -y ppa:deadsnakes/ppa \
&& apt-get update \
&& apt-get install -y --no-install-recommends \
@@ -33,6 +48,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
&& curl -LsSf https://astral.sh/uv/install.sh | sh \
&& mv /root/.local/bin/uv /usr/local/bin/uv \
&& useradd --create-home --shell /bin/bash user_lerobot \
&& usermod -aG sudo user_lerobot \
&& apt-get clean && rm -rf /var/lib/apt/lists/*
# Create application directory and set permissions
@@ -42,6 +58,13 @@ RUN chown -R user_lerobot:user_lerobot /lerobot
# Switch to the non-root user
USER user_lerobot
# Environment variables for the testing
ENV HOME=/home/user_lerobot \
HF_HOME=/home/user_lerobot/.cache/huggingface \
HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
TORCH_HOME=/home/user_lerobot/.cache/torch \
TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
# Create the virtual environment
# We use a virtual environment inside the container—even though the container itself \
# provides isolation—to ensure compatibility with the cluster and to prevent \
@@ -49,11 +72,12 @@ USER user_lerobot
RUN uv venv --python python${PYTHON_VERSION}
# Install Python dependencies for caching
COPY --chown=user_lerobot:user_lerobot pyproject.toml README.md ./
COPY --chown=user_lerobot:user_lerobot pyproject.toml README.md MANIFEST.in ./
COPY --chown=user_lerobot:user_lerobot src/ src/
RUN uv pip install --no-cache ".[all]"
# Copy the rest of the application source code
# Make sure to have the git-LFS files for testing
COPY --chown=user_lerobot:user_lerobot . .
# Set the default command

36
docker/Dockerfile.user
View File

@@ -1,4 +1,17 @@
# Dockerfile.user
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# This Dockerfile is designed for a lerobot user who wants to
# experiment with the project. It starts from an Python Slim base image.
@@ -11,18 +24,17 @@ FROM python:${PYTHON_VERSION}-slim
# Configure environment variables
ENV DEBIAN_FRONTEND=noninteractive \
MUJOCO_GL="egl" \
PATH="/lerobot/.venv/bin:$PATH"
MUJOCO_GL=egl \
PATH=/lerobot/.venv/bin:$PATH
# Install system dependencies and uv (as root)
RUN apt-get update && apt-get install -y --no-install-recommends \
build-essential git curl \
libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
libusb-1.0-0-dev \
speech-dispatcher libgeos-dev \
build-essential git curl libglib2.0-0 libegl1-mesa ffmpeg \
libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
&& curl -LsSf https://astral.sh/uv/install.sh | sh \
&& mv /root/.local/bin/uv /usr/local/bin/uv \
&& useradd --create-home --shell /bin/bash user_lerobot \
&& usermod -aG sudo user_lerobot \
&& apt-get clean && rm -rf /var/lib/apt/lists/*
# Create application directory and set permissions
@@ -32,6 +44,13 @@ RUN chown -R user_lerobot:user_lerobot /lerobot
# Switch to the non-root user
USER user_lerobot
# Environment variables for the testing
ENV HOME=/home/user_lerobot \
HF_HOME=/home/user_lerobot/.cache/huggingface \
HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
TORCH_HOME=/home/user_lerobot/.cache/torch \
TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
# Create the virtual environment
# We use a virtual environment inside the container—even though the container itself \
# provides isolation—to closely resemble local development and allow users to \
@@ -39,11 +58,12 @@ USER user_lerobot
RUN uv venv
# Install Python dependencies for caching
COPY --chown=user_lerobot:user_lerobot pyproject.toml README.md ./
COPY --chown=user_lerobot:user_lerobot pyproject.toml README.md MANIFEST.in ./
COPY --chown=user_lerobot:user_lerobot src/ src/
RUN uv pip install --no-cache ".[all]"
# Copy the rest of the application code
# Make sure to have the git-LFS files for testing
COPY --chown=user_lerobot:user_lerobot . .
# Set the default command

29
docker/lerobot-cpu/Dockerfile
View File

@@ -1,29 +0,0 @@
# Configure image
ARG PYTHON_VERSION=3.10
FROM python:${PYTHON_VERSION}-slim
# Configure environment variables
ARG PYTHON_VERSION
ENV DEBIAN_FRONTEND=noninteractive
ENV MUJOCO_GL="egl"
ENV PATH="/opt/venv/bin:$PATH"
# Install dependencies and set up Python in a single layer
RUN apt-get update && apt-get install -y --no-install-recommends \
build-essential cmake git \
libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
speech-dispatcher libgeos-dev \
&& ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python \
&& python -m venv /opt/venv \
&& apt-get clean && rm -rf /var/lib/apt/lists/* \
&& echo "source /opt/venv/bin/activate" >> /root/.bashrc
# Clone repository and install LeRobot in a single layer
COPY . /lerobot
WORKDIR /lerobot
RUN /opt/venv/bin/pip install --upgrade --no-cache-dir pip \
&& /opt/venv/bin/pip install --no-cache-dir ".[test, aloha, xarm, pusht, smolvla]" \
--extra-index-url https://download.pytorch.org/whl/cpu
# Execute in bash shell rather than python
CMD ["/bin/bash"]

68
docker/lerobot-gpu-dev/Dockerfile
View File

@@ -1,68 +0,0 @@
FROM nvidia/cuda:12.2.2-devel-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 tree \
htop atop nvtop \
sed gawk grep curl wget zip unzip \
tcpdump sysstat screen tmux \
libglib2.0-0 libgl1-mesa-glx libegl1-mesa \
speech-dispatcher portaudio19-dev libgeos-dev \
python${PYTHON_VERSION} python${PYTHON_VERSION}-venv python${PYTHON_VERSION}-dev \
&& apt-get clean && rm -rf /var/lib/apt/lists/*
# Install ffmpeg build dependencies. See:
# https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu
# TODO(aliberts): create image to build dependencies from source instead
RUN apt-get update && apt-get install -y --no-install-recommends \
autoconf automake yasm \
libass-dev \
libfreetype6-dev \
libgnutls28-dev \
libunistring-dev \
libmp3lame-dev \
libtool \
libvorbis-dev \
meson \
ninja-build \
pkg-config \
texinfo \
yasm \
zlib1g-dev \
nasm \
libx264-dev \
libx265-dev libnuma-dev \
libvpx-dev \
libfdk-aac-dev \
libopus-dev \
libsvtav1-dev libsvtav1enc-dev libsvtav1dec-dev \
libdav1d-dev
# Install gh cli tool
RUN (type -p wget >/dev/null || (apt update && apt-get install wget -y)) \
&& mkdir -p -m 755 /etc/apt/keyrings \
&& wget -qO- https://cli.github.com/packages/githubcli-archive-keyring.gpg | tee /etc/apt/keyrings/githubcli-archive-keyring.gpg > /dev/null \
&& chmod go+r /etc/apt/keyrings/githubcli-archive-keyring.gpg \
&& echo "deb [arch=$(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"

24
docker/lerobot-gpu/Dockerfile
View File

@@ -1,24 +0,0 @@
FROM nvidia/cuda:12.4.1-base-ubuntu22.04
# Configure environment variables
ARG PYTHON_VERSION=3.10
ENV DEBIAN_FRONTEND=noninteractive
ENV MUJOCO_GL="egl"
ENV PATH="/opt/venv/bin:$PATH"
# Install dependencies and set up Python in a single layer
RUN apt-get update && apt-get install -y --no-install-recommends \
build-essential cmake git \
libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
speech-dispatcher libgeos-dev \
python${PYTHON_VERSION}-dev python${PYTHON_VERSION}-venv \
&& ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python \
&& python -m venv /opt/venv \
&& apt-get clean && rm -rf /var/lib/apt/lists/* \
&& echo "source /opt/venv/bin/activate" >> /root/.bashrc
# Clone repository and install LeRobot in a single layer
COPY . /lerobot
WORKDIR /lerobot
RUN /opt/venv/bin/pip install --upgrade --no-cache-dir pip \
&& /opt/venv/bin/pip install --no-cache-dir ".[test, aloha, xarm, pusht, dynamixel, smolvla]"