From 4f245d8b4763990e6958ce3d78db9b2e0502ed07 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Sat, 23 Nov 2024 11:21:40 -0800 Subject: [PATCH 01/22] Add first revision of the `docker-compose.yaml` --- docker-compose.yaml | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) create mode 100644 docker-compose.yaml diff --git a/docker-compose.yaml b/docker-compose.yaml new file mode 100644 index 000000000..50a768944 --- /dev/null +++ b/docker-compose.yaml @@ -0,0 +1,26 @@ +name: lerobot + +services: + lerobot: + image: lerobot-env + build: + context: . + dockerfile: docker/lerobot-compose/Dockerfile + volumes: + # Necessary for display passthrough + - "/tmp/.X11-unix:/tmp/.X11-unix:rw" + # Mount the current directory so users are not confused about data saving locations + - ".:/lerobot" + environment: + # Necessary for display passthrough + DISPLAY: $DISPLAY + # Give the container as much access as possible to the host machine. + # Folks using this library might be less familiar with how docker isolates devices + # such as USB or networks, so removing that layer is helpful for the purposes of + # development on this library. + # + # For production, remove the following line and add the necessary devices and networks + privileged: true + network_mode: host + cap_add: + - ALL From 64e368f08a4a5f69f977afe5400c0ac52d75ca27 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Sat, 23 Nov 2024 11:21:51 -0800 Subject: [PATCH 02/22] Add first revision of the `Dockerfile` --- docker/lerobot-compose/Dockerfile | 79 +++++++++++++++++++++++++++++++ 1 file changed, 79 insertions(+) create mode 100644 docker/lerobot-compose/Dockerfile diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile new file mode 100644 index 000000000..17208bdb3 --- /dev/null +++ b/docker/lerobot-compose/Dockerfile @@ -0,0 +1,79 @@ +FROM nvidia/cuda:12.2.2-devel-ubuntu22.04 + +# Configure image +ARG PYTHON_VERSION=3.10 +ARG DEBIAN_FRONTEND=noninteractive +ARG POETRY_EXTRAS="" +ENV PIP_CACHE=/root/.cache/pip + +# Install apt dependencies +RUN apt-get update && apt-get install -y --no-install-recommends \ + build-essential cmake \ + git git-lfs openssh-client \ + nano vim less util-linux tree \ + htop atop nvtop \ + sed gawk grep curl wget zip unzip \ + tcpdump sysstat screen tmux \ + libglib2.0-0 libgl1-mesa-glx libegl1-mesa \ + speech-dispatcher \ + # python*-dev is required for building certain python dependencies + python${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 $HOME/.local/bin/poetry; fi' >> /root/.bashrc +RUN poetry config virtualenvs.create false +RUN poetry config virtualenvs.in-project true + +# Copy in pyproject +WORKDIR /lerobot +COPY pyproject.toml poetry.lock ./ +RUN apt-get update && apt-get install -y python3-dev +# Install dependencies, while using docker builkit cache to speed up future builds +RUN --mount=type=cache,target="${PIP_CACHE}" \ + poetry install --extras ${POETRY_EXTRAS} + +# Set EGL as the rendering backend for MuJoCo +ENV MUJOCO_GL="egl" From 0b3233771a59b2cf8f53b9011b3da869a30c91a4 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Sat, 23 Nov 2024 11:22:25 -0800 Subject: [PATCH 03/22] Add docker instructions --- README.md | 25 ++++++++++++++++++++++++- 1 file changed, 24 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 5fbf74f44..fb7a478f4 100644 --- a/README.md +++ b/README.md @@ -77,12 +77,15 @@ ## Installation -Download our source code: +You can install lerobot either locally, or in a docker container. + +Start by downloading our source code: ```bash git clone https://github.com/huggingface/lerobot.git cd lerobot ``` +### Local Installation Create a virtual environment with Python 3.10 and activate it, e.g. with [`miniconda`](https://docs.anaconda.com/free/miniconda/index.html): ```bash conda create -y -n lerobot python=3.10 @@ -115,6 +118,26 @@ wandb login (note: you will also need to enable WandB in the configuration. See below.) +### Docker Installation + +If using docker, the only dependency you need is [Docker](https://docs.docker.com/get-docker/). For GPU support, you can also install the [Nvidia Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html). + +Build your environment with: +``` +docker compose build +``` + +If you want to install an environment with `--extras`, you can add a build argument like so: + +``` +docker compose build --build-arg POETRY_EXTRAS="aloha" +``` + +Then enter the container with: +``` +docker compose run --interactive lerobot +``` + ## Walkthrough ``` From f7e3c3ca31e5880742118fcc74e98db62861f485 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Sat, 23 Nov 2024 11:25:40 -0800 Subject: [PATCH 04/22] Clean up docs --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index fb7a478f4..bc87527d4 100644 --- a/README.md +++ b/README.md @@ -133,7 +133,7 @@ If you want to install an environment with `--extras`, you can add a build argum docker compose build --build-arg POETRY_EXTRAS="aloha" ``` -Then enter the container with: +Then enter the container with the following, and run lerobot scripts as you would locally: ``` docker compose run --interactive lerobot ``` From 80e75adddcfd022aca5be72e1f83207fabad24ea Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Sat, 23 Nov 2024 17:09:50 -0800 Subject: [PATCH 05/22] Add `tty: true` --- README.md | 2 +- docker-compose.yaml | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index bc87527d4..830be6acc 100644 --- a/README.md +++ b/README.md @@ -135,7 +135,7 @@ docker compose build --build-arg POETRY_EXTRAS="aloha" Then enter the container with the following, and run lerobot scripts as you would locally: ``` -docker compose run --interactive lerobot +docker compose run lerobot ``` ## Walkthrough diff --git a/docker-compose.yaml b/docker-compose.yaml index 50a768944..a3d644efc 100644 --- a/docker-compose.yaml +++ b/docker-compose.yaml @@ -6,6 +6,7 @@ services: build: context: . dockerfile: docker/lerobot-compose/Dockerfile + tty: true volumes: # Necessary for display passthrough - "/tmp/.X11-unix:/tmp/.X11-unix:rw" From 634d15af914cca2eacb38c8a8e91b393ef16186c Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Sat, 23 Nov 2024 17:23:22 -0800 Subject: [PATCH 06/22] Improve handling of poetry extras --- docker/lerobot-compose/Dockerfile | 12 +- poetry.lock | 3276 +++++++++++++++-------------- pyproject.toml | 1 + 3 files changed, 1673 insertions(+), 1616 deletions(-) diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile index 17208bdb3..a6efedec5 100644 --- a/docker/lerobot-compose/Dockerfile +++ b/docker/lerobot-compose/Dockerfile @@ -47,16 +47,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ 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 @@ -70,8 +60,8 @@ RUN poetry config virtualenvs.in-project true # Copy in pyproject WORKDIR /lerobot COPY pyproject.toml poetry.lock ./ -RUN apt-get update && apt-get install -y python3-dev # Install dependencies, while using docker builkit cache to speed up future builds +ARG POETRY_EXTRAS="none" RUN --mount=type=cache,target="${PIP_CACHE}" \ poetry install --extras ${POETRY_EXTRAS} diff --git a/poetry.lock b/poetry.lock index bb82228de..60cdf3d99 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.4 and should not be changed by hand. 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"7ff63d36a5524a77cba916d212741082adcb49dfdc0dc49f8bf8ccee53c02254" +content-hash = "bfb1396a90ce958fede871730a89d5ba625911e829cb698278cd088bb146b49a" diff --git a/pyproject.toml b/pyproject.toml index 42cdf5813..a6adfa10a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -86,6 +86,7 @@ dynamixel = ["dynamixel-sdk", "pynput"] feetech = ["feetech-servo-sdk", "pynput"] intelrealsense = ["pyrealsense2"] stretch = ["hello-robot-stretch-body", "pyrender", "pyrealsense2", "pynput"] +none = [] # Exists to be used as a default for docker-compose [tool.ruff] line-length = 110 From 69a3b9d05d5b653c42e1c98ce434c673663f21c6 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Sat, 23 Nov 2024 17:23:28 -0800 Subject: [PATCH 07/22] Improve handling of poetry extras --- docker/lerobot-compose/Dockerfile | 1 - 1 file changed, 1 deletion(-) diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile index a6efedec5..c1bd70a76 100644 --- a/docker/lerobot-compose/Dockerfile +++ b/docker/lerobot-compose/Dockerfile @@ -3,7 +3,6 @@ FROM nvidia/cuda:12.2.2-devel-ubuntu22.04 # Configure image ARG PYTHON_VERSION=3.10 ARG DEBIAN_FRONTEND=noninteractive -ARG POETRY_EXTRAS="" ENV PIP_CACHE=/root/.cache/pip # Install apt dependencies From a0940e0f2518ac253ad6fce51f55de64083dc527 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Sat, 23 Nov 2024 17:57:45 -0800 Subject: [PATCH 08/22] Add required ports for visualization scripts --- docker-compose.yaml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/docker-compose.yaml b/docker-compose.yaml index a3d644efc..2c090f5a4 100644 --- a/docker-compose.yaml +++ b/docker-compose.yaml @@ -12,6 +12,8 @@ services: - "/tmp/.X11-unix:/tmp/.X11-unix:rw" # Mount the current directory so users are not confused about data saving locations - ".:/lerobot" + # Pass through USB devices + - "/dev:/dev" environment: # Necessary for display passthrough DISPLAY: $DISPLAY @@ -23,5 +25,10 @@ services: # For production, remove the following line and add the necessary devices and networks privileged: true network_mode: host + ports: + # Required for rerun, in visualize_interface.py + - 9876:9876 + # Default port for visualize_interface_html.py + - 9090:9090 cap_add: - ALL From 6631247ec16ad7e063f9f2a67ae417b16780d193 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Sat, 23 Nov 2024 18:01:20 -0800 Subject: [PATCH 09/22] Add libsm6 --- docker/lerobot-compose/Dockerfile | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile index c1bd70a76..e829726da 100644 --- a/docker/lerobot-compose/Dockerfile +++ b/docker/lerobot-compose/Dockerfile @@ -16,7 +16,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ libglib2.0-0 libgl1-mesa-glx libegl1-mesa \ speech-dispatcher \ # python*-dev is required for building certain python dependencies - python${PYTHON_VERSION} python${PYTHON_VERSION}-venv python${PYTHON_VERSION}-dev\ + python${PYTHON_VERSION} python${PYTHON_VERSION}-venv python${PYTHON_VERSION}-dev \ + # Required for cv2.imshow(...) and other highgui operations + libsm6 \ && apt-get clean && rm -rf /var/lib/apt/lists/* # Install ffmpeg build dependencies. See: From 59c1a78f35bd69119aa2979527fecbd76c44bd48 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Sun, 24 Nov 2024 16:53:36 -0800 Subject: [PATCH 10/22] Remove the need to do `xhost` commands --- docker-compose.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docker-compose.yaml b/docker-compose.yaml index 2c090f5a4..7ede14797 100644 --- a/docker-compose.yaml +++ b/docker-compose.yaml @@ -10,6 +10,7 @@ services: volumes: # Necessary for display passthrough - "/tmp/.X11-unix:/tmp/.X11-unix:rw" + - ~/.Xauthority:/root/.Xauthority # Mount the current directory so users are not confused about data saving locations - ".:/lerobot" # Pass through USB devices @@ -17,6 +18,7 @@ services: environment: # Necessary for display passthrough DISPLAY: $DISPLAY + XAUTHORITY: $XAUTHORITY # Give the container as much access as possible to the host machine. # Folks using this library might be less familiar with how docker isolates devices # such as USB or networks, so removing that layer is helpful for the purposes of From 26dcafff9f3f0f159f0de9a7dc6d4e29e96bef05 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Sun, 24 Nov 2024 20:18:03 -0800 Subject: [PATCH 11/22] Use `poetry run` as the entrypoint --- docker/lerobot-compose/Dockerfile | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile index e829726da..4b8936fcb 100644 --- a/docker/lerobot-compose/Dockerfile +++ b/docker/lerobot-compose/Dockerfile @@ -13,7 +13,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ htop atop nvtop \ sed gawk grep curl wget zip unzip \ tcpdump sysstat screen tmux \ - libglib2.0-0 libgl1-mesa-glx libegl1-mesa \ + libglib2.0-0 libgl1 libglx-mesa0 \ speech-dispatcher \ # python*-dev is required for building certain python dependencies python${PYTHON_VERSION} python${PYTHON_VERSION}-venv python${PYTHON_VERSION}-dev \ @@ -55,8 +55,6 @@ RUN ln -s /usr/bin/python3 /usr/bin/python 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 $HOME/.local/bin/poetry; fi' >> /root/.bashrc -RUN poetry config virtualenvs.create false -RUN poetry config virtualenvs.in-project true # Copy in pyproject WORKDIR /lerobot @@ -66,5 +64,11 @@ ARG POETRY_EXTRAS="none" RUN --mount=type=cache,target="${PIP_CACHE}" \ poetry install --extras ${POETRY_EXTRAS} +ENV PYTHONPATH="/lerobot:${PYTHONPATH}" + +# Set the entrypoint such that users enter the container with the poetry environment +ENTRYPOINT ["poetry", "run"] +CMD ["bash"] + # Set EGL as the rendering backend for MuJoCo ENV MUJOCO_GL="egl" From c6d9ef239c3a0c9c2cded871ba6fa3d77b38d96f Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 28 Nov 2024 12:48:16 -0800 Subject: [PATCH 12/22] Use consistent strings in docker-compose --- docker-compose.yaml | 4 ++-- docker/lerobot-compose/Dockerfile | 9 +++++++++ 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/docker-compose.yaml b/docker-compose.yaml index 7ede14797..15386da84 100644 --- a/docker-compose.yaml +++ b/docker-compose.yaml @@ -9,8 +9,8 @@ services: tty: true volumes: # Necessary for display passthrough - - "/tmp/.X11-unix:/tmp/.X11-unix:rw" - - ~/.Xauthority:/root/.Xauthority + - "/tmp/.X11-unix:/tmp/.X11-unix" + - "~/.Xauthority:/root/.Xauthority" # Mount the current directory so users are not confused about data saving locations - ".:/lerobot" # Pass through USB devices diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile index 4b8936fcb..db43b8d06 100644 --- a/docker/lerobot-compose/Dockerfile +++ b/docker/lerobot-compose/Dockerfile @@ -19,6 +19,15 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ python${PYTHON_VERSION} python${PYTHON_VERSION}-venv python${PYTHON_VERSION}-dev \ # Required for cv2.imshow(...) and other highgui operations libsm6 \ + # Required for building PyAv \ + pkg-config \ + libavcodec-dev \ + libavdevice-dev \ + libavfilter-dev \ + libavformat-dev \ + libavutil-dev \ + libswscale-dev \ + libswresample-dev \ && apt-get clean && rm -rf /var/lib/apt/lists/* # Install ffmpeg build dependencies. 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diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile index db43b8d06..140661b52 100644 --- a/docker/lerobot-compose/Dockerfile +++ b/docker/lerobot-compose/Dockerfile @@ -28,6 +28,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ libavutil-dev \ libswscale-dev \ libswresample-dev \ + ffmpeg \ && apt-get clean && rm -rf /var/lib/apt/lists/* # Install ffmpeg build dependencies. See: @@ -44,7 +45,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ libvorbis-dev \ meson \ ninja-build \ - pkg-config \ texinfo \ yasm \ zlib1g-dev \ @@ -68,11 +68,18 @@ RUN echo 'if [ "$HOME" != "/root" ]; then ln -sf /root/.local/bin/poetry $HOME/. # Copy in pyproject WORKDIR /lerobot COPY pyproject.toml poetry.lock ./ + # Install dependencies, while using docker builkit cache to speed up future builds ARG POETRY_EXTRAS="none" RUN --mount=type=cache,target="${PIP_CACHE}" \ poetry install --extras ${POETRY_EXTRAS} +# Forcefully reinstall pyav using `--no-binary`, so it has to build itself using the +# systems ffmpeg. This resolves a lockup bug that can happen when trying to open windows +# with OpenCV, with `av` is imported and targets a different version of ffmpeg. +# Tracking issue: https://github.com/opencv/opencv/issues/21952 +RUN pip3 install --no-binary pyav --force-reinstall pyav==12.3.0 + ENV PYTHONPATH="/lerobot:${PYTHONPATH}" # Set the entrypoint such that users enter the container with the poetry environment From 7514f5923d365ce00d65e1cd5c76050b9431ef3a Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 28 Nov 2024 13:33:41 -0800 Subject: [PATCH 15/22] Add `python3-pip` to build --- docker/lerobot-compose/Dockerfile | 1 + 1 file changed, 1 insertion(+) diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile index 140661b52..8bc44d375 100644 --- a/docker/lerobot-compose/Dockerfile +++ b/docker/lerobot-compose/Dockerfile @@ -21,6 +21,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ libsm6 \ # Required for building PyAv \ pkg-config \ + python3-pip \ libavcodec-dev \ libavdevice-dev \ libavfilter-dev \ From 7d9d05dda750f92e38a64b49efb65661c4e27e88 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 28 Nov 2024 13:34:07 -0800 Subject: [PATCH 16/22] Don't isolate python dependencies in container (this plays better with pycharm) --- docker/lerobot-compose/Dockerfile | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile index 8bc44d375..f91426ad4 100644 --- a/docker/lerobot-compose/Dockerfile +++ b/docker/lerobot-compose/Dockerfile @@ -65,6 +65,8 @@ RUN ln -s /usr/bin/python3 /usr/bin/python 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 $HOME/.local/bin/poetry; fi' >> /root/.bashrc +RUN poetry config virtualenvs.create false +RUN poetry config virtualenvs.in-project true # Copy in pyproject WORKDIR /lerobot From 3a35fd64a517caa0fec7516f490ebdfc19ed6901 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 28 Nov 2024 14:37:22 -0800 Subject: [PATCH 17/22] Remove spd-say so it doesn't crash the system --- docker/lerobot-compose/Dockerfile | 1 - 1 file changed, 1 deletion(-) diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile index f91426ad4..d14220be7 100644 --- a/docker/lerobot-compose/Dockerfile +++ b/docker/lerobot-compose/Dockerfile @@ -14,7 +14,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ sed gawk grep curl wget zip unzip \ tcpdump sysstat screen tmux \ libglib2.0-0 libgl1 libglx-mesa0 \ - speech-dispatcher \ # python*-dev is required for building certain python dependencies python${PYTHON_VERSION} python${PYTHON_VERSION}-venv python${PYTHON_VERSION}-dev \ # Required for cv2.imshow(...) and other highgui operations From e473a3d38b8bcd27ea6c2bcaaf91653650f4c8ba Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Fri, 29 Nov 2024 09:46:37 -0800 Subject: [PATCH 18/22] Use a pre-built ffmpeg (this seems to also work with pyav!) --- docker/lerobot-compose/Dockerfile | 49 ++++++------------------------- 1 file changed, 9 insertions(+), 40 deletions(-) diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile index d14220be7..2f863b3ab 100644 --- a/docker/lerobot-compose/Dockerfile +++ b/docker/lerobot-compose/Dockerfile @@ -28,37 +28,17 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ libavutil-dev \ libswscale-dev \ libswresample-dev \ - ffmpeg \ + # Symbolic link to python3 \ + python-is-python3 \ && 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 \ - 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 - -# Setup `python` -RUN ln -s /usr/bin/python3 /usr/bin/python +# Install pre-built ffmpeg binaries with support for libsvtav1 +WORKDIR /ffmpeg +RUN wget https://github.com/BtbN/FFmpeg-Builds/releases/download/latest/ffmpeg-master-latest-linux64-gpl.tar.xz +RUN tar -xvf ffmpeg*.tar.xz +RUN mv ffmpeg-master-latest-linux64-gpl/bin/* /usr/local/bin/ +# Verify this ffmpeg build has support for libsvtav1, the default lerobot video decoder +RUN ffmpeg -encoders | grep libsvtav1 # Install poetry RUN curl -sSL https://install.python-poetry.org | python - @@ -70,23 +50,12 @@ RUN poetry config virtualenvs.in-project true # Copy in pyproject WORKDIR /lerobot COPY pyproject.toml poetry.lock ./ - # Install dependencies, while using docker builkit cache to speed up future builds ARG POETRY_EXTRAS="none" RUN --mount=type=cache,target="${PIP_CACHE}" \ poetry install --extras ${POETRY_EXTRAS} - -# Forcefully reinstall pyav using `--no-binary`, so it has to build itself using the -# systems ffmpeg. This resolves a lockup bug that can happen when trying to open windows -# with OpenCV, with `av` is imported and targets a different version of ffmpeg. -# Tracking issue: https://github.com/opencv/opencv/issues/21952 -RUN pip3 install --no-binary pyav --force-reinstall pyav==12.3.0 - ENV PYTHONPATH="/lerobot:${PYTHONPATH}" # Set the entrypoint such that users enter the container with the poetry environment ENTRYPOINT ["poetry", "run"] CMD ["bash"] - -# Set EGL as the rendering backend for MuJoCo -ENV MUJOCO_GL="egl" From e901cc2962d52e11c6706679d21a60977453167d Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Fri, 29 Nov 2024 14:45:10 -0800 Subject: [PATCH 19/22] Simplify `mv` command to not reference directories too specifically --- docker/lerobot-compose/Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile index 2f863b3ab..555f959a4 100644 --- a/docker/lerobot-compose/Dockerfile +++ b/docker/lerobot-compose/Dockerfile @@ -36,7 +36,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ WORKDIR /ffmpeg RUN wget https://github.com/BtbN/FFmpeg-Builds/releases/download/latest/ffmpeg-master-latest-linux64-gpl.tar.xz RUN tar -xvf ffmpeg*.tar.xz -RUN mv ffmpeg-master-latest-linux64-gpl/bin/* /usr/local/bin/ +RUN mv ffmpeg*/bin/* /usr/local/bin/ # Verify this ffmpeg build has support for libsvtav1, the default lerobot video decoder RUN ffmpeg -encoders | grep libsvtav1 From 3e3eaa60c7ce1fc025c20232d92f0336475c23fa Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Fri, 29 Nov 2024 16:03:32 -0800 Subject: [PATCH 20/22] Fix pyav issues after the `Dataset 2.0` merge --- docker/lerobot-compose/Dockerfile | 27 +++++++++++++++++++-------- 1 file changed, 19 insertions(+), 8 deletions(-) diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile index 555f959a4..f1a786276 100644 --- a/docker/lerobot-compose/Dockerfile +++ b/docker/lerobot-compose/Dockerfile @@ -7,6 +7,7 @@ ENV PIP_CACHE=/root/.cache/pip # Install apt dependencies RUN apt-get update && apt-get install -y --no-install-recommends \ + # Basic build and dev tools build-essential cmake \ git git-lfs openssh-client \ nano vim less util-linux tree \ @@ -32,13 +33,18 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ python-is-python3 \ && apt-get clean && rm -rf /var/lib/apt/lists/* -# Install pre-built ffmpeg binaries with support for libsvtav1 +# Install pre-built ffmpeg binaries with support for libsvtav1, which is the lerobot default WORKDIR /ffmpeg -RUN wget https://github.com/BtbN/FFmpeg-Builds/releases/download/latest/ffmpeg-master-latest-linux64-gpl.tar.xz -RUN tar -xvf ffmpeg*.tar.xz -RUN mv ffmpeg*/bin/* /usr/local/bin/ -# Verify this ffmpeg build has support for libsvtav1, the default lerobot video decoder -RUN ffmpeg -encoders | grep libsvtav1 +# To update, select a build from https://github.com/BtbN/FFmpeg-Builds/releases +ARG FFMPEG_BUILD=autobuild-2024-10-31-12-59/ffmpeg-N-117676-g87068b9600-linux64-gpl.tar.xz +RUN wget https://github.com/BtbN/FFmpeg-Builds/releases/download/${FFMPEG_BUILD} && \ + tar -xvf ffmpeg*.tar.xz && \ + mv ffmpeg*/bin/* /usr/local/bin/ && \ + # Verify this ffmpeg build succeeded and has support for libsvtav1, the default \ + # lerobot video decoder \ + ffmpeg -encoders | grep libsvtav1 && \ + # Clean up \ + rm -rf /ffmpeg # Install poetry RUN curl -sSL https://install.python-poetry.org | python - @@ -47,15 +53,20 @@ RUN echo 'if [ "$HOME" != "/root" ]; then ln -sf /root/.local/bin/poetry $HOME/. RUN poetry config virtualenvs.create false RUN poetry config virtualenvs.in-project true -# Copy in pyproject +# Install python dependencies, including `POETRY_EXTRAS` if specified as a --build-arg WORKDIR /lerobot COPY pyproject.toml poetry.lock ./ -# Install dependencies, while using docker builkit cache to speed up future builds ARG POETRY_EXTRAS="none" RUN --mount=type=cache,target="${PIP_CACHE}" \ poetry install --extras ${POETRY_EXTRAS} ENV PYTHONPATH="/lerobot:${PYTHONPATH}" +# Forcefully reinstall pyav using `--no-binary`, so it has to build itself using the +# systems ffmpeg. This resolves a lockup bug that can happen when trying to open windows +# with OpenCV, with `av` is imported and targets a different version of ffmpeg. +# Tracking issue: https://github.com/opencv/opencv/issues/21952 +RUN pip3 install --no-binary pyav --force-reinstall pyav==12.3.0 + # Set the entrypoint such that users enter the container with the poetry environment ENTRYPOINT ["poetry", "run"] CMD ["bash"] From 016d9a01367c8ed4c7d242e97392b52911caf6c3 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Sun, 1 Dec 2024 17:00:39 -0800 Subject: [PATCH 21/22] Add credentials management so `wandb` and `huggingface` work properly --- .dockerignore | 3 +++ README.md | 8 ++++++++ docker-compose.yaml | 9 ++++----- 3 files changed, 15 insertions(+), 5 deletions(-) diff --git a/.dockerignore b/.dockerignore index b8c1be153..7a04251f7 100644 --- a/.dockerignore +++ b/.dockerignore @@ -144,3 +144,6 @@ dmypy.json # Pyre type checker .pyre/ + +# Volumes +.huggingface_cache/ diff --git a/README.md b/README.md index 2fd35d76a..8d4f77c97 100644 --- a/README.md +++ b/README.md @@ -138,6 +138,14 @@ Then enter the container with the following, and run lerobot scripts as you woul docker compose run lerobot ``` +#### Credentials +**Wandb**: Using wandb like normal. Log in using your host machine, and credentials will be passed through to the container. + +**Hugging Face**: You will need to log in one time, within the container. Use +`docker compose run lerobot huggingface-cli login` and follow the instructions. +All files saved by huggingface will be stored in a special directory at the root of the +repository called `.huggingface_cache`. + ## Walkthrough ``` diff --git a/docker-compose.yaml b/docker-compose.yaml index 15386da84..9d6afc244 100644 --- a/docker-compose.yaml +++ b/docker-compose.yaml @@ -15,6 +15,10 @@ services: - ".:/lerobot" # Pass through USB devices - "/dev:/dev" + # Mount wandb credentials into the container, in read-only mode + - "~/.netrc:/root/.netrc:ro" + # Mount Hugging Face credentials into the container, in read-only mode. + - ".huggingface_cache/:/root/.cache/huggingface/" environment: # Necessary for display passthrough DISPLAY: $DISPLAY @@ -27,10 +31,5 @@ services: # For production, remove the following line and add the necessary devices and networks privileged: true network_mode: host - ports: - # Required for rerun, in visualize_interface.py - - 9876:9876 - # Default port for visualize_interface_html.py - - 9090:9090 cap_add: - ALL From 3b5748afbb6f8f949194c42af45eed64186dc194 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 12 Dec 2024 08:21:00 -0800 Subject: [PATCH 22/22] Add torch cache to compose file --- docker-compose.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docker-compose.yaml b/docker-compose.yaml index 9d6afc244..4cbd89fca 100644 --- a/docker-compose.yaml +++ b/docker-compose.yaml @@ -19,6 +19,8 @@ services: - "~/.netrc:/root/.netrc:ro" # Mount Hugging Face credentials into the container, in read-only mode. - ".huggingface_cache/:/root/.cache/huggingface/" + # Mount torch model cache so models don't re-download each time + - ".torch_cache/:/root/.cache/torch/hub/" environment: # Necessary for display passthrough DISPLAY: $DISPLAY