Add docker-compose support for easier and more portable environment set-up

.dockerignore

@@ -144,3 +144,6 @@ dmypy.json
 
 # Pyre type checker
 .pyre/
+
+# Volumes
+.huggingface_cache/

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 +118,34 @@ 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 the following, and run lerobot scripts as you would locally:
+```
+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
 
 ```

docker-compose.yaml

@@ -0,0 +1,35 @@
+name: lerobot
+
+services:
+  lerobot:
+    image: lerobot-env
+    build:
+      context: .
+      dockerfile: docker/lerobot-compose/Dockerfile
+    tty: true
+    volumes:
+      # Necessary for display passthrough
+      - "/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
+      - "/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
+      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
+    # 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

docker/lerobot-compose/Dockerfile

@@ -0,0 +1,72 @@
+FROM nvidia/cuda:12.2.2-devel-ubuntu22.04
+
+# Configure image
+ARG PYTHON_VERSION=3.10
+ARG DEBIAN_FRONTEND=noninteractive
+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 \
+    htop atop nvtop \
+    sed gawk grep curl wget zip unzip \
+    tcpdump sysstat screen tmux \
+    libglib2.0-0 libgl1 libglx-mesa0 \
+    # python*-dev is required for building certain python dependencies
+    python${PYTHON_VERSION} python${PYTHON_VERSION}-venv python${PYTHON_VERSION}-dev \
+    # Required for cv2.imshow(...) and other highgui operations
+    libsm6 \
+    # Required for building PyAv \
+    pkg-config \
+    python3-pip \
+    libavcodec-dev \
+    libavdevice-dev \
+    libavfilter-dev \
+    libavformat-dev \
+    libavutil-dev \
+    libswscale-dev \
+    libswresample-dev \
+    # Symbolic link to python3 \
+    python-is-python3 \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# Install pre-built ffmpeg binaries with support for libsvtav1, which is the lerobot default
+WORKDIR /ffmpeg
+# To update, select a build from https://github.com/BtbN/FFmpeg-Builds/releases
+ARG FFMPEG_BUILD=autobuild-2024-10-31-12-59/ffmpeg-N-117676-g87068b9600-linux64-gpl.tar.xz
+RUN wget https://github.com/BtbN/FFmpeg-Builds/releases/download/${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 -
+ENV PATH="/root/.local/bin:$PATH"
+RUN echo 'if [ "$HOME" != "/root" ]; then ln -sf /root/.local/bin/poetry $HOME/.local/bin/poetry; fi' >> /root/.bashrc
+RUN poetry config virtualenvs.create false
+RUN poetry config virtualenvs.in-project true
+
+# Install python dependencies, including `POETRY_EXTRAS` if specified as a --build-arg
+WORKDIR /lerobot
+COPY pyproject.toml poetry.lock ./
+ARG POETRY_EXTRAS="none"
+RUN --mount=type=cache,target="${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"]