94 lines
3.4 KiB
Docker
94 lines
3.4 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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# This Dockerfile is designed for HuggingFace internal CI environments
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# that require GPU access. It starts from an NVIDIA CUDA base image.
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# docker build -f docker/Dockerfile.internal -t lerobot-internal .
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# Configure the base image for CI with GPU access
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# TODO(Steven): Bump these versions
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ARG CUDA_VERSION=12.4.1
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ARG OS_VERSION=22.04
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FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
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# Define Python version argument
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ARG PYTHON_VERSION=3.10
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# Configure environment variables
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ENV DEBIAN_FRONTEND=noninteractive \
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MUJOCO_GL=egl \
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PATH=/lerobot/.venv/bin:$PATH \
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CUDA_VISIBLE_DEVICES=0 \
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TEST_TYPE=single_gpu \
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DEVICE=cuda
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# Install Python, system dependencies, and uv (as root)
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RUN apt-get update && apt-get install -y --no-install-recommends \
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software-properties-common build-essential git curl \
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libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
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libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
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cmake pkg-config ninja-build \
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&& add-apt-repository -y ppa:deadsnakes/ppa \
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&& apt-get update \
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&& apt-get install -y --no-install-recommends \
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python${PYTHON_VERSION} \
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python${PYTHON_VERSION}-venv \
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python${PYTHON_VERSION}-dev \
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&& curl -LsSf https://astral.sh/uv/install.sh | sh \
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&& mv /root/.local/bin/uv /usr/local/bin/uv \
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&& useradd --create-home --shell /bin/bash user_lerobot \
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&& usermod -aG sudo user_lerobot \
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&& apt-get clean && rm -rf /var/lib/apt/lists/*
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# Create application directory and set permissions
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WORKDIR /lerobot
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RUN chown -R user_lerobot:user_lerobot /lerobot
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# Switch to the non-root user
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USER user_lerobot
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# Environment variables for the testing
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ENV HOME=/home/user_lerobot \
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HF_HOME=/home/user_lerobot/.cache/huggingface \
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HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
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TORCH_HOME=/home/user_lerobot/.cache/torch \
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TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
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# Create the virtual environment
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# We use a virtual environment inside the container—even though the container itself \
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# provides isolation—to ensure compatibility with the cluster and to prevent \
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# issues with MuJoCo and OpenGL drivers.
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RUN uv venv --python python${PYTHON_VERSION}
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# Install Python dependencies for caching
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COPY --chown=user_lerobot:user_lerobot pyproject.toml README.md MANIFEST.in ./
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COPY --chown=user_lerobot:user_lerobot src/ src/
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ARG UNBOUND_DEPS=false
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RUN if [ "$UNBOUND_DEPS" = "true" ]; then \
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sed -i 's/,[[:space:]]*<[0-9\.]*//g' pyproject.toml; \
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echo "Dependencies unbound:" && cat pyproject.toml; \
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fi
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RUN uv pip install --no-cache ".[all]"
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# Copy the rest of the application source code
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# Make sure to have the git-LFS files for testing
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COPY --chown=user_lerobot:user_lerobot . .
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# Set the default command
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CMD ["/bin/bash"]
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