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

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 the following, and run lerobot scripts as you would locally:
+```
+docker compose run --interactive lerobot
+```
+
 ## Walkthrough
 
 ```

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

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"