64 lines
1.3 KiB
YAML
64 lines
1.3 KiB
YAML
# Run with:
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# docker compose -f examples/aloha_real/compose.yml up --build
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services:
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runtime:
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image: aloha_real
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depends_on:
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- aloha_ros_nodes
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- ros_master
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- openpi_server
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build:
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context: ../..
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dockerfile: examples/aloha_real/Dockerfile
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init: true
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tty: true
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network_mode: host
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privileged: true
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volumes:
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- $PWD:/app
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- ../../data:/data
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aloha_ros_nodes:
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image: aloha_real
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depends_on:
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- ros_master
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build:
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context: ../..
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dockerfile: examples/aloha_real/Dockerfile
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init: true
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tty: true
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network_mode: host
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privileged: true
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volumes:
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- /dev:/dev
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command: roslaunch --wait aloha ros_nodes.launch
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ros_master:
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image: ros:noetic-robot
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network_mode: host
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privileged: true
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command:
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- roscore
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openpi_server:
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image: openpi_server
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build:
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context: ../..
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dockerfile: scripts/serve_policy.Dockerfile
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init: true
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tty: true
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network_mode: host
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volumes:
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- $PWD:/app
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environment:
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- SERVER_ARGS
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# Comment out this block if not running on a machine with GPUs.
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deploy:
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resources:
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reservations:
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devices:
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- driver: nvidia
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count: 1
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capabilities: [gpu]
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