| |
| ARG PYTORCH_IMAGE=pytorch/pytorch:2.11.0-cuda12.8-cudnn9-runtime@sha256:eee11b3b3872a8c838e35ef48f08b2d5def2080902c7f666831310ca1a0ef2be |
| FROM ${PYTORCH_IMAGE} AS base |
| ENV DEBIAN_FRONTEND=noninteractive |
| RUN apt-get update && apt-get install -y --no-install-recommends git ffmpeg libglib2.0-0 python3-venv \ |
| && rm -rf /var/lib/apt/lists/* |
|
|
| |
| FROM base AS build |
| ENV UV_PYTHON_INSTALL_DIR=/opt/uv-python |
| RUN python -m pip install --break-system-packages --no-cache-dir uv==0.12.11 \ |
| && uv python install 3.10.20 \ |
| && uv venv --python 3.10.20 /opt/droid \ |
| && uv venv --python 3.10.20 /opt/egohand \ |
| && python -m venv --system-site-packages /opt/hand-controller |
| WORKDIR /opt/hand-worker |
| COPY camera-requirements.txt egohand-requirements.txt worker-requirements.txt ./ |
| RUN uv pip install --python /opt/droid/bin/python torch==2.8.0 torchvision==0.23.0 --index-url https://download.pytorch.org/whl/cu128 |
| RUN uv pip install --python /opt/droid/bin/python -r /opt/hand-worker/camera-requirements.txt \ |
| && uv pip install --python /opt/droid/bin/python torch-scatter==2.1.2+pt28cu128 --find-links https://data.pyg.org/whl/torch-2.8.0+cu128.html \ |
| && uv pip install --python /opt/droid/bin/python git+https://github.com/microsoft/MoGe.git@74fbce054ebed49800de42d0ad0e83495065719a --no-deps |
| RUN uv pip install --python /opt/egohand/bin/python -r /opt/hand-worker/egohand-requirements.txt \ |
| && /opt/hand-controller/bin/python -m pip install --no-cache-dir -r /opt/hand-worker/worker-requirements.txt |
| RUN git clone https://github.com/NVlabs/GEM-X.git /opt/GEM-X \ |
| && git -C /opt/GEM-X checkout --detach 20555befe2fbbe5b2015e1fff7ff214dc18ea9d6 \ |
| && uv pip install --python /opt/egohand/bin/python --no-deps -e /opt/GEM-X |
| COPY camera-adapter-source.tar.gz camera-native-source.tar.gz /tmp/ |
| RUN mkdir -p /opt/camera-adapter /opt/hand-camera \ |
| && tar -xzf /tmp/camera-adapter-source.tar.gz -C /opt/camera-adapter \ |
| && tar -xzf /tmp/camera-native-source.tar.gz -C /opt/hand-camera |
| COPY camera-wheels /opt/hand-worker/camera-wheels |
| COPY verify_camera_wheels.py image-version.json /opt/hand-worker/ |
| RUN python /opt/hand-worker/verify_camera_wheels.py /opt/hand-worker/camera-wheels /opt/hand-worker/image-version.json \ |
| && uv pip install --python /opt/droid/bin/python --no-deps /opt/hand-worker/camera-wheels/wheels/*.whl |
| |
| RUN for source in /opt/hand-camera/release-195fps-verified/DROID-W/*; do \ |
| name=$(basename "$source"); \ |
| if [ ! -e "/opt/hand-camera/DROID-on/$name" ]; then ln -s "$source" "/opt/hand-camera/DROID-on/$name"; fi; \ |
| done \ |
| && mkdir -p /opt/hand-camera/moge-joint-vio/weights \ |
| && ln -s /workspace/hand-assets/camera/moge-small.pt /opt/hand-camera/moge-joint-vio/weights/small.pt \ |
| && ln -s /workspace/hand-assets/camera /opt/hand-camera/release-195fps-verified/DROID-W/pretrained \ |
| && ln -s /opt/hand-camera/release-195fps-verified/DROID-W/pretrained /opt/hand-camera/DROID-on/pretrained \ |
| && ln -s /workspace/hand-cache/camera-artifacts /opt/hand-camera/speed-round24/artifacts |
| RUN rm -rf /opt/hand-camera/release-195fps-verified/DROID-W/build \ |
| /opt/hand-camera/release-195fps-verified/DROID-W/thirdparty/lietorch/build /tmp/*.tar.gz |
|
|
| FROM build AS models |
| COPY model-assets/ /model-assets/ |
| COPY model-sources.json build_model_assets.py egohand-checkpoint-template.zip /opt/hand-worker/ |
| RUN /opt/egohand/bin/python /opt/hand-worker/build_model_assets.py /model-assets /opt/hand-worker/model-sources.json |
|
|
| FROM base AS runtime |
| COPY --from=build /opt/uv-python /opt/uv-python |
| COPY --from=build /opt/droid /opt/droid |
| COPY --from=build /opt/egohand /opt/egohand |
| COPY --from=build /opt/hand-controller /opt/hand-controller |
| COPY --from=build /opt/GEM-X /opt/GEM-X |
| COPY --from=build /opt/camera-adapter /opt/camera-adapter |
| COPY --from=build /opt/hand-camera /opt/hand-camera |
| COPY image-version.json health.py verify_runtime_imports.py /opt/hand-worker/ |
| COPY camera-startup-source.tar.gz /tmp/ |
| COPY camera-startup-sources.json install_startup_sources.py /opt/hand-worker/ |
| RUN python /opt/hand-worker/install_startup_sources.py /tmp/camera-startup-source.tar.gz /opt/hand-worker/camera-startup-sources.json /opt/hand-worker/image-version.json /opt/hand-camera \ |
| && rm /tmp/camera-startup-source.tar.gz |
| ENV PATH=/opt/hand-controller/bin:$PATH PYTHONUNBUFFERED=1 HF_HUB_DISABLE_TELEMETRY=1 PYTHONDONTWRITEBYTECODE=1 |
| ENV HOME=/home/user XDG_CACHE_HOME=/home/user/.cache |
| ENV PYTHONPATH=/opt/camera-adapter/src GDP_TRT_UPDATE=1 NVIDIA_TF32_OVERRIDE=0 |
| ENV DROID_SITE=/opt/droid/lib/python3.10/site-packages EGO_SITE=/opt/egohand/lib/python3.10/site-packages |
| ENV DROID_LIBRARY_PATH=${DROID_SITE}/tensorrt_libs:${DROID_SITE}/nvidia/cu12/lib:${DROID_SITE}/nvidia/cudnn/lib:${DROID_SITE}/nvidia/cuda_runtime/lib:${DROID_SITE}/nvidia/cublas/lib:${DROID_SITE}/nvidia/cufft/lib:${DROID_SITE}/nvidia/curand/lib:${DROID_SITE}/nvidia/cuda_nvrtc/lib |
| ENV EGO_LIBRARY_PATH=${EGO_SITE}/tensorrt_libs:${EGO_SITE}/nvidia/cudnn/lib:${EGO_SITE}/nvidia/cu13/lib:${DROID_SITE}/nvidia/cuda_runtime/lib:${DROID_SITE}/nvidia/cublas/lib:${DROID_SITE}/nvidia/cufft/lib:${DROID_SITE}/nvidia/curand/lib:${DROID_SITE}/nvidia/cuda_nvrtc/lib |
| RUN if ! getent passwd 1000 >/dev/null; then useradd -m -u 1000 user; fi \ |
| && mkdir -p /workspace /home/user/.cache && chown -R 1000:1000 /workspace /home/user |
| USER 1000 |
| WORKDIR /workspace |
| COPY --from=models --chown=1000:1000 /model-assets /workspace/hand-assets |
| COPY model-sources.json build_model_assets.py /opt/hand-worker/ |
| RUN python /opt/hand-worker/build_model_assets.py /workspace/hand-assets /opt/hand-worker/model-sources.json --verify-only |
| RUN python /opt/hand-worker/verify_runtime_imports.py all |
| EXPOSE 7860 |
| CMD ["python", "/opt/hand-worker/health.py"] |
|
|
