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 849a14de5..5bc967266 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 +118,34 @@ 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 ``` diff --git a/docker-compose.yaml b/docker-compose.yaml new file mode 100644 index 000000000..4cbd89fca --- /dev/null +++ b/docker-compose.yaml @@ -0,0 +1,37 @@ +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/" + # 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 + XAUTHORITY: $XAUTHORITY + # Give the container as much access as possible to the host machine. + # Folks using this library might be less familiar with how docker isolates devices + # such as USB or networks, so removing that layer is helpful for the purposes of + # development on this library. + # + # For production, remove the following line and add the necessary devices and networks + privileged: true + network_mode: host + cap_add: + - ALL diff --git a/docker/lerobot-compose/Dockerfile b/docker/lerobot-compose/Dockerfile new file mode 100644 index 000000000..f1a786276 --- /dev/null +++ b/docker/lerobot-compose/Dockerfile @@ -0,0 +1,72 @@ +FROM nvidia/cuda:12.2.2-devel-ubuntu22.04 + +# Configure image +ARG PYTHON_VERSION=3.10 +ARG DEBIAN_FRONTEND=noninteractive +ENV PIP_CACHE=/root/.cache/pip + +# Install apt dependencies +RUN apt-get update && apt-get install -y --no-install-recommends \ + # Basic build and dev tools + build-essential cmake \ + git git-lfs openssh-client \ + nano vim less util-linux tree \ + htop atop nvtop \ + sed gawk grep curl wget zip unzip \ + tcpdump sysstat screen tmux \ + libglib2.0-0 libgl1 libglx-mesa0 \ + # python*-dev is required for building certain python dependencies + python${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"] diff --git a/poetry.lock b/poetry.lock index 8799e67ca..51aad0a7e 100644 --- a/poetry.lock +++ b/poetry.lock @@ -24,112 +24,98 @@ files = [ [[package]] name = "aiohttp" -version = "3.10.10" +version = "3.11.8" description = "Async http client/server framework (asyncio)" optional = false -python-versions = ">=3.8" +python-versions = ">=3.9" files = [ - {file = "aiohttp-3.10.10-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:be7443669ae9c016b71f402e43208e13ddf00912f47f623ee5994e12fc7d4b3f"}, - {file = "aiohttp-3.10.10-cp310-cp310-macosx_10_9_x86_64.whl", hash = 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