Initial commit

examples/aloha_real/Dockerfile

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+# Dockerfile for the Aloha real environment.
+
+# Build the container:
+# docker build . -t aloha_real -f examples/aloha_real/Dockerfile
+
+# Run the container:
+# docker run --rm -it --network=host -v /dev:/dev -v .:/app --privileged aloha_real /bin/bash
+
+FROM ros:noetic-robot@sha256:0e12e4db836e78c74c4b04c6d16f185d9a18d2b13cf5580747efa075eb6dc6e0
+SHELL ["/bin/bash", "-c"]
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    cmake \
+    curl \
+    libffi-dev \
+    python3-rosdep \
+    python3-rosinstall \
+    python3-rosinstall-generator \
+    whiptail \
+    git \
+    wget \
+    openssh-client \
+    ros-noetic-cv-bridge \
+    ros-noetic-usb-cam \
+    ros-noetic-realsense2-camera \
+    keyboard-configuration
+
+WORKDIR /root
+RUN curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh' > xsarm_amd64_install.sh
+RUN chmod +x xsarm_amd64_install.sh
+RUN export TZ='America/Los_Angeles' && ./xsarm_amd64_install.sh -d noetic -n
+
+COPY ./third_party/aloha /root/interbotix_ws/src/aloha
+RUN cd /root/interbotix_ws && source /opt/ros/noetic/setup.sh && source /root/interbotix_ws/devel/setup.sh && catkin_make
+
+# Install python 3.10 because this ROS image comes with 3.8
+RUN mkdir /python && \
+    cd /python && \
+    wget https://www.python.org/ftp/python/3.10.14/Python-3.10.14.tgz && \
+    tar -zxvf Python-3.10.14.tgz && \
+    cd Python-3.10.14 && \
+    ls -lhR && \
+    ./configure --enable-optimizations && \
+    make install && \
+    echo 'alias python3="/usr/local/bin/python3.10"' >> ~/.bashrc && \
+    echo 'alias python="/usr/local/bin/python3.10"' >> ~/.bashrc && \
+    cd ~ && rm -rf /python && \
+    rm -rf /var/lib/apt/lists/*
+
+COPY --from=ghcr.io/astral-sh/uv:0.5.6 /uv /bin/uv
+ENV UV_HTTP_TIMEOUT=120
+ENV UV_LINK_MODE=copy
+COPY ./examples/aloha_real/requirements.txt /tmp/requirements.txt
+COPY ./packages/openpi-client/pyproject.toml /tmp/openpi-client/pyproject.toml
+RUN uv pip sync --python 3.10 --system /tmp/requirements.txt /tmp/openpi-client/pyproject.toml
+
+ENV PYTHONPATH=/app:/app/src:/app/packages/openpi-client/src:/root/interbotix_ws/src/aloha/aloha_scripts:/root/interbotix_ws/src/aloha
+WORKDIR /app
+
+# Create an entrypoint script to run the setup commands, followed by the command passed in.
+RUN cat <<'EOF' > /usr/local/bin/entrypoint.sh
+#!/bin/bash
+source /opt/ros/noetic/setup.sh && source /root/interbotix_ws/devel/setup.sh && "$@"
+EOF
+RUN chmod +x /usr/local/bin/entrypoint.sh
+
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+CMD ["python3", "/app/examples/aloha_real/main.py"]