Initial commit

scripts/docker/compose.yml

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+# Run with:
+# docker compose -f scripts/compose.yml up --build
+services:
+  openpi_server:
+    image: openpi_server
+    build:
+      context: ..
+      dockerfile: scripts/docker/serve_policy.Dockerfile
+    init: true
+    tty: true
+    network_mode: host
+    # Populate configured openpi data home to /openpi_assets inside the container.
+    # Populate aws credential inside the container.
+    volumes:
+      - $PWD:/app
+      - ${OPENPI_DATA_HOME:-~/.cache/openpi}:/openpi_assets
+    environment:
+      - SERVER_ARGS
+      - OPENPI_DATA_HOME=/openpi_assets
+      - IS_DOCKER=true
+
+    # Comment out this block if not running on a machine with GPUs.
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]

scripts/docker/install_docker_ubuntu22.sh

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+#!/bin/bash
+
+# Add Docker's official GPG key:
+sudo apt-get update
+sudo apt-get install -y ca-certificates curl
+sudo install -m 0755 -d /etc/apt/keyrings
+sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
+sudo chmod a+r /etc/apt/keyrings/docker.asc
+
+# Add the repository to Apt sources:
+echo \
+	"deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
+  $(. /etc/os-release && echo "$VERSION_CODENAME") stable" |
+	sudo tee /etc/apt/sources.list.d/docker.list >/dev/null
+sudo apt-get update
+
+sudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
+
+# Add current user to the 'docker' group, which allows them to use docker commands (docker build, docker run, etc).
+# See https://docs.docker.com/engine/install/linux-postinstall/
+username=$(whoami)
+sudo usermod -aG docker $username
+
+# Configure docker to start automatically on system boot.
+sudo systemctl enable docker.service
+sudo systemctl enable containerd.service
+
+# https://forums.docker.com/t/docker-credential-desktop-exe-executable-file-not-found-in-path-using-wsl2/100225/5
+if [ ~/.docker/config.json ]; then
+	sed -i 's/credsStore/credStore/g' ~/.docker/config.json
+fi
+
+echo ""
+echo "********************************************************************"
+echo "**** Restart to allow Docker permission changes to take effect. ****"
+echo "********************************************************************"
+echo ""

scripts/docker/install_nvidia_container_toolkit.sh

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+#!/bin/bash
+
+# Installs the NVIDIA Container Toolkit, which allows Docker containers to access NVIDIA GPUs.
+# NVIDIA's official documentation: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html
+
+curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg &&
+	curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list |
+	sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' |
+		sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
+
+# NVIDIA's documenation omits 'sudo' in the following command, but it is required.
+sudo sed -i -e '/experimental/ s/^#//g' /etc/apt/sources.list.d/nvidia-container-toolkit.list
+sudo apt-get update
+sudo apt-get install -y nvidia-container-toolkit
+
+sudo nvidia-ctk runtime configure --runtime=docker
+sudo systemctl restart docker

scripts/docker/serve_policy.Dockerfile

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+# Dockerfile for serving a PI policy.
+# Based on UV's instructions: https://docs.astral.sh/uv/guides/integration/docker/#developing-in-a-container
+
+# Build the container:
+# docker build . -t openpi_server -f scripts/docker/serve_policy.Dockerfile
+
+# Run the container:
+# docker run --rm -it --network=host -v .:/app --gpus=all openpi_server /bin/bash
+
+FROM nvidia/cuda:12.2.2-cudnn8-runtime-ubuntu22.04@sha256:2d913b09e6be8387e1a10976933642c73c840c0b735f0bf3c28d97fc9bc422e0
+COPY --from=ghcr.io/astral-sh/uv:0.5.1 /uv /uvx /bin/
+
+WORKDIR /app
+
+# Needed because LeRobot uses git-lfs.
+RUN apt-get update && apt-get install -y git git-lfs
+
+# Copy from the cache instead of linking since it's a mounted volume
+ENV UV_LINK_MODE=copy
+
+# Write the virtual environment outside of the project directory so it doesn't
+# leak out of the container when we mount the application code.
+ENV UV_PROJECT_ENVIRONMENT=/.venv
+
+# Install the project's dependencies using the lockfile and settings
+RUN uv venv --python 3.11.9 $UV_PROJECT_ENVIRONMENT
+RUN --mount=type=cache,target=/root/.cache/uv \
+    --mount=type=bind,source=uv.lock,target=uv.lock \
+    --mount=type=bind,source=pyproject.toml,target=pyproject.toml \
+    --mount=type=bind,source=packages/openpi-client/pyproject.toml,target=packages/openpi-client/pyproject.toml \
+    --mount=type=bind,source=packages/openpi-client/src,target=packages/openpi-client/src \
+    GIT_LFS_SKIP_SMUDGE=1 uv sync --frozen --no-install-project --no-dev
+
+CMD /bin/bash -c "uv run scripts/serve_policy.py $SERVER_ARGS"