docker/Dockerfile.benchmark.robomme

# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
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# Benchmark image for RoboMME integration tests.
# Extends the nightly GPU image (which has lerobot[all]) with Vulkan system
# libs for ManiSkill/SAPIEN and the robomme extra. robomme isn't in [all]
# because mani-skill hard-pins gymnasium==0.29.1 and numpy<2.0.0 which
# conflict with lerobot's defaults; both are safe at runtime:
#   - gymnasium 0.29.x has the same 5-tuple step() API as 1.x (since 0.26)
#   - numpy 1.26.4 is API-compatible with lerobot's actual usage.
#
# Build:  docker build -f docker/Dockerfile.benchmark.robomme -t lerobot-benchmark-robomme .
# Run:    docker run --gpus all --rm lerobot-benchmark-robomme lerobot-eval ...

FROM huggingface/lerobot-gpu:latest

# NVIDIA Container Toolkit: expose Vulkan driver capability for headless rendering.
ENV NVIDIA_DRIVER_CAPABILITIES=all \
    VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json

# ManiSkill/SAPIEN's renderer needs Vulkan, which isn't in the base image.
USER root
RUN apt-get update \
    && apt-get install -y --no-install-recommends \
         libvulkan1 libvulkan-dev mesa-vulkan-drivers \
    && mkdir -p /usr/share/vulkan/icd.d \
    && echo '{"file_format_version":"1.0.0","ICD":{"library_path":"libGLX_nvidia.so.0","api_version":"1.3.0"}}' \
       > /usr/share/vulkan/icd.d/nvidia_icd.json \
    && apt-get clean && rm -rf /var/lib/apt/lists/*
USER user_lerobot

# Install smolvla + av-dep via the PR's pyproject, then layer robomme on top
# with gymnasium/numpy overrides. robomme isn't a pyproject extra because its
# mani-skill pin conflicts with lerobot's base numpy>=2 (see pyproject.toml).
COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml uv.lock README.md MANIFEST.in ./
RUN printf 'gymnasium==0.29.1\nnumpy==1.26.4\n' > /tmp/robomme_override.txt \
    && uv pip install --no-cache --override /tmp/robomme_override.txt \
         -e ".[smolvla,av-dep]" \
         "robomme @ git+https://github.com/RoboMME/robomme_benchmark.git@main" \
    && python -c "import robomme; print('robomme import OK')"

# Overlay the PR's source code on top of the nightly image.
COPY --chown=user_lerobot:user_lerobot . .

CMD ["/bin/bash"]