diff --git a/README.md b/README.md index 7fb516ac6b..83bdb3b9e2 100644 --- a/README.md +++ b/README.md @@ -59,15 +59,16 @@ We are shipping a first look at the DIMOS x Unitree Go2 integration, allowing fo Tested on Ubuntu 22.04/24.04 ```bash -sudo apt install python3-venv - # Clone the repository git clone --branch dev --single-branch https://github.com/dimensionalOS/dimos.git cd dimos -# Create and activate virtual environment -python3 -m venv venv -source venv/bin/activate +# Install uv +curl -LsSf https://astral.sh/uv/install.sh | sh + +# Setup virtual env and activate environment +uv venv --python 3.10 +source .venv/bin/activate sudo apt install portaudio19-dev python3-pyaudio @@ -75,23 +76,24 @@ sudo apt install portaudio19-dev python3-pyaudio sudo apt install git-lfs git lfs install -# Install torch and torchvision if not already installed -# Example CUDA 11.7, Pytorch 2.0.1 (replace with your required pytorch version if different) -pip install torch==2.0.1 torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118 -``` -#### Install dependencies -```bash -# CPU only (reccomended to attempt first) -pip install -e .[cpu,dev] +# Install dependencies +# CPU only (recommended to attempt first) +uv sync --extra dev --extra cpu # CUDA install -pip install -e .[cuda,dev] +uv sync --extra dev --extra cuda # Copy and configure environment variables cp default.env .env ``` +**Note:** For CUDA 11.8 specifically, you can install torch separately before syncing: +```bash +uv pip install torch==2.0.1 torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118 +uv sync --extra dev --extra cpu --no-install-project +``` + #### Test the install ```bash pytest -s dimos/ @@ -103,10 +105,19 @@ CONNECTION_TYPE=fake python dimos/robot/unitree_webrtc/unitree_go2.py ``` #### Test Dimensional with a simulated UnitreeGo2 in MuJoCo (no robot required) + +**With GUI (local machine with display):** +```bash +uv sync --extra dev --extra cpu --extra sim +export DISPLAY=:0 +CONNECTION_TYPE=mujoco python dimos/robot/unitree_webrtc/unitree_go2.py +``` + +**Headless mode (SSH/server without display):** ```bash -pip install -e .[sim] -export DISPLAY=:1 # Or DISPLAY=:0 if getting GLFW/OpenGL X11 errors -CONNECTION_TYPE=mujoco python dimos/robot/unitree_webrtc/unitree_go2.py +uv sync --extra dev --extra cpu --extra sim +sudo apt install xvfb # Install if not already available +xvfb-run -a CONNECTION_TYPE=mujoco python dimos/robot/unitree_webrtc/unitree_go2.py ``` #### Test Dimensional with a real UnitreeGo2 over WebRTC @@ -482,6 +493,6 @@ Huge thanks to! - Email: [build@dimensionalOS.com](mailto:build@dimensionalOS.com) ## Known Issues -- Agent() failure to execute Nav2 action primitives (move, reverse, spinLeft, spinRight) is almost always due to the internal ROS2 collision avoidance, which will sometimes incorrectly display obstacles or be overly sensitive. Look for ```[behavior_server]: Collision Ahead - Exiting DriveOnHeading``` in the ROS logs. Reccomend restarting ROS2 or moving robot from objects to resolve. -- ```docker-compose up --build``` does not fully initialize the ROS2 environment due to ```std::bad_alloc``` errors. This will occur during continuous docker development if the ```docker-compose down``` is not run consistently before rebuilding and/or you are on a machine with less RAM, as ROS is very memory intensive. Reccomend running to clear your docker cache/images/containers with ```docker system prune``` and rebuild. +- Agent() failure to execute Nav2 action primitives (move, reverse, spinLeft, spinRight) is almost always due to the internal ROS2 collision avoidance, which will sometimes incorrectly display obstacles or be overly sensitive. Look for ```[behavior_server]: Collision Ahead - Exiting DriveOnHeading``` in the ROS logs. recommend restarting ROS2 or moving robot from objects to resolve. +- ```docker-compose up --build``` does not fully initialize the ROS2 environment due to ```std::bad_alloc``` errors. This will occur during continuous docker development if the ```docker-compose down``` is not run consistently before rebuilding and/or you are on a machine with less RAM, as ROS is very memory intensive. recommend running to clear your docker cache/images/containers with ```docker system prune``` and rebuild. diff --git a/docker/deprecated/agent/Dockerfile b/docker/deprecated/agent/Dockerfile deleted file mode 100644 index a760bc3a6a..0000000000 --- a/docker/deprecated/agent/Dockerfile +++ /dev/null @@ -1,40 +0,0 @@ -FROM python:3 - -# General -# RUN apt-get update && apt-get install -y \ -# libgl1-mesa-glx - -# Unitree Specific -RUN apt-get update && apt-get install -y \ - libgl1-mesa-glx \ - build-essential \ - libavformat-dev \ - libavcodec-dev \ - libavdevice-dev \ - libavutil-dev \ - libswscale-dev \ - libpostproc-dev \ - gcc \ - make \ - portaudio19-dev \ - python3-pyaudio \ - python3-all-dev - -# Change working directory to /app for proper relative pathing -WORKDIR /app - -COPY requirements.txt ./ - -RUN pip install --no-cache-dir -r requirements.txt - -COPY ./dimos ./dimos - -COPY ./tests ./tests - -COPY ./dimos/__init__.py ./ - -# CMD [ "python", "-m", "tests.test_environment" ] - -# CMD [ "python", "-m", "tests.test_openai_agent_v3" ] - -CMD [ "python", "-m", "tests.test_agent" ] diff --git a/docker/deprecated/agent/docker-compose.yml b/docker/deprecated/agent/docker-compose.yml deleted file mode 100644 index 37b24f6abf..0000000000 --- a/docker/deprecated/agent/docker-compose.yml +++ /dev/null @@ -1,85 +0,0 @@ ---- -services: - dimos: - image: dimos:latest - build: - context: ../../ - dockerfile: docker/agent/Dockerfile - env_file: - - ../../.env - mem_limit: 8048m - volumes: - - ../../assets:/app/assets - ports: - - "5555:5555" - environment: - - PYTHONUNBUFFERED=1 - # command: [ "python", "-m", "tests.test_agent" ] - # ^^ Working Sanity Test Cases - Expand to Agent Class - # - # command: [ "python", "-m", "tests.stream.video_operators" ] - # ^^ Working Skeleton - Needs Impl. - # - # command: [ "python", "-m", "tests.stream.video_provider" ] - # ^^ Working Instance - Needs Tests. - # - # command: [ "python", "-m", "tests.web.edge_io" ] - # ^^ Working Instance - Needs Tests. - # - # command: [ "python", "-m", "tests.agent_manip_flow_flask_test" ] - # ^^ Working Instance - - # command: [ "python", "-m", "tests.agent_manip_flow_fastapi_test" ] - # ^^ Working Instance - Needs threading / start / stop functionality bugfix. - - # command: [ "python", "-m", "tests.test_standalone_project_out" ] - # ^^ WIP - Output Function Headers + Descriptions - - # command: [ "python", "-m", "tests.agent_memory_test" ] - # ^^ WIP - Agent Memory Testing - - # command: [ "python", "-m", "tests.test_standalone_fastapi" ] - # ^^ Working, FastAPI Multithreader Standalone - - # command: [ "python", "-m", "tests.test_standalone_rxpy_01" ] - # ^^ Working Instance - - # command: [ "python", "-m", "tests.test_standalone_openai_json" ] - # ^^ Working Instance - - # command: [ "python", "-m", "tests.test_standalone_openai_json_struct" ] - # ^^ Working Instance - - # command: [ "python", "-m", "tests.test_standalone_openai_json_struct_func" ] - # ^^ WIP - - # command: [ "python", "-m", "tests.test_standalone_openai_json_struct_func_playground" ] - # ^^ WIP - - # command: [ "python", "-m", "tests.test_skill_library" ] - # ^^ Working Instance - - # command: [ "python", "-m", "tests.test_video_rtsp" ] - # ^^ WIP - - command: [ "python", "-m", "tests.test_video_agent_threading" ] - # ^^ WIP - - # command: ["tail", "-f", "/dev/null"] - stdin_open: true - tty: true - -# ---- -# TO RUN: -# docker build -f ./Dockerfile -t dimos ../../ && docker compose up -# GO TO: -# 127.0.0.1:5555 (when flask server fixed) -# ---- - -# video-service: -# build: ./video-service -# image: video-service:latest -# volumes: -# - ./../../assets:/app/dimos-env/assets -# ports: -# - "23001:23001" diff --git a/docker/deprecated/interface/Dockerfile b/docker/deprecated/interface/Dockerfile deleted file mode 100644 index 9064f882e9..0000000000 --- a/docker/deprecated/interface/Dockerfile +++ /dev/null @@ -1,6 +0,0 @@ -FROM node:18-alpine - -WORKDIR /app - -# Start development server with host 0.0.0.0 to allow external connections -CMD ["sh", "-c", "yarn install && yarn dev --host 0.0.0.0"] \ No newline at end of file diff --git a/docker/deprecated/interface/docker-compose.yml b/docker/deprecated/interface/docker-compose.yml deleted file mode 100644 index 6571e92e16..0000000000 --- a/docker/deprecated/interface/docker-compose.yml +++ /dev/null @@ -1,18 +0,0 @@ ---- -services: - dimos-web-interface: - build: - context: ../../ # Root of the project - dockerfile: docker/interface/Dockerfile - image: dimos-web-interface:latest - container_name: dimos-web-interface - network_mode: "host" - ports: - - "3000:3000" - volumes: - - ../../dimos/web/dimos_interface:/app - healthcheck: - test: ["CMD", "wget", "--spider", "-q", "http://localhost:3000"] - interval: 30s - timeout: 10s - retries: 3 diff --git a/docker/deprecated/jetson/README.md b/docker/deprecated/jetson/README.md deleted file mode 100644 index 23ec6c250f..0000000000 --- a/docker/deprecated/jetson/README.md +++ /dev/null @@ -1,98 +0,0 @@ -# Jetson Setup Guide - -This guide explains how to set up and run local dimOS LLM Agents on NVIDIA Jetson devices. - -## Prerequisites - -> **Note**: This setup has been tested on: -> - Jetson Orin Nano (8GB) -> - JetPack 6.2 (L4T 36.4.3) -> - CUDA 12.6.68 - -### Requirements -- NVIDIA Jetson device (Orin/Xavier) -- Docker installed (with GPU support) -- Git installed -- CUDA installed - -## Basic Python Setup (Virtual Environment) - -### 1. Create a virtual environment: -```bash -python3 -m venv ~/jetson_env -source ~/jetson_env/bin/activate -``` - -### 2. Install cuSPARSELt: - -For PyTorch versions 24.06+ (see [Compatibility Matrix](https://docs.nvidia.com/deeplearning/frameworks/install-pytorch-jetson-platform-release-notes/pytorch-jetson-rel.html#pytorch-jetson-rel)), cuSPARSELt is required. Install it with the [instructions](https://developer.nvidia.com/cusparselt-downloads) by selecting Linux OS, aarch64-jetson architecture, and Ubuntu distribution - -For Jetpack 6.2, Pytorch 2.5, and CUDA 12.6: -```bash -wget https://developer.download.nvidia.com/compute/cusparselt/0.7.0/local_installers/cusparselt-local-tegra-repo-ubuntu2204-0.7.0_1.0-1_arm64.deb -sudo dpkg -i cusparselt-local-tegra-repo-ubuntu2204-0.7.0_1.0-1_arm64.deb -sudo cp /var/cusparselt-local-tegra-repo-ubuntu2204-0.7.0/cusparselt-*-keyring.gpg /usr/share/keyrings/ -sudo apt-get update -sudo apt-get -y install libcusparselt0 libcusparselt-dev -``` - -### 3. Install the Jetson-specific requirements: -```bash -cd /path/to/dimos -pip install -r docker/jetson/jetson_requirements.txt -``` - -### 4. Run testfile: -```bash -export PYTHONPATH=$PYTHONPATH:$(pwd) -python3 tests/test_agent_huggingface_local_jetson.py -``` - -## Docker Setup -for JetPack 6.2 (L4T 36.4.3), CUDA 12.6.68 - -### 1. Build and Run using Docker Compose - -From the DIMOS project root directory: -```bash -# Build and run the container -sudo docker compose -f docker/jetson/huggingface_local/docker-compose.yml up --build -``` - -This will: -- Build the Docker image with all necessary dependencies -- Start the container with GPU support -- Run the HuggingFace local agent test script - -## Troubleshooting - -### Libopenblas or other library errors - -Run the Jetson fix script: - -```bash -# From the DIMOS project root -chmod +x ./docker/jetson/fix_jetson.sh -./docker/jetson/fix_jetson.sh -``` - -This script will: -- Install cuSPARSELt library for tensor operations -- Fix libopenblas.so.0 dependencies -- Configure system libraries - -1. If you encounter CUDA/GPU issues: - - Ensure JetPack is properly installed - - Check nvidia-smi output - - Verify Docker has access to the GPU - -2. For memory issues: - - Consider using smaller / quantized models - - Adjust batch sizes and model parameters - - Run the jetson in non-GUI mode to maximize ram availability - -## Notes - -- The setup uses PyTorch built specifically for Jetson -- Models are downloaded and cached locally -- GPU acceleration is enabled by default diff --git a/docker/deprecated/jetson/fix_jetson.sh b/docker/deprecated/jetson/fix_jetson.sh deleted file mode 100644 index ade938a2c9..0000000000 --- a/docker/deprecated/jetson/fix_jetson.sh +++ /dev/null @@ -1,21 +0,0 @@ -#!/bin/bash - -# Install cuSPARSELt -# wget https://developer.download.nvidia.com/compute/cusparselt/0.7.0/local_installers/cusparselt-local-tegra-repo-ubuntu2204-0.7.0_1.0-1_arm64.deb -# sudo dpkg -i cusparselt-local-tegra-repo-ubuntu2204-0.7.0_1.0-1_arm64.deb -# sudo cp /var/cusparselt-local-tegra-repo-ubuntu2204-0.7.0/cusparselt-*-keyring.gpg /usr/share/keyrings/ -# sudo apt-get update -# sudo apt-get install libcusparselt0 libcusparselt-dev - -# Fixes libopenblas.so.0 import error -sudo rm -r /lib/aarch64-linux-gnu/libopenblas.so.0 -sudo apt-get update -sudo apt-get remove --purge libopenblas-dev libopenblas0 libopenblas0-dev -sudo apt-get install libopenblas-dev -sudo apt-get update -sudo apt-get remove --purge libopenblas0-openmp -sudo apt-get install libopenblas0-openmp - -# Verify libopenblas.so.0 location and access -ls -l /lib/aarch64-linux-gnu/libopenblas.so.0 - diff --git a/docker/deprecated/jetson/huggingface_local/Dockerfile b/docker/deprecated/jetson/huggingface_local/Dockerfile deleted file mode 100644 index dcb1738b90..0000000000 --- a/docker/deprecated/jetson/huggingface_local/Dockerfile +++ /dev/null @@ -1,44 +0,0 @@ -FROM python:3.10.12 - -# Unitree Specific -RUN apt-get update && apt-get install -y \ - libgl1-mesa-glx \ - build-essential \ - libavformat-dev \ - libavcodec-dev \ - libavdevice-dev \ - libavutil-dev \ - libswscale-dev \ - libpostproc-dev \ - gcc \ - make \ - portaudio19-dev \ - python3-pyaudio \ - python3-all-dev \ - libopenblas0-openmp - -# Jetson Orin Nano specific setup -RUN wget https://developer.download.nvidia.com/compute/cusparselt/0.7.0/local_installers/cusparselt-local-tegra-repo-ubuntu2204-0.7.0_1.0-1_arm64.deb && \ - dpkg -i cusparselt-local-tegra-repo-ubuntu2204-0.7.0_1.0-1_arm64.deb && \ - cp /var/cusparselt-local-tegra-repo-ubuntu2204-0.7.0/cusparselt-*-keyring.gpg /usr/share/keyrings/ && \ - apt-get update && \ - apt-get install -y libcusparselt0 libcusparselt-dev - - -# Change working directory to /app for proper relative pathing -WORKDIR /app - -COPY docker/jetson/jetson_requirements.txt ./requirements.txt - -COPY ./dimos/perception/external ./dimos/perception/external - -RUN pip install --no-cache-dir -r requirements.txt - -COPY ./dimos ./dimos - -COPY ./tests ./tests - -COPY ./dimos/__init__.py ./ - -# Copy libopenblas.so.0 from host if it exists (Jetson path) -RUN ldconfig diff --git a/docker/deprecated/jetson/huggingface_local/docker-compose.yml b/docker/deprecated/jetson/huggingface_local/docker-compose.yml deleted file mode 100644 index 4d87ce30f7..0000000000 --- a/docker/deprecated/jetson/huggingface_local/docker-compose.yml +++ /dev/null @@ -1,36 +0,0 @@ ---- -services: - dimos-model-huggingface-local: - image: dimos-jetson-huggingface-local:latest - build: - context: ../../../ - dockerfile: docker/jetson/huggingface_local/Dockerfile - env_file: - - ../../../.env - mem_limit: 8048m - volumes: - - ../../../assets:/app/assets - - ../../../assets/model-cache:/root/.cache/huggingface/hub - - /usr/local/cuda:/usr/local/cuda - - /usr/lib/aarch64-linux-gnu:/usr/lib/aarch64-linux-gnu - - ports: - - "5555:5555" - runtime: nvidia - environment: - - PYTHONUNBUFFERED=1 - - NVIDIA_VISIBLE_DEVICES=all - - NVIDIA_DRIVER_CAPABILITIES=all - # command: [ "python", "-m", "tests.test_agent_alibaba" ] - command: [ "python", "-m", "tests.test_agent_huggingface_local_jetson.py" ] - stdin_open: true - tty: true - -# IMPORTANT: This runs soley on the NVIDA GPU - -# ---- -# TO RUN: -# docker build -f ./Dockerfile -t dimos-models ../../ && docker compose up -# GO TO: -# 127.0.0.1:5555 (when flask server fixed) -# ---- diff --git a/docker/deprecated/jetson/jetson_requirements.txt b/docker/deprecated/jetson/jetson_requirements.txt deleted file mode 100644 index 6d42f2dc4c..0000000000 --- a/docker/deprecated/jetson/jetson_requirements.txt +++ /dev/null @@ -1,79 +0,0 @@ -opencv-python -python-dotenv -openai -anthropic>=0.19.0 -numpy -colorlog==6.9.0 -yapf==0.40.2 -typeguard -empy==3.3.4 -catkin_pkg -lark - -# pycolmap - -ffmpeg-python -pytest -python-dotenv -openai -tiktoken>=0.8.0 -Flask>=2.2 -python-multipart==0.0.20 -reactivex - -# Web Extensions -fastapi>=0.115.6 -sse-starlette>=2.2.1 -uvicorn>=0.34.0 - -# Agent Memory -langchain-chroma>=0.1.4 -langchain-openai>=0.2.14 - -# Class Extraction -pydantic - -# Developer Specific -ipykernel - -# Unitree webrtc streaming -aiortc==1.9.0 -pycryptodome -opencv-python -sounddevice -pyaudio -requests -wasmtime - -# Audio -openai-whisper -soundfile - -#Hugging Face -transformers[torch]==4.49.0 - -#Vector Embedding -sentence_transformers - -# CTransforms GGUF - GPU required -ctransformers[cuda]==0.2.27 - -# Perception Dependencies -ultralytics>=8.3.70 -filterpy>=1.4.5 -scipy>=1.15.1 - -# Pytorch wheel for JP6, cu12.6 -https://pypi.jetson-ai-lab.dev/jp6/cu126/+f/6cc/6ecfe8a5994fd/torch-2.6.0-cp310-cp310-linux_aarch64.whl - -# Torchvision wheel for JP6, cu12.6 -https://pypi.jetson-ai-lab.dev/jp6/cu126/+f/aa2/2da8dcf4c4c8d/torchvision-0.21.0-cp310-cp310-linux_aarch64.whl - -scikit-learn -Pillow -mmengine>=0.10.3 -mmcv==2.1.0 -timm==1.0.15 -lap==0.5.12 -# xformers==0.0.22 -# -e ./dimos/perception/external/vector_perception diff --git a/docker/deprecated/models/ctransformers_gguf/Dockerfile b/docker/deprecated/models/ctransformers_gguf/Dockerfile deleted file mode 100644 index a0e8a1edb0..0000000000 --- a/docker/deprecated/models/ctransformers_gguf/Dockerfile +++ /dev/null @@ -1,46 +0,0 @@ -FROM nvidia/cuda:12.1.0-cudnn8-runtime-ubuntu22.04 - -# Set up Python environment -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && apt-get install -y \ - python3.10 \ - python3-pip \ - python3.10-venv \ - python3-dev \ - libgl1-mesa-glx \ - build-essential \ - libavformat-dev \ - libavcodec-dev \ - libavdevice-dev \ - libavutil-dev \ - libswscale-dev \ - libpostproc-dev \ - gcc \ - make \ - portaudio19-dev \ - python3-pyaudio \ - python3-all-dev \ - git \ - wget \ - && rm -rf /var/lib/apt/lists/* - -# Create symlink for python -RUN ln -sf /usr/bin/python3.10 /usr/bin/python - -# Change working directory to /app for proper relative pathing -WORKDIR /app - -COPY requirements.txt ./ - -RUN pip install --no-cache-dir -r requirements.txt - -COPY ./dimos ./dimos - -COPY ./tests ./tests - -COPY ./dimos/__init__.py ./ - -# Add CUDA libraries to the path -ENV LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH - -CMD [ "python", "-m", "tests.test_agent_ctransformers_gguf" ] diff --git a/docker/deprecated/models/ctransformers_gguf/docker-compose.yml b/docker/deprecated/models/ctransformers_gguf/docker-compose.yml deleted file mode 100644 index 9cedfa4aa0..0000000000 --- a/docker/deprecated/models/ctransformers_gguf/docker-compose.yml +++ /dev/null @@ -1,32 +0,0 @@ ---- -services: - dimos-model-ctransformers-gguf: - image: dimos-model-ctransformers-gguf:latest - build: - context: ../../../ - dockerfile: docker/models/ctransformers_gguf/Dockerfile - env_file: - - ../../../.env - mem_limit: 8048m - volumes: - - ../../../assets:/app/assets - - ../../../assets/model-cache:/root/.cache/huggingface/hub - ports: - - "5555:5555" - runtime: nvidia - environment: - - PYTHONUNBUFFERED=1 - - NVIDIA_VISIBLE_DEVICES=all - - NVIDIA_DRIVER_CAPABILITIES=all - command: [ "python", "-m", "tests.test_agent_ctransformers_gguf" ] - stdin_open: true - tty: true - -# IMPORTANT: This runs soley on the NVIDA GPU - -# ---- -# TO RUN: -# docker build -f ./Dockerfile -t dimos-models ../../ && docker compose up -# GO TO: -# 127.0.0.1:5555 (when flask server fixed) -# ---- diff --git a/docker/deprecated/models/huggingface_local/Dockerfile b/docker/deprecated/models/huggingface_local/Dockerfile deleted file mode 100644 index 2c5435ae5f..0000000000 --- a/docker/deprecated/models/huggingface_local/Dockerfile +++ /dev/null @@ -1,32 +0,0 @@ -FROM python:3.10.12 - -# Unitree Specific -RUN apt-get update && apt-get install -y \ - libgl1-mesa-glx \ - build-essential \ - libavformat-dev \ - libavcodec-dev \ - libavdevice-dev \ - libavutil-dev \ - libswscale-dev \ - libpostproc-dev \ - gcc \ - make \ - portaudio19-dev \ - python3-pyaudio \ - python3-all-dev - -# Change working directory to /app for proper relative pathing -WORKDIR /app - -COPY requirements.txt ./ - -RUN pip install --no-cache-dir -r requirements.txt - -COPY ./dimos ./dimos - -COPY ./tests ./tests - -COPY ./dimos/__init__.py ./ - -CMD [ "python", "-m", "tests.test_agent_alibaba" ] diff --git a/docker/deprecated/models/huggingface_local/docker-compose.yml b/docker/deprecated/models/huggingface_local/docker-compose.yml deleted file mode 100644 index e5739be2c2..0000000000 --- a/docker/deprecated/models/huggingface_local/docker-compose.yml +++ /dev/null @@ -1,33 +0,0 @@ ---- -services: - dimos-model-huggingface-local: - image: dimos-model-huggingface-local:latest - build: - context: ../../../ - dockerfile: docker/models/huggingface_local/Dockerfile - env_file: - - ../../../.env - mem_limit: 8048m - volumes: - - ../../../assets:/app/assets - - ../../../assets/model-cache:/root/.cache/huggingface/hub - ports: - - "5555:5555" - runtime: nvidia - environment: - - PYTHONUNBUFFERED=1 - - NVIDIA_VISIBLE_DEVICES=all - - NVIDIA_DRIVER_CAPABILITIES=all - # command: [ "python", "-m", "tests.test_agent_alibaba" ] - command: [ "python", "-m", "tests.test_agent_huggingface_local.py" ] - stdin_open: true - tty: true - -# IMPORTANT: This runs soley on the NVIDA GPU - -# ---- -# TO RUN: -# docker build -f ./Dockerfile -t dimos-models ../../ && docker compose up -# GO TO: -# 127.0.0.1:5555 (when flask server fixed) -# ---- diff --git a/docker/deprecated/models/huggingface_remote/Dockerfile b/docker/deprecated/models/huggingface_remote/Dockerfile deleted file mode 100644 index 2c5435ae5f..0000000000 --- a/docker/deprecated/models/huggingface_remote/Dockerfile +++ /dev/null @@ -1,32 +0,0 @@ -FROM python:3.10.12 - -# Unitree Specific -RUN apt-get update && apt-get install -y \ - libgl1-mesa-glx \ - build-essential \ - libavformat-dev \ - libavcodec-dev \ - libavdevice-dev \ - libavutil-dev \ - libswscale-dev \ - libpostproc-dev \ - gcc \ - make \ - portaudio19-dev \ - python3-pyaudio \ - python3-all-dev - -# Change working directory to /app for proper relative pathing -WORKDIR /app - -COPY requirements.txt ./ - -RUN pip install --no-cache-dir -r requirements.txt - -COPY ./dimos ./dimos - -COPY ./tests ./tests - -COPY ./dimos/__init__.py ./ - -CMD [ "python", "-m", "tests.test_agent_alibaba" ] diff --git a/docker/deprecated/models/huggingface_remote/docker-compose.yml b/docker/deprecated/models/huggingface_remote/docker-compose.yml deleted file mode 100644 index e2337fcd37..0000000000 --- a/docker/deprecated/models/huggingface_remote/docker-compose.yml +++ /dev/null @@ -1,27 +0,0 @@ ---- -services: - dimos-model-huggingface-remote: - image: dimos-model-huggingface-remote:latest - build: - context: ../../../ - dockerfile: docker/models/huggingface_remote/Dockerfile - env_file: - - ../../../.env - mem_limit: 8048m - volumes: - - ../../../assets:/app/assets - # - ../../../assets/model-cache:/root/.cache/huggingface/hub - ports: - - "5555:5555" - environment: - - PYTHONUNBUFFERED=1 - command: [ "python", "-m", "tests.test_agent_huggingface_remote" ] - stdin_open: true - tty: true - -# ---- -# TO RUN: -# docker build -f ./Dockerfile -t dimos-models ../../ && docker compose up -# GO TO: -# 127.0.0.1:5555 (when flask server fixed) -# ---- diff --git a/docker/deprecated/simulation/entrypoint.sh b/docker/deprecated/simulation/entrypoint.sh deleted file mode 100644 index 373fa6f05c..0000000000 --- a/docker/deprecated/simulation/entrypoint.sh +++ /dev/null @@ -1,5 +0,0 @@ -#!/bin/bash -export PYTHONPATH="${PYTHONPATH}:/app" -source /opt/ros/humble/setup.bash -#source /home/ros/dev_ws/install/setup.bash -exec "$@" \ No newline at end of file diff --git a/docker/deprecated/simulation/genesis/10_nvidia.json b/docker/deprecated/simulation/genesis/10_nvidia.json deleted file mode 100644 index 2bfcca059e..0000000000 --- a/docker/deprecated/simulation/genesis/10_nvidia.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "file_format_version" : "1.0.0", - "ICD" : { - "library_path" : "libEGL_nvidia.so.0" - } -} diff --git a/docker/deprecated/simulation/genesis/Dockerfile b/docker/deprecated/simulation/genesis/Dockerfile deleted file mode 100644 index d22473b7cd..0000000000 --- a/docker/deprecated/simulation/genesis/Dockerfile +++ /dev/null @@ -1,131 +0,0 @@ -# From https://github.com/Genesis-Embodied-AI/Genesis/blob/main/docker/Dockerfile -ARG CUDA_VERSION=12.1 - -# =============================================================== -# Stage 1: Build LuisaRender -# =============================================================== -FROM pytorch/pytorch:2.5.1-cuda${CUDA_VERSION}-cudnn9-devel AS builder - -ENV DEBIAN_FRONTEND=noninteractive -ARG PYTHON_VERSION=3.11 - -# Install necessary packages -RUN apt-get update && apt-get install -y --no-install-recommends \ - build-essential \ - manpages-dev \ - libvulkan-dev \ - zlib1g-dev \ - xorg-dev libglu1-mesa-dev \ - libsnappy-dev \ - software-properties-common \ - git \ - curl \ - wget -RUN add-apt-repository ppa:ubuntu-toolchain-r/test && \ - apt update && \ - apt install -y --no-install-recommends \ - gcc-11 \ - g++-11 \ - gcc-11 g++-11 patchelf && \ - rm -rf /var/lib/apt/lists/* - -# Set GCC-11 and G++-11 as the default -RUN update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 110 && \ - update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-11 110 - -# Install Rust for build requirements -RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y - -RUN pip install "pybind11[global]" - -# Install CMake -RUN wget https://github.com/Kitware/CMake/releases/download/v3.31.0-rc2/cmake-3.31.0-rc2-linux-x86_64.sh && \ - chmod +x cmake-3.31.0-rc2-linux-x86_64.sh && \ - ./cmake-3.31.0-rc2-linux-x86_64.sh --skip-license --prefix=/usr/local && \ - rm cmake-3.31.0-rc2-linux-x86_64.sh - -# Build LuisaRender -WORKDIR /workspace -RUN git clone https://github.com/Genesis-Embodied-AI/Genesis.git && \ - cd Genesis && \ - git submodule update --init --recursive -COPY ./docker/simulation/genesis/build_luisa.sh /workspace/build_luisa.sh -RUN chmod +x ./build_luisa.sh && ./build_luisa.sh ${PYTHON_VERSION} - -# =============================================================== -# Stage 2: Runtime Environment -# =============================================================== -FROM pytorch/pytorch:2.5.1-cuda${CUDA_VERSION}-cudnn9-devel - -ARG PYTHON_VERSION=3.11 -ENV DEBIAN_FRONTEND=noninteractive -ENV NVIDIA_DRIVER_CAPABILITIES=all - -# Install runtime dependencies -RUN apt-get update && apt-get install -y --no-install-recommends \ - tmux \ - git \ - curl \ - wget \ - bash-completion \ - libgl1 \ - libgl1-mesa-glx \ - libegl-dev \ - libegl1 \ - libxrender1 \ - libglib2.0-0 \ - ffmpeg \ - libgtk2.0-dev \ - pkg-config \ - libvulkan-dev \ - libgles2 \ - libglvnd0 \ - libglx0 \ - && apt clean \ - && rm -rf /var/lib/apt/lists/* - -WORKDIR /workspace - -# --------------------------- Genesis ---------------------------- -RUN pip install --no-cache-dir open3d -RUN git clone https://github.com/Genesis-Embodied-AI/Genesis.git && \ - cd Genesis && \ - pip install . && \ - pip install --no-cache-dir PyOpenGL==3.1.5 - -# ------------------------ Motion planning ----------------------- -RUN PYTHON_MAJOR_MINOR=$(echo ${PYTHON_VERSION} | tr -d '.') && \ - wget https://github.com/ompl/ompl/releases/download/prerelease/ompl-1.6.0-cp${PYTHON_MAJOR_MINOR}-cp${PYTHON_MAJOR_MINOR}-manylinux_2_28_x86_64.whl && \ - pip install ompl-1.6.0-cp${PYTHON_MAJOR_MINOR}-cp${PYTHON_MAJOR_MINOR}-manylinux_2_28_x86_64.whl && \ - rm ompl-1.6.0-cp${PYTHON_MAJOR_MINOR}-cp${PYTHON_MAJOR_MINOR}-manylinux_2_28_x86_64.whl - -# -------------------- Surface Reconstruction -------------------- -# Set the LD_LIBRARY_PATH directly in the environment -COPY --from=builder /workspace/Genesis/genesis/ext/ParticleMesher/ParticleMesherPy /opt/conda/lib/python3.1/site-packages/genesis/ext/ParticleMesher/ParticleMesherPy -ENV LD_LIBRARY_PATH=/opt/conda/lib/python3.1/site-packages/genesis/ext/ParticleMesher/ParticleMesherPy:$LD_LIBRARY_PATH - -# --------------------- Ray Tracing Renderer --------------------- -# Copy LuisaRender build artifacts from the builder stage -COPY --from=builder /workspace/Genesis/genesis/ext/LuisaRender/build/bin /opt/conda/lib/python3.1/site-packages/genesis/ext/LuisaRender/build/bin -# fix GLIBCXX_3.4.30 not found -RUN cd /opt/conda/lib && \ - mv libstdc++.so.6 libstdc++.so.6.old && \ - ln -s /usr/lib/x86_64-linux-gnu/libstdc++.so.6 libstdc++.so.6 - -COPY ./docker/simulation/genesis/10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json -COPY ./docker/simulation/genesis/nvidia_icd.json /usr/share/vulkan/icd.d/nvidia_icd.json -COPY ./docker/simulation/genesis/nvidia_layers.json /etc/vulkan/implicit_layer.d/nvidia_layers.json - -# Change working directory to /app for proper relative pathing -WORKDIR /app - -# Copy application code -COPY ./dimos ./dimos -COPY ./tests ./tests -COPY ./assets ./assets -COPY ./dimos/__init__.py ./ -COPY ./docker/simulation/entrypoint.sh / -RUN chmod +x /entrypoint.sh - -ENTRYPOINT ["/entrypoint.sh"] -CMD [ "python3", "/app/tests/genesissim/stream_camera.py" ] diff --git a/docker/deprecated/simulation/genesis/build_luisa.sh b/docker/deprecated/simulation/genesis/build_luisa.sh deleted file mode 100644 index 95d861c57f..0000000000 --- a/docker/deprecated/simulation/genesis/build_luisa.sh +++ /dev/null @@ -1,22 +0,0 @@ -#!/bin/bash - -# Check if Python version is provided -if [ -z "$1" ]; then - echo "Usage: $0 " - exit 1 -fi - -PYTHON_VERSION=$1 - -cd Genesis/genesis/ext/LuisaRender && \ -git submodule update --init --recursive && \ -mkdir -p build && \ -cmake -S . -B build \ - -D CMAKE_BUILD_TYPE=Release \ - -D PYTHON_VERSIONS=$PYTHON_VERSION \ - -D LUISA_COMPUTE_DOWNLOAD_NVCOMP=ON \ - -D LUISA_COMPUTE_DOWNLOAD_OIDN=ON \ - -D LUISA_COMPUTE_ENABLE_GUI=OFF \ - -D LUISA_COMPUTE_ENABLE_CUDA=ON \ - -Dpybind11_DIR=$(python3 -c "import pybind11; print(pybind11.get_cmake_dir())") && \ -cmake --build build -j $(nproc) \ No newline at end of file diff --git a/docker/deprecated/simulation/genesis/docker-compose.yml b/docker/deprecated/simulation/genesis/docker-compose.yml deleted file mode 100644 index 2f1187a9c1..0000000000 --- a/docker/deprecated/simulation/genesis/docker-compose.yml +++ /dev/null @@ -1,38 +0,0 @@ ---- -services: - dimos_simulator: - image: dimos_simulator_genesis:latest - build: - context: ../../../ - dockerfile: docker/simulation/genesis/Dockerfile - env_file: - - ../../../.env - runtime: nvidia - environment: - - NVIDIA_VISIBLE_DEVICES=all - - NVIDIA_DRIVER_CAPABILITIES=all - - PYTHONUNBUFFERED=1 - - ACCEPT_EULA=Y - - PRIVACY_CONSENT=Y - volumes: - - ./../../../assets:/app/assets - networks: - - rtsp_net - depends_on: - - mediamtx - - mediamtx: - image: bluenviron/mediamtx:latest - networks: - - rtsp_net - ports: - - "8554:8554" - - "1935:1935" - - "8888:8888" - environment: - - MTX_PROTOCOLS=tcp - - MTX_LOG_LEVEL=info - -networks: - rtsp_net: - name: rtsp_net diff --git a/docker/deprecated/simulation/genesis/nvidia_icd.json b/docker/deprecated/simulation/genesis/nvidia_icd.json deleted file mode 100644 index 69600b17ae..0000000000 --- a/docker/deprecated/simulation/genesis/nvidia_icd.json +++ /dev/null @@ -1,7 +0,0 @@ -{ - "file_format_version" : "1.0.0", - "ICD": { - "library_path": "libGLX_nvidia.so.0", - "api_version" : "1.2.155" - } -} diff --git a/docker/deprecated/simulation/genesis/nvidia_layers.json b/docker/deprecated/simulation/genesis/nvidia_layers.json deleted file mode 100644 index a8e098eb9a..0000000000 --- a/docker/deprecated/simulation/genesis/nvidia_layers.json +++ /dev/null @@ -1,22 +0,0 @@ - -{ - "file_format_version" : "1.0.0", - "layer": { - "name": "VK_LAYER_NV_optimus", - "type": "INSTANCE", - "library_path": "libGLX_nvidia.so.0", - "api_version" : "1.2.155", - "implementation_version" : "1", - "description" : "NVIDIA Optimus layer", - "functions": { - "vkGetInstanceProcAddr": "vk_optimusGetInstanceProcAddr", - "vkGetDeviceProcAddr": "vk_optimusGetDeviceProcAddr" - }, - "enable_environment": { - "__NV_PRIME_RENDER_OFFLOAD": "1" - }, - "disable_environment": { - "DISABLE_LAYER_NV_OPTIMUS_1": "" - } - } -} diff --git a/docker/deprecated/simulation/isaac/Dockerfile b/docker/deprecated/simulation/isaac/Dockerfile deleted file mode 100644 index a908d5c6e0..0000000000 --- a/docker/deprecated/simulation/isaac/Dockerfile +++ /dev/null @@ -1,190 +0,0 @@ -FROM nvcr.io/nvidia/isaac-sim:4.2.0 - -# Set up locales -ENV LANG=en_US.UTF-8 -ENV LANGUAGE=en_US:en -ENV LC_ALL=en_US.UTF-8 - -RUN apt-get update && apt-get install -y locales && \ - locale-gen en_US en_US.UTF-8 && \ - update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \ - rm -rf /var/lib/apt/lists/* - -# Prevent interactive prompts during installation -ENV DEBIAN_FRONTEND=noninteractive - -# Install basic dependencies -RUN apt-get update && apt-get install -y \ - software-properties-common \ - curl \ - git \ - ffmpeg \ - && rm -rf /var/lib/apt/lists/* - -# Set timezone non-interactively -ENV TZ=America/Los_Angeles -RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone - -# Setup ROS 2 -RUN add-apt-repository universe -y \ - && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \ - && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \ - && apt-get update \ - && DEBIAN_FRONTEND=noninteractive apt-get install -y \ - && apt-get upgrade -y \ - && apt-get install -y \ - ros-humble-desktop \ - ros-humble-ros-base \ - ros-dev-tools \ - python3-rosdep \ - python3-colcon-common-extensions \ - python3-pip \ - python3.10-venv \ - ament-cmake \ - ros-humble-ament-cmake \ - build-essential \ - cmake \ - build-essential \ - cmake \ - python3-colcon-common-extensions \ - python3-flake8 \ - python3-rosdep \ - python3-setuptools \ - python3-vcstool \ - python3-rosinstall \ - python3-rosinstall-generator \ - python3-wstool \ - nano \ - wget \ - curl \ - vim \ - git \ - x11-apps \ - tmux \ - ros-humble-foxglove-bridge \ - ros-humble-moveit \ - ros-humble-moveit-visual-tools \ - ros-humble-moveit-ros-visualization \ - ros-humble-moveit-servo \ - ros-humble-joint-state-publisher-gui \ - ros-humble-rosbridge-suite \ - ros-humble-xacro \ - ros-humble-robot-state-publisher \ - ros-humble-teleop-twist-keyboard \ - ros-humble-teleop-twist-joy \ - ros-humble-joy \ - ros-humble-controller-manager \ - ros-humble-ros2-control \ - ros-humble-ros2-controllers \ - ros-humble-robot-state-publisher \ - ros-humble-joint-state-publisher \ - ros-humble-joint-trajectory-controller \ - ros-humble-joint-state-broadcaster \ - ros-humble-vision-msgs \ - ros-humble-ackermann-msgs \ - ros-humble-navigation2 \ - ros-humble-nav2-bringup \ - ros-humble-nav2-msgs \ - ros-humble-nav2-common \ - ros-humble-nav2-behavior-tree \ - ros-humble-nav2-costmap-2d \ - ros-humble-nav2-core \ - ros-humble-nav2-bt-navigator \ - ros-humble-pointcloud-to-laserscan \ - iputils-ping \ - net-tools \ - htop \ - python3-pip \ - ros-humble-tf* \ - ros-humble-gazebo-ros-pkgs \ - dos2unix \ - python3-genmsg \ - gpg \ - pass \ - ros-humble-depthai-ros \ - zstd \ - && rm -rf /var/lib/apt/lists/* - -RUN apt-get upgrade -y - - -# Initialize rosdep -RUN rosdep init && rosdep update - -# Setup ROS environment -RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc - -# Install Python packages directly -RUN pip install --no-cache-dir \ - rospkg \ - numpy==1.24.4 \ - jsonpickle \ - scipy \ - easydict \ - matplotlib==3.9.1 \ - opencv-python \ - pyyaml \ - pyquaternion \ - pybullet \ - requests \ - pillow \ - open3d \ - av==10.0.0 \ - transforms3d \ - torch \ - torchvision \ - torchaudio \ - transformers - - -ARG USERNAME=ros -ARG USER_UID=1000 -ARG USER_GID=$USER_UID - -# Create ros home directory -RUN mkdir -p /home/$USERNAME - -RUN cd /home/$USERNAME && git clone https://github.com/isaac-sim/IsaacSim-ros_workspaces.git -RUN rosdep update -RUN /bin/bash -c "cd /home/$USERNAME/IsaacSim-ros_workspaces/humble_ws && rosdep install -i --from-path src --rosdistro humble -y" - -RUN mkdir -p /home/$USERNAME/dev_ws/src -RUN cd /home/$USERNAME/dev_ws/src && git clone https://github.com/yashas-salankimatt/thesis_ros_ws.git - -# Install ZED SDK -RUN wget https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/4.2/ZED_SDK_Ubuntu22_cuda12.1_v4.2.1.zstd.run && chmod +x ZED_SDK_Ubuntu22_cuda12.1_v4.2.1.zstd.run -RUN /bin/bash -c "./ZED_SDK_Ubuntu22_cuda12.1_v4.2.1.zstd.run -- silent skip_cuda" - -ENV ZED_SDK_ROOT_DIR=/usr/local/zed -ENV CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:${ZED_SDK_ROOT_DIR} - - -RUN mkdir -p /home/$USERNAME/deps -RUN cd /home/$USERNAME/deps && git clone https://github.com/facebookresearch/segment-anything-2.git -RUN cd /home/$USERNAME/deps/segment-anything-2 && pip install -e . -RUN cd /home/$USERNAME/dev_ws -RUN chown -R $USER_UID:$USER_GID /home/$USERNAME/ - -RUN /bin/bash -c "source /opt/ros/humble/setup.bash && cd /home/$USERNAME/IsaacSim-ros_workspaces/humble_ws && colcon build" -RUN rm -rf /var/lib/apt/lists/* - -ENV CUDA_HOME=/usr/local/lib/python3.10/dist-packages/nvidia/cuda_runtime -ENV CUDA_TOOLKIT_ROOT_DIR=${CUDA_HOME} -ENV PATH=${CUDA_HOME}/bin:${PATH} -ENV LD_LIBRARY_PATH=${CUDA_HOME}/lib64:${LD_LIBRARY_PATH} - -# Change working directory to /app for proper relative pathing -WORKDIR /app - -# Copy application code -COPY ./dimos ./dimos -COPY ./tests ./tests -COPY ./assets ./assets -COPY ./dimos/__init__.py ./ -COPY ./docker/simulation/entrypoint.sh / -RUN chmod +x /entrypoint.sh - -ENTRYPOINT ["/entrypoint.sh"] -CMD [ "/isaac-sim/python.sh", "/app/tests/isaacsim/stream_camera.py" ] -# For testing -#CMD ["tail", "-f", "/dev/null"] \ No newline at end of file diff --git a/docker/deprecated/simulation/isaac/docker-compose.yml b/docker/deprecated/simulation/isaac/docker-compose.yml deleted file mode 100644 index a65040c4e2..0000000000 --- a/docker/deprecated/simulation/isaac/docker-compose.yml +++ /dev/null @@ -1,47 +0,0 @@ ---- -services: - dimos_simulator: - image: dimos_simulator_isaac:latest - build: - context: ../../../ - dockerfile: docker/simulation/isaac/Dockerfile - env_file: - - ../../../.env - runtime: nvidia - environment: - - NVIDIA_VISIBLE_DEVICES=all - - NVIDIA_DRIVER_CAPABILITIES=all - - PYTHONUNBUFFERED=1 - - ACCEPT_EULA=Y - - PRIVACY_CONSENT=Y - volumes: - - ./../../../assets:/app/assets - # Isaac Sim required volumes - - ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw - - ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw - - ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw - - ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw - - ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw - - ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw - - ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw - - ~/docker/isaac-sim/documents:/root/Documents:rw - networks: - - rtsp_net - depends_on: - - mediamtx - - mediamtx: - image: bluenviron/mediamtx:latest - networks: - - rtsp_net - ports: - - "8554:8554" - - "1935:1935" - - "8888:8888" - environment: - - MTX_PROTOCOLS=tcp - - MTX_LOG_LEVEL=info - -networks: - rtsp_net: - name: rtsp_net diff --git a/docker/deprecated/unitree/agents/Dockerfile b/docker/deprecated/unitree/agents/Dockerfile deleted file mode 100644 index c46fdd66e6..0000000000 --- a/docker/deprecated/unitree/agents/Dockerfile +++ /dev/null @@ -1,146 +0,0 @@ -FROM ubuntu:22.04 - -# Avoid prompts from apt -ENV DEBIAN_FRONTEND=noninteractive - -# Set locale -RUN apt-get update && apt-get install -y locales && \ - locale-gen en_US en_US.UTF-8 && \ - update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 -ENV LANG=en_US.UTF-8 - -# Set ROS distro -ENV ROS_DISTRO=humble - -# Install basic requirements -RUN apt-get update && apt-get install -y \ - curl \ - gnupg2 \ - lsb-release \ - python3-pip \ - clang \ - portaudio19-dev \ - git \ - mesa-utils \ - libgl1-mesa-glx \ - libgl1-mesa-dri \ - software-properties-common \ - libxcb1-dev \ - libxcb-keysyms1-dev \ - libxcb-util0-dev \ - libxcb-icccm4-dev \ - libxcb-image0-dev \ - libxcb-randr0-dev \ - libxcb-shape0-dev \ - libxcb-xinerama0-dev \ - libxcb-xkb-dev \ - libxkbcommon-x11-dev \ - qtbase5-dev \ - qtchooser \ - qt5-qmake \ - qtbase5-dev-tools \ - supervisor \ - && rm -rf /var/lib/apt/lists/* - -# Install specific numpy version first -RUN pip install 'numpy<2.0.0' - -# Add ROS2 apt repository -RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ - echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null - -# Install ROS2 packages and dependencies -RUN apt-get update && apt-get install -y \ - ros-${ROS_DISTRO}-desktop \ - ros-${ROS_DISTRO}-ros-base \ - ros-${ROS_DISTRO}-image-tools \ - ros-${ROS_DISTRO}-compressed-image-transport \ - ros-${ROS_DISTRO}-vision-msgs \ - ros-${ROS_DISTRO}-rviz2 \ - ros-${ROS_DISTRO}-rqt \ - ros-${ROS_DISTRO}-rqt-common-plugins \ - ros-${ROS_DISTRO}-twist-mux \ - ros-${ROS_DISTRO}-joy \ - ros-${ROS_DISTRO}-teleop-twist-joy \ - ros-${ROS_DISTRO}-navigation2 \ - ros-${ROS_DISTRO}-nav2-bringup \ - ros-${ROS_DISTRO}-nav2-amcl \ - ros-${ROS_DISTRO}-nav2-map-server \ - ros-${ROS_DISTRO}-nav2-util \ - ros-${ROS_DISTRO}-pointcloud-to-laserscan \ - ros-${ROS_DISTRO}-slam-toolbox \ - ros-${ROS_DISTRO}-foxglove-bridge \ - python3-rosdep \ - python3-rosinstall \ - python3-rosinstall-generator \ - python3-wstool \ - python3-colcon-common-extensions \ - python3-vcstool \ - build-essential \ - screen \ - tmux \ - && rm -rf /var/lib/apt/lists/* - -# Initialize rosdep -RUN rosdep init && rosdep update - -# Create workspace -WORKDIR /ros2_ws - -# Clone the repository with submodules -RUN git clone --recurse-submodules https://github.com/dimensionalOS/go2_ros2_sdk src - -# Install Python requirements -RUN cd src && pip install -r requirements.txt - -# Create dimos directory structure -RUN mkdir -p /app/dimos /app/docker - -COPY requirements.txt /app/ - -WORKDIR /app - -# Install dimos requirements -RUN pip install --no-cache-dir -r requirements.txt - -# Set PYTHONPATH permanently -ENV PYTHONPATH=/app:${PYTHONPATH} - -# Install ROS dependencies -WORKDIR /ros2_ws -RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \ - rosdep install --from-paths src --ignore-src -r -y - -# Build the workspace -RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \ - colcon build - -# Source ROS2 and workspace in bashrc -RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \ - echo "source /ros2_ws/install/setup.bash" >> /root/.bashrc - -COPY docker /app/docker/ - -# Setup supervisor configuration -COPY docker/unitree/agents/supervisord.conf /etc/supervisor/conf.d/supervisord.conf - -# Copy entrypoint script -COPY docker/unitree/agents/entrypoint.sh /entrypoint.sh -RUN chmod +x /entrypoint.sh - -# Copy dimos and tests -COPY dimos /app/dimos/ -COPY tests /app/tests -COPY dimos/__init__.py /app/__init__.py - -# Change working directory to /app for proper relative pathing -WORKDIR /app - -# Create output directories for supervisord and ROS -RUN mkdir -p /app/assets/output/ -RUN mkdir -p /app/assets/output/ros - -# TODO: Cleanup multiple working directories and seprate the dockerfiles for each service. - -ENTRYPOINT ["/entrypoint.sh"] -CMD ["/usr/bin/supervisord", "-n", "-c", "/etc/supervisor/conf.d/supervisord.conf"] diff --git a/docker/deprecated/unitree/agents/docker-compose.yml b/docker/deprecated/unitree/agents/docker-compose.yml deleted file mode 100644 index 6cde23e98e..0000000000 --- a/docker/deprecated/unitree/agents/docker-compose.yml +++ /dev/null @@ -1,27 +0,0 @@ ---- -services: - dimos-unitree-agents: - image: dimos-unitree-agents:latest - build: - context: ../../../ - dockerfile: docker/unitree/agents/Dockerfile - env_file: - - ../../../.env - environment: - PYTHONUNBUFFERED: 1 - ROBOT_IP: ${ROBOT_IP} - CONN_TYPE: ${CONN_TYPE:-webrtc} - WEBRTC_SERVER_HOST: 0.0.0.0 # Listen on all interfaces - WEBRTC_SERVER_PORT: ${WEBRTC_SERVER_PORT:-9991} - DISPLAY: ${DISPLAY:-} # For GUI applications like rviz2 - ROS_OUTPUT_DIR: /app/assets/output/ros # Change output directory - # DIMOS_MAX_WORKERS: ${DIMOS_MAX_WORKERS} - # TODO: ipc: host - volumes: - - ../../../assets:/app/assets - ports: - - "5555:5555" - mem_limit: 8048m - stdin_open: true - tty: true - diff --git a/docker/deprecated/unitree/agents/entrypoint.sh b/docker/deprecated/unitree/agents/entrypoint.sh deleted file mode 100755 index 7a8ddcae6a..0000000000 --- a/docker/deprecated/unitree/agents/entrypoint.sh +++ /dev/null @@ -1,17 +0,0 @@ -#!/bin/bash -set -e - -# Create supervisor log directory -mkdir -p /app/assets/output - -# Delete old logs -echo "Cleaning up old Supervisor logs..." -rm -f /app/assets/output/*.log - -# Source ROS2 environment -source /opt/ros/${ROS_DISTRO}/setup.bash -source /ros2_ws/install/setup.bash - -# Execute the command passed to docker run -exec "$@" -# python3 -m tests.test_unitree_agent diff --git a/docker/deprecated/unitree/agents/supervisord.conf b/docker/deprecated/unitree/agents/supervisord.conf deleted file mode 100644 index b66be13e30..0000000000 --- a/docker/deprecated/unitree/agents/supervisord.conf +++ /dev/null @@ -1,35 +0,0 @@ -[supervisord] -nodaemon=true -logfile=/var/log/supervisor/supervisord.log -pidfile=/var/run/supervisord.pid - -[program:ros2] -command=/bin/bash -c "source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch go2_robot_sdk robot.launch.py" -autostart=true -autorestart=true - -stderr_logfile=/app/assets/output/ros2.err.log -stdout_logfile=/app/assets/output/ros2.out.log -environment=PYTHONUNBUFFERED=1 - -[program:dimos] -command=/bin/bash -c "sleep 10 && source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && python3 /app/tests/test_planning_agent_web_interface.py" -autostart=true -autorestart=true -startsecs=11 - -stdout_logfile=/dev/stdout -stdout_logfile_maxbytes=0 -stderr_logfile=/dev/stderr -stderr_logfile_maxbytes=0 -environment=PYTHONUNBUFFERED=1 - -[unix_http_server] -file=/var/run/supervisor.sock -chmod=0700 - -[rpcinterface:supervisor] -supervisor.rpcinterface_factory = supervisor.rpcinterface:make_main_rpcinterface - -[supervisorctl] -serverurl=unix:///var/run/supervisor.sock \ No newline at end of file diff --git a/docker/deprecated/unitree/agents_interface/Dockerfile b/docker/deprecated/unitree/agents_interface/Dockerfile deleted file mode 100644 index 3bc00d2a16..0000000000 --- a/docker/deprecated/unitree/agents_interface/Dockerfile +++ /dev/null @@ -1,151 +0,0 @@ -FROM ubuntu:22.04 - -# Avoid prompts from apt -ENV DEBIAN_FRONTEND=noninteractive - -# Set locale -RUN apt-get update && apt-get install -y locales && \ - locale-gen en_US en_US.UTF-8 && \ - update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 -ENV LANG=en_US.UTF-8 - -# Set ROS distro -ENV ROS_DISTRO=humble - -# Install basic requirements -RUN apt-get update && apt-get install -y \ - curl \ - gnupg2 \ - lsb-release \ - python3-pip \ - clang \ - portaudio19-dev \ - git \ - mesa-utils \ - libgl1-mesa-glx \ - libgl1-mesa-dri \ - software-properties-common \ - libxcb1-dev \ - libxcb-keysyms1-dev \ - libxcb-util0-dev \ - libxcb-icccm4-dev \ - libxcb-image0-dev \ - libxcb-randr0-dev \ - libxcb-shape0-dev \ - libxcb-xinerama0-dev \ - libxcb-xkb-dev \ - libxkbcommon-x11-dev \ - qtbase5-dev \ - qtchooser \ - qt5-qmake \ - qtbase5-dev-tools \ - supervisor \ - && rm -rf /var/lib/apt/lists/* - -# Install specific numpy version first -RUN pip install 'numpy<2.0.0' - -# Add ROS2 apt repository -RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ - echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null - -# Install ROS2 packages and dependencies -RUN apt-get update && apt-get install -y \ - ros-${ROS_DISTRO}-desktop \ - ros-${ROS_DISTRO}-ros-base \ - ros-${ROS_DISTRO}-image-tools \ - ros-${ROS_DISTRO}-compressed-image-transport \ - ros-${ROS_DISTRO}-vision-msgs \ - ros-${ROS_DISTRO}-rviz2 \ - ros-${ROS_DISTRO}-rqt \ - ros-${ROS_DISTRO}-rqt-common-plugins \ - ros-${ROS_DISTRO}-twist-mux \ - ros-${ROS_DISTRO}-joy \ - ros-${ROS_DISTRO}-teleop-twist-joy \ - ros-${ROS_DISTRO}-navigation2 \ - ros-${ROS_DISTRO}-nav2-bringup \ - ros-${ROS_DISTRO}-nav2-amcl \ - ros-${ROS_DISTRO}-nav2-map-server \ - ros-${ROS_DISTRO}-nav2-util \ - ros-${ROS_DISTRO}-pointcloud-to-laserscan \ - ros-${ROS_DISTRO}-slam-toolbox \ - ros-${ROS_DISTRO}-foxglove-bridge \ - python3-rosdep \ - python3-rosinstall \ - python3-rosinstall-generator \ - python3-wstool \ - python3-colcon-common-extensions \ - python3-vcstool \ - build-essential \ - screen \ - tmux \ - && rm -rf /var/lib/apt/lists/* - -# Initialize rosdep -RUN rosdep init && rosdep update - -# Create workspace -WORKDIR /ros2_ws - -# Clone the repository with submodules -RUN git clone --recurse-submodules https://github.com/dimensionalOS/go2_ros2_sdk src - -# Install Python requirements -RUN cd src && pip install -r requirements.txt - -# Create dimos directory structure -RUN mkdir -p /app/dimos /app/docker - -COPY requirements.txt /app/ - -COPY base-requirements.txt /app/ - -WORKDIR /app - -# Install torch and torchvision first due to builds in requirements.txt -RUN pip install --no-cache-dir -r base-requirements.txt - -# Install dimos requirements -RUN pip install --no-cache-dir -r requirements.txt - -# Set PYTHONPATH permanently -ENV PYTHONPATH=/app:${PYTHONPATH} - -# Install ROS dependencies -WORKDIR /ros2_ws -RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \ - rosdep install --from-paths src --ignore-src -r -y - -# Build the workspace -RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \ - colcon build - -# Source ROS2 and workspace in bashrc -RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \ - echo "source /ros2_ws/install/setup.bash" >> /root/.bashrc - -COPY docker /app/docker/ - -# Setup supervisor configuration -COPY docker/unitree/agents_interface/supervisord.conf /etc/supervisor/conf.d/supervisord.conf - -# Copy entrypoint script -COPY docker/unitree/agents_interface/entrypoint.sh /entrypoint.sh -RUN chmod +x /entrypoint.sh - -# Copy dimos and tests -COPY dimos /app/dimos/ -COPY tests /app/tests -COPY dimos/__init__.py /app/__init__.py - -# Change working directory to /app for proper relative pathing -WORKDIR /app - -# Create output directories for supervisord and ROS -RUN mkdir -p /app/assets/output/ -RUN mkdir -p /app/assets/output/ros - -# TODO: Cleanup multiple working directories and seprate the dockerfiles for each service. - -ENTRYPOINT ["/entrypoint.sh"] -CMD ["/usr/bin/supervisord", "-n", "-c", "/etc/supervisor/conf.d/supervisord.conf"] diff --git a/docker/deprecated/unitree/agents_interface/docker-compose.yml b/docker/deprecated/unitree/agents_interface/docker-compose.yml deleted file mode 100644 index 62b59d24ba..0000000000 --- a/docker/deprecated/unitree/agents_interface/docker-compose.yml +++ /dev/null @@ -1,43 +0,0 @@ ---- -services: - dimos-unitree-agents-interface: - image: dimos-unitree-agents-interface:latest - build: - context: ../../../ - dockerfile: docker/unitree/agents_interface/Dockerfile - env_file: - - ../../../.env - environment: - - PYTHONUNBUFFERED=1 - - ROS_OUTPUT_DIR=/app/assets/output/ros # Change output directory - - NVIDIA_VISIBLE_DEVICES=all - - DISPLAY=$DISPLAY - # DIMOS_MAX_WORKERS: ${DIMOS_MAX_WORKERS} - # TODO: ipc: host - volumes: - - ../../../assets:/app/assets - - /tmp/.X11-unix:/tmp/.X11-unix - - ~/.Xauthority:/root/.Xauthority:ro - # Persist model caches in host filesystem - - ../../../assets/model-cache/torch-hub:/root/.cache/torch/hub - - ../../../assets/model-cache/iopath-cache:/root/.torch/iopath_cache - - ../../../assets/model-cache/ultralytics:/root/.config/Ultralytics - network_mode: "host" - ports: - - "5555:5555" - mem_limit: 8048m - runtime: nvidia - stdin_open: true - tty: true - - dimos-web-interface: - build: - context: ../../../ - dockerfile: docker/interface/Dockerfile - image: dimos-web-interface:latest - container_name: dimos-web-interface - network_mode: "host" - volumes: - - ../../../dimos/web/dimos_interface:/app - depends_on: - - dimos-unitree-agents-interface \ No newline at end of file diff --git a/docker/deprecated/unitree/agents_interface/entrypoint.sh b/docker/deprecated/unitree/agents_interface/entrypoint.sh deleted file mode 100755 index 7a8ddcae6a..0000000000 --- a/docker/deprecated/unitree/agents_interface/entrypoint.sh +++ /dev/null @@ -1,17 +0,0 @@ -#!/bin/bash -set -e - -# Create supervisor log directory -mkdir -p /app/assets/output - -# Delete old logs -echo "Cleaning up old Supervisor logs..." -rm -f /app/assets/output/*.log - -# Source ROS2 environment -source /opt/ros/${ROS_DISTRO}/setup.bash -source /ros2_ws/install/setup.bash - -# Execute the command passed to docker run -exec "$@" -# python3 -m tests.test_unitree_agent diff --git a/docker/deprecated/unitree/agents_interface/supervisord.conf b/docker/deprecated/unitree/agents_interface/supervisord.conf deleted file mode 100644 index b03b614fcd..0000000000 --- a/docker/deprecated/unitree/agents_interface/supervisord.conf +++ /dev/null @@ -1,35 +0,0 @@ -[supervisord] -nodaemon=true -logfile=/var/log/supervisor/supervisord.log -pidfile=/var/run/supervisord.pid - -[program:ros2] -command=/bin/bash -c "source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch go2_robot_sdk robot.launch.py" -autostart=true -autorestart=true - -stderr_logfile=/app/assets/output/ros2.err.log -stdout_logfile=/app/assets/output/ros2.out.log -environment=PYTHONUNBUFFERED=1 - -[program:dimos] -command=/bin/bash -c "sleep 10 && source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && python3 /app/tests/run.py --new-memory" -autostart=true -autorestart=true -startsecs=11 - -stdout_logfile=/dev/stdout -stdout_logfile_maxbytes=0 -stderr_logfile=/dev/stderr -stderr_logfile_maxbytes=0 -environment=PYTHONUNBUFFERED=1 - -[unix_http_server] -file=/var/run/supervisor.sock -chmod=0700 - -[rpcinterface:supervisor] -supervisor.rpcinterface_factory = supervisor.rpcinterface:make_main_rpcinterface - -[supervisorctl] -serverurl=unix:///var/run/supervisor.sock \ No newline at end of file diff --git a/docker/deprecated/unitree/ros/Dockerfile b/docker/deprecated/unitree/ros/Dockerfile deleted file mode 100644 index 6d495a5065..0000000000 --- a/docker/deprecated/unitree/ros/Dockerfile +++ /dev/null @@ -1,116 +0,0 @@ -FROM ubuntu:22.04 - -# Avoid prompts from apt -ENV DEBIAN_FRONTEND=noninteractive - -# Set locale -RUN apt-get update && apt-get install -y locales && \ - locale-gen en_US en_US.UTF-8 && \ - update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 -ENV LANG=en_US.UTF-8 - -# Set ROS distro -ENV ROS_DISTRO=humble - -# Install basic requirements -RUN apt-get update && apt-get install -y \ - curl \ - gnupg2 \ - lsb-release \ - python3-pip \ - clang \ - portaudio19-dev \ - git \ - mesa-utils \ - libgl1-mesa-glx \ - libgl1-mesa-dri \ - software-properties-common \ - libxcb1-dev \ - libxcb-keysyms1-dev \ - libxcb-util0-dev \ - libxcb-icccm4-dev \ - libxcb-image0-dev \ - libxcb-randr0-dev \ - libxcb-shape0-dev \ - libxcb-xinerama0-dev \ - libxcb-xkb-dev \ - libxkbcommon-x11-dev \ - qtbase5-dev \ - qtchooser \ - qt5-qmake \ - qtbase5-dev-tools \ - && rm -rf /var/lib/apt/lists/* - -# Install specific numpy version first -RUN pip install 'numpy<2.0.0' - -# Add ROS2 apt repository -RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ - echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null - -# Install ROS2 packages and dependencies -RUN apt-get update && apt-get install -y \ - ros-${ROS_DISTRO}-desktop \ - ros-${ROS_DISTRO}-ros-base \ - ros-${ROS_DISTRO}-image-tools \ - ros-${ROS_DISTRO}-compressed-image-transport \ - ros-${ROS_DISTRO}-vision-msgs \ - ros-${ROS_DISTRO}-rviz2 \ - ros-${ROS_DISTRO}-rqt \ - ros-${ROS_DISTRO}-rqt-common-plugins \ - ros-${ROS_DISTRO}-twist-mux \ - ros-${ROS_DISTRO}-joy \ - ros-${ROS_DISTRO}-teleop-twist-joy \ - ros-${ROS_DISTRO}-navigation2 \ - ros-${ROS_DISTRO}-nav2-bringup \ - ros-${ROS_DISTRO}-nav2-amcl \ - ros-${ROS_DISTRO}-nav2-map-server \ - ros-${ROS_DISTRO}-nav2-util \ - ros-${ROS_DISTRO}-pointcloud-to-laserscan \ - ros-${ROS_DISTRO}-slam-toolbox \ - ros-${ROS_DISTRO}-foxglove-bridge \ - python3-rosdep \ - python3-rosinstall \ - python3-rosinstall-generator \ - python3-wstool \ - python3-colcon-common-extensions \ - python3-vcstool \ - build-essential \ - && rm -rf /var/lib/apt/lists/* - -# Initialize rosdep -RUN rosdep init && rosdep update - -# Create workspace -WORKDIR /ros2_ws - -# Clone the repository with submodules -RUN git clone --recurse-submodules https://github.com/dimensionalOS/go2_ros2_sdk src - -# Install Python requirements (with numpy constraint) -RUN cd src && pip install -r requirements.txt - -# Install ROS dependencies -RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \ - rosdep install --from-paths src --ignore-src -r -y - -# Build the workspace -RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \ - colcon build - -# Source ROS2 and workspace in bashrc -RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \ - echo "source /ros2_ws/install/setup.bash" >> /root/.bashrc - -# Set environment variables -ENV ROBOT_IP="" -ENV CONN_TYPE="webrtc" -ENV WEBRTC_SERVER_HOST="0.0.0.0" -ENV WEBRTC_SERVER_PORT="9991" - -# Copy entrypoint script -COPY entrypoint.sh /entrypoint.sh -RUN chmod +x /entrypoint.sh - -ENTRYPOINT ["/entrypoint.sh"] -CMD ["ros2", "launch", "go2_robot_sdk", "robot.launch.py"] diff --git a/docker/deprecated/unitree/ros/README.md b/docker/deprecated/unitree/ros/README.md deleted file mode 100644 index 3b6deff3ad..0000000000 --- a/docker/deprecated/unitree/ros/README.md +++ /dev/null @@ -1,69 +0,0 @@ -# Unitree Go2 ROS Docker Setup - -This README explains how to run the Unitree Go2 ROS nodes using Docker. - -## Prerequisites - -- Docker and Docker Compose installed -- A Unitree Go2 robot accessible on your network -- The robot's IP address - -## Configuration - -The connection can be configured through environment variables in two ways: - -1. Setting them before running docker-compose: - ```bash - export ROBOT_IP=192.168.9.140 - export CONN_TYPE=webrtc # or cyclonedds - ``` - -2. Hardcoding them directly in `docker/docker-compose.yaml` - -## Usage - -To run the ROS nodes: - -1. Navigate to the docker directory: - ```bash - cd docker/unitree/ros - ``` - -2. Run with environment variables: - ```bash - xhost +local:root # If running locally and desire RVIZ GUI - ROBOT_IP= CONN_TYPE= docker-compose up --build - ``` - - Where: - - `` is your Go2's IP address - - `` choose either: - - `webrtc`: For WebRTC video streaming connection - - `cyclonedds`: For DDS communication - -The containers will build and start, establishing connection with your Go2 robot and opening RVIZ. - - -## Known Issues - -1. If you encounter the error `unitree_ros-1 | exec /entrypoint.sh: no such file or directory`, this can be caused by: - - Incorrect file permissions - - Windows-style line endings (CRLF) in the entrypoint script - - To fix: - 1. Ensure the entrypoint script has execute permissions: - ```bash - chmod +x entrypoint.sh - ``` - - 2. If using Windows, convert line endings to Unix format (LF): - ```bash - # Using dos2unix - dos2unix entrypoint.sh - - # Or using sed - sed -i 's/\r$//' entrypoint.sh - ``` - - - diff --git a/docker/deprecated/unitree/ros/docker-compose.yml b/docker/deprecated/unitree/ros/docker-compose.yml deleted file mode 100644 index a16aaff4c9..0000000000 --- a/docker/deprecated/unitree/ros/docker-compose.yml +++ /dev/null @@ -1,22 +0,0 @@ ---- -services: - unitree_ros: - image: unitree_ros:latest - build: - context: ../../../ - dockerfile: docker/unitree/ros/Dockerfile - environment: - - PYTHONUNBUFFERED=1 - - ROBOT_IP=${ROBOT_IP} - - CONN_TYPE=${CONN_TYPE:-webrtc} - - WEBRTC_SERVER_HOST=0.0.0.0 # Listen on all interfaces - - WEBRTC_SERVER_PORT=${WEBRTC_SERVER_PORT:-9991} - - DISPLAY=${DISPLAY:-} # For GUI applications like rviz2 - volumes: - - /tmp/.X11-unix:/tmp/.X11-unix # X11 forwarding - - ${HOME}/.Xauthority:/root/.Xauthority:rw - network_mode: "host" # Required for ROS2 discovery and robot communication - privileged: true # Required for hardware access - devices: - - /dev/input:/dev/input # For joystick access - restart: unless-stopped diff --git a/docker/deprecated/unitree/ros/entrypoint.sh b/docker/deprecated/unitree/ros/entrypoint.sh deleted file mode 100755 index dcdc8660c4..0000000000 --- a/docker/deprecated/unitree/ros/entrypoint.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/bash -set -e -# Source ROS2 environment -source /opt/ros/${ROS_DISTRO}/setup.bash -source /ros2_ws/install/setup.bash -# Execute the command passed to docker run -exec "$@" diff --git a/docker/deprecated/unitree/ros_agents/docker-compose.yml b/docker/deprecated/unitree/ros_agents/docker-compose.yml deleted file mode 100644 index 6d93ea89ab..0000000000 --- a/docker/deprecated/unitree/ros_agents/docker-compose.yml +++ /dev/null @@ -1,67 +0,0 @@ ---- -services: - dimos-unitree-ros-agents: - image: dimos-unitree-ros-agents:latest - build: - context: ../../../ - dockerfile: docker/unitree/ros_agents/Dockerfile - env_file: - - ../../../.env - environment: - PYTHONUNBUFFERED: 1 - ROBOT_IP: ${ROBOT_IP} - CONN_TYPE: ${CONN_TYPE:-webrtc} - WEBRTC_SERVER_HOST: 0.0.0.0 # Listen on all interfaces - WEBRTC_SERVER_PORT: ${WEBRTC_SERVER_PORT:-9991} - DISPLAY: ${DISPLAY:-} # For GUI applications like rviz2 - ROS_OUTPUT_DIR: /app/assets/output/ros # Change output directory - # DIMOS_MAX_WORKERS: ${DIMOS_MAX_WORKERS} - # TODO: ipc: host - volumes: - - ../../../assets:/app/assets - network_mode: "host" - ports: - - "5555:5555" - mem_limit: 8048m - stdin_open: true - tty: true - healthcheck: - test: ["CMD", "curl", "-f", "http://localhost:5555/unitree/status"] - interval: 10s - timeout: 5s - retries: 5 - start_period: 10s - - dimos-web-interface: - build: - context: ../../../ - dockerfile: docker/interface/Dockerfile - image: dimos-web-interface:latest - container_name: dimos-web-interface - network_mode: "host" - volumes: - - ../../../dimos/web/dimos_interface:/app - depends_on: - dimos-unitree-ros-agents: - condition: service_healthy - healthcheck: - test: ["CMD", "wget", "--spider", "-q", "http://localhost:3000"] - interval: 30s - timeout: 10s - retries: 3 - - -# ---- -# TO RUN: -# docker build -f ./Dockerfile -t dimos ../../ && docker compose up -# GO TO: -# 127.0.0.1:5555 (when flask server fixed) -# ---- - -# video-service: -# build: ./video-service -# image: video-service:latest -# volumes: -# - ./../../assets:/app/dimos-env/assets -# ports: -# - "23001:23001" diff --git a/docker/deprecated/unitree/ros_dimos/Dockerfile b/docker/deprecated/unitree/ros_dimos/Dockerfile deleted file mode 100644 index 3c712a3578..0000000000 --- a/docker/deprecated/unitree/ros_dimos/Dockerfile +++ /dev/null @@ -1,148 +0,0 @@ -FROM ubuntu:22.04 - -# Avoid prompts from apt -ENV DEBIAN_FRONTEND=noninteractive - -# Set locale -RUN apt-get update && apt-get install -y locales && \ - locale-gen en_US en_US.UTF-8 && \ - update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 -ENV LANG=en_US.UTF-8 - -# Set ROS distro -ENV ROS_DISTRO=humble - -# Install basic requirements -RUN apt-get update && apt-get install -y \ - curl \ - gnupg2 \ - lsb-release \ - python3-pip \ - clang \ - portaudio19-dev \ - git \ - mesa-utils \ - libgl1-mesa-glx \ - libgl1-mesa-dri \ - software-properties-common \ - libxcb1-dev \ - libxcb-keysyms1-dev \ - libxcb-util0-dev \ - libxcb-icccm4-dev \ - libxcb-image0-dev \ - libxcb-randr0-dev \ - libxcb-shape0-dev \ - libxcb-xinerama0-dev \ - libxcb-xkb-dev \ - libxkbcommon-x11-dev \ - qtbase5-dev \ - qtchooser \ - qt5-qmake \ - qtbase5-dev-tools \ - supervisor \ - && rm -rf /var/lib/apt/lists/* - -# Install specific numpy version first -RUN pip install 'numpy<2.0.0' - -# Add ROS2 apt repository -RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ - echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null - -# Install ROS2 packages and dependencies -RUN apt-get update && apt-get install -y \ - ros-${ROS_DISTRO}-desktop \ - ros-${ROS_DISTRO}-ros-base \ - ros-${ROS_DISTRO}-image-tools \ - ros-${ROS_DISTRO}-compressed-image-transport \ - ros-${ROS_DISTRO}-vision-msgs \ - ros-${ROS_DISTRO}-rviz2 \ - ros-${ROS_DISTRO}-rqt \ - ros-${ROS_DISTRO}-rqt-common-plugins \ - ros-${ROS_DISTRO}-twist-mux \ - ros-${ROS_DISTRO}-joy \ - ros-${ROS_DISTRO}-teleop-twist-joy \ - ros-${ROS_DISTRO}-navigation2 \ - ros-${ROS_DISTRO}-nav2-bringup \ - ros-${ROS_DISTRO}-nav2-amcl \ - ros-${ROS_DISTRO}-nav2-map-server \ - ros-${ROS_DISTRO}-nav2-util \ - ros-${ROS_DISTRO}-pointcloud-to-laserscan \ - ros-${ROS_DISTRO}-slam-toolbox \ - ros-${ROS_DISTRO}-foxglove-bridge \ - python3-rosdep \ - python3-rosinstall \ - python3-rosinstall-generator \ - python3-wstool \ - python3-colcon-common-extensions \ - python3-vcstool \ - build-essential \ - && rm -rf /var/lib/apt/lists/* - -# Initialize rosdep -RUN rosdep init && rosdep update - -# Create workspace -WORKDIR /ros2_ws - -# Clone the repository with submodules -RUN git clone --recurse-submodules https://github.com/dimensionalOS/go2_ros2_sdk src - -# Install Python requirements -RUN cd src && pip install -r requirements.txt - -# Create dimos directory structure -RUN mkdir -p /app/dimos /app/docker - -COPY requirements.txt /app/ - -WORKDIR /app - -# Install dimos requirements -RUN pip install --no-cache-dir -r requirements.txt - -# Set PYTHONPATH permanently -ENV PYTHONPATH=/app:${PYTHONPATH} - -# Install ROS dependencies -WORKDIR /ros2_ws -RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \ - rosdep install --from-paths src --ignore-src -r -y - -# Build the workspace -RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \ - colcon build - -# Source ROS2 and workspace in bashrc -RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \ - echo "source /ros2_ws/install/setup.bash" >> /root/.bashrc - -# Set environment variables -# webrtc or cyclonedds -ENV CONN_TYPE="webrtc" -ENV WEBRTC_SERVER_HOST="0.0.0.0" -ENV WEBRTC_SERVER_PORT="9991" - -COPY docker /app/docker/ - -# Setup supervisor configuration -COPY docker/unitree/ros_dimos/supervisord.conf /etc/supervisor/conf.d/supervisord.conf - -# Copy entrypoint script -COPY docker/unitree/ros_dimos/entrypoint.sh /entrypoint.sh -RUN chmod +x /entrypoint.sh - -COPY dimos /app/dimos/ -COPY tests /app/tests/ - -# Change working directory to /app for proper relative pathing -WORKDIR /app - -# Create output directories for supervisord and ROS -RUN mkdir -p /app/assets/output/ -RUN mkdir -p /app/assets/output/ros - -# TODO: Cleanup multiple working directories and seprate the dockerfiles for each service. - -ENTRYPOINT ["/entrypoint.sh"] -CMD ["/usr/bin/supervisord", "-n", "-c", "/etc/supervisor/conf.d/supervisord.conf"] diff --git a/docker/deprecated/unitree/ros_dimos/README.md b/docker/deprecated/unitree/ros_dimos/README.md deleted file mode 100644 index 4c63aaddb2..0000000000 --- a/docker/deprecated/unitree/ros_dimos/README.md +++ /dev/null @@ -1,165 +0,0 @@ -# Unitree Go2 ROS + DIMOS Movement Agents Docker Setup - -This README explains how to run the Unitree Go2 ROS nodes with DIMOS integration using Docker. - -## Prerequisites - -- Docker and Docker Compose installed -- A Unitree Go2 robot accessible on your network -- The robot's IP address -- Python requirements installed (see root directory's requirements.txt) - -## Configuration - -1. Set environment variables in .env: - ```bash - ROBOT_IP= - CONN_TYPE=webrtc - WEBRTC_SERVER_HOST=0.0.0.0 - WEBRTC_SERVER_PORT=9991 - DISPLAY=:0 - ROS_OUTPUT_DIR=/app/assets/output/ros - ``` - -2. Or run with environment variables in command line docker-compose: - ```bash - ROBOT_IP=192.168.9.140 CONN_TYPE=webrtc docker compose -f docker/unitree/ros_dimos/docker-compose.yml up --build - ``` - -## Usage - -To run the ROS nodes with DIMOS: - -```bash -xhost +local:root # If running locally and desire RVIZ GUI -ROBOT_IP= CONN_TYPE= docker compose -f docker/unitree/ros_dimos/docker-compose.yml up --build -``` - -Where: -- `` is your Go2's IP address -- `` choose either: - - `webrtc`: For WebRTC video streaming connection - - `cyclonedds`: For DDS communication - -The containers will build and start, establishing connection with your Go2 robot and opening RVIZ. The DIMOS integration will start 10 seconds after ROS to ensure proper initialization. - -Note: You can run this command from any directory since the docker-compose.yml file handles all relative paths internally. - -## Process Management - -The setup uses supervisord to manage both ROS and DIMOS processes. To check process status or view logs when inside the container: - -```bash -# Get a shell in the container -docker compose -f docker/unitree/ros_dimos/docker-compose.yml exec unitree_ros_dimos bash - -# View process status -supervisorctl status - -# View logs -supervisorctl tail ros2 # ROS2 logs -supervisorctl tail dimos # DIMOS logs -supervisorctl tail -f ros2 # Follow ROS2 logs -``` - -## Known Issues - -1. ROS2 doesn't have time to initialize before DIMOS starts, so the DIMOS logs will show successful aioice.ice:Connection followed by aiortc.exceptions.InvalidStateError. - -This is currently solved by hardcoding a delay between ros2 and DIMOS start in supervisord.conf. - -```ini -[lifecycle_manager-18] [INFO] [1740128988.350926960] [lifecycle_manager_navigation]: Managed nodes are active -[lifecycle_manager-18] [INFO] [1740128988.350965828] [lifecycle_manager_navigation]: Creating bond timer... -[go2_driver_node-3] INFO:scripts.webrtc_driver:Connection state is connecting -[go2_driver_node-3] INFO:aioice.ice:Connection(1) Discovered peer reflexive candidate Candidate(3hokvTUH7e 1 udp 2130706431 192.168.9.140 37384 typ prflx) -[go2_driver_node-3] INFO:aioice.ice:Connection(1) Check CandidatePair(('192.168.9.155', 33483) -> ('192.168.9.140', 37384)) State.WAITING -> State.IN_PROGRESS -[go2_driver_node-3] [INFO] [1740128990.171453153] [go2_driver_node]: Move -[go2_driver_node-3] INFO:scripts.webrtc_driver:Receiving video -[go2_driver_node-3] ERROR:asyncio:Task exception was never retrieved -[go2_driver_node-3] future: exception=InvalidStateError()> -[go2_driver_node-3] Traceback (most recent call last): -[go2_driver_node-3] File "/ros2_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/go2_driver_node.py", line 634, in run -[go2_driver_node-3] self.joy_cmd(robot_num) -[go2_driver_node-3] File "/ros2_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/go2_driver_node.py", line 320, in joy_cmd -[go2_driver_node-3] self.conn[robot_num].data_channel.send( -[go2_driver_node-3] File "/usr/local/lib/python3.10/dist-packages/aiortc/rtcdatachannel.py", line 182, in send -[go2_driver_node-3] raise InvalidStateError -[go2_driver_node-3] aiortc.exceptions.InvalidStateError -[go2_driver_node-3] Exception in thread Thread-1 (_spin): -[go2_driver_node-3] Traceback (most recent call last): -[go2_driver_node-3] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner -[go2_driver_node-3] self.run() -[go2_driver_node-3] File "/usr/lib/python3.10/threading.py", line 953, in run -[go2_driver_node-3] self._target(*self._args, **self._kwargs) -[go2_driver_node-3] File "/ros2_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/go2_driver_node.py", line 646, in _spin -[go2_driver_node-3] rclpy.spin_once(node) -[go2_driver_node-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 203, in spin_once -[go2_driver_node-3] executor = get_global_executor() if executor is None else executor -[go2_driver_node-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 106, in get_global_executor -[go2_driver_node-3] __executor = SingleThreadedExecutor() -[go2_driver_node-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 721, in __init__ -[go2_driver_node-3] super().__init__(context=context) -[go2_driver_node-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 172, in __init__ -[go2_driver_node-3] self._guard = GuardCondition( -[go2_driver_node-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/guard_condition.py", line 23, in __init__ -[go2_driver_node-3] with self._context.handle: -[go2_driver_node-3] AttributeError: __enter__ -[go2_driver_node-3] Exception ignored in: -[go2_driver_node-3] Traceback (most recent call last): -[go2_driver_node-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 243, in __del__ -[go2_driver_node-3] if self._sigint_gc is not None: -[go2_driver_node-3] AttributeError: 'SingleThreadedExecutor' object has no attribute '_sigint_gc' -[go2_driver_node-3] ERROR:asyncio:Task was destroyed but it is pending! -[go2_driver_node-3] task: wait_for=._outer_done_callback() at /usr/lib/python3.10/asyncio/tasks.py:864, Task.task_wakeup()]>> -[go2_driver_node-3] ERROR:asyncio:Task was destroyed but it is pending! -[go2_driver_node-3] task: wait_for=> -[go2_driver_node-3] Exception ignored in: -[go2_driver_node-3] Traceback (most recent call last): -[go2_driver_node-3] File "/ros2_ws/install/go2_robot_sdk/lib/python3.10/site-packages/scripts/webrtc_driver.py", line 229, in on_track -[go2_driver_node-3] frame = await track.recv() -[go2_driver_node-3] File "/usr/local/lib/python3.10/dist-packages/aiortc/rtcrtpreceiver.py", line 203, in recv -[go2_driver_node-3] frame = await self._queue.get() -[go2_driver_node-3] File "/usr/lib/python3.10/asyncio/queues.py", line 161, in get -[go2_driver_node-3] getter.cancel() # Just in case getter is not done yet. -[go2_driver_node-3] File "/usr/lib/python3.10/asyncio/base_events.py", line 753, in call_soon -[go2_driver_node-3] self._check_closed() -[go2_driver_node-3] File "/usr/lib/python3.10/asyncio/base_events.py", line 515, in _check_closed -[go2_driver_node-3] raise RuntimeError('Event loop is closed') -[go2_driver_node-3] RuntimeError: Event loop is closed -[go2_driver_node-3] ERROR:asyncio:Task was destroyed but it is pending! -[go2_driver_node-3] task: wait_for= cb=[AsyncIOEventEmitter._emit_run..callback() at /usr/local/lib/python3.10/dist-packages/pyee/asyncio.py:95]> -[go2_driver_node-3] ERROR:asyncio:Task was destroyed but it is pending! -[go2_driver_node-3] task: wait_for=> -[go2_driver_node-3] ERROR:asyncio:Task was destroyed but it is pending! -[go2_driver_node-3] task: wait_for=> -[go2_driver_node-3] ERROR:asyncio:Task was destroyed but it is pending! -[go2_driver_node-3] task: wait_for=> -[INFO] [go2_driver_node-3]: process has finished cleanly [pid 120] -``` - - -2. If you encounter the error `unitree_ros_dimos-1 | exec /entrypoint.sh: no such file or directory`, this can be caused by: - - Incorrect file permissions - - Windows-style line endings (CRLF) in the entrypoint script - - To fix: - 1. Ensure the entrypoint script has execute permissions: - ```bash - chmod +x /path/to/dimos/docker/unitree/ros_dimos/entrypoint.sh - ``` - - 2. If using Windows, convert line endings to Unix format (LF): - ```bash - # Using dos2unix - dos2unix /path/to/dimos/docker/unitree/ros_dimos/entrypoint.sh - - # Or using sed - sed -i 's/\r$//' /path/to/dimos/docker/unitree/ros_dimos/entrypoint.sh - ``` - -2. If DIMOS fails to start, check: - - The ROS nodes are fully initialized (wait a few seconds) - - The environment variables are properly set - - The Python path includes the dimos directory - - The logs using supervisorctl for specific error messages \ No newline at end of file diff --git a/docker/deprecated/unitree/ros_dimos/docker-compose.yml b/docker/deprecated/unitree/ros_dimos/docker-compose.yml deleted file mode 100644 index 2d36b4d479..0000000000 --- a/docker/deprecated/unitree/ros_dimos/docker-compose.yml +++ /dev/null @@ -1,18 +0,0 @@ ---- -services: - unitree_ros_dimos: - image: unitree_ros_dimos:latest - build: - context: ../../../ - dockerfile: docker/unitree/ros_dimos/Dockerfile - env_file: - - ../../../.env - volumes: - - /tmp/.X11-unix:/tmp/.X11-unix # X11 forwarding - - ${HOME}/.Xauthority:/root/.Xauthority:rw - - ../../../assets/output/:/app/assets/output - network_mode: "host" # Required for ROS2 discovery and robot communication - privileged: true # Required for hardware access - devices: - - /dev/input:/dev/input # For joystick access - restart: unless-stopped diff --git a/docker/deprecated/unitree/ros_dimos/entrypoint.sh b/docker/deprecated/unitree/ros_dimos/entrypoint.sh deleted file mode 100755 index f7d753f1f7..0000000000 --- a/docker/deprecated/unitree/ros_dimos/entrypoint.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/bin/bash -set -e - -# Create supervisor log directory - -mkdir -p /app/assets/output - -# Delete old logs -echo "Cleaning up old Supervisor logs..." -rm -f /app/assets/output/*.log - -# Source ROS2 environment -source /opt/ros/${ROS_DISTRO}/setup.bash -source /ros2_ws/install/setup.bash -# Execute the command passed to docker run -exec "$@" diff --git a/docker/deprecated/unitree/ros_dimos/supervisord.conf b/docker/deprecated/unitree/ros_dimos/supervisord.conf deleted file mode 100644 index 105742b844..0000000000 --- a/docker/deprecated/unitree/ros_dimos/supervisord.conf +++ /dev/null @@ -1,35 +0,0 @@ -[supervisord] -nodaemon=true -logfile=/var/log/supervisor/supervisord.log -pidfile=/var/run/supervisord.pid - -[program:ros2] -command=/bin/bash -c "source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch go2_robot_sdk robot.launch.py" -autostart=true -autorestart=true - -stderr_logfile=/app/assets/output/ros2.err.log -stdout_logfile=/app/assets/output/ros2.out.log -environment=PYTHONUNBUFFERED=1 - -[program:dimos] -command=/bin/bash -c "sleep 10 && source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && python3 /app/tests/run_go2_ros.py" -autostart=true -autorestart=true -startsecs=11 - -stdout_logfile=/dev/stdout -stdout_logfile_maxbytes=0 -stderr_logfile=/dev/stderr -stderr_logfile_maxbytes=0 -environment=PYTHONUNBUFFERED=1 - -[unix_http_server] -file=/var/run/supervisor.sock -chmod=0700 - -[rpcinterface:supervisor] -supervisor.rpcinterface_factory = supervisor.rpcinterface:make_main_rpcinterface - -[supervisorctl] -serverurl=unix:///var/run/supervisor.sock diff --git a/docker/deprecated/unitree/webrtc/Dockerfile b/docker/deprecated/unitree/webrtc/Dockerfile deleted file mode 100644 index c073fbbe08..0000000000 --- a/docker/deprecated/unitree/webrtc/Dockerfile +++ /dev/null @@ -1,30 +0,0 @@ -FROM python:3 - -RUN apt-get update && apt-get install -y \ - libgl1-mesa-glx \ - build-essential \ - libavformat-dev \ - libavcodec-dev \ - libavdevice-dev \ - libavutil-dev \ - libswscale-dev \ - libpostproc-dev \ - gcc \ - make \ - portaudio19-dev \ - python3-pyaudio \ - python3-all-dev - -WORKDIR /app - -COPY requirements.txt ./ - -RUN pip install --no-cache-dir -r requirements.txt - -COPY ./dimos ./dimos - -COPY ./tests ./tests - -COPY ./dimos/__init__.py ./ - -CMD [ "python", "-m", "dimos.robot.unitree.unitree_go2" ] diff --git a/docker/deprecated/unitree/webrtc/docker-compose.yml b/docker/deprecated/unitree/webrtc/docker-compose.yml deleted file mode 100644 index c8e9f234f6..0000000000 --- a/docker/deprecated/unitree/webrtc/docker-compose.yml +++ /dev/null @@ -1,44 +0,0 @@ ---- -services: - dimos-unitree-webrtc: - image: dimos-unitree-webrtc:latest - build: - context: ../../../ - dockerfile: docker/unitree/webrtc/Dockerfile - env_file: - - ../../../.env - mem_limit: 8048m - volumes: - - ../../../assets:/app/assets - - ../../../output:/app/output - ports: - - "5555:5555" - environment: - - PYTHONUNBUFFERED=1 - # Robot configuration - use shell variables with defaults - - ROBOT_IP=${ROBOT_IP} - - CONNECTION_METHOD=${CONNECTION_METHOD:-LocalSTA} - - SERIAL_NUMBER=${SERIAL_NUMBER:-} - - OUTPUT_DIR=${OUTPUT_DIR:-/app/assets} - stdin_open: true - tty: true - command: ["python", "-m", "dimos.robot.unitree.run_go2"] - # command: ["tail", "-f", "/dev/null"] - -# ---- -# TO RUN with default values: -# docker compose up -# -# TO RUN with custom parameters: -# ROBOT_IP=192.168.1.100 CONNECTION_METHOD=LocalAP SERIAL_NUMBER=ABC123 docker compose up -# -# Examples: -# - With IP: -# ROBOT_IP=192.168.1.100 docker compose up -# -# - With LocalAP: -# CONNECTION_METHOD=LocalAP docker compose up -# -# - With Serial Number: -# CONNECTION_METHOD=LocalSTA SERIAL_NUMBER=ABC123 docker compose up -# ---- diff --git a/docker/dev/Dockerfile b/docker/dev/Dockerfile index ef80b70e1d..f5dbdacea8 100644 --- a/docker/dev/Dockerfile +++ b/docker/dev/Dockerfile @@ -24,7 +24,7 @@ RUN git config --global --add safe.directory '*' WORKDIR /app -# Install UV for fast Python package management +# Install UV ENV UV_SYSTEM_PYTHON=1 RUN curl -LsSf https://astral.sh/uv/install.sh | sh ENV PATH="/root/.local/bin:$PATH" diff --git a/docker/python/Dockerfile b/docker/python/Dockerfile index 8acd7a52af..b9b8993160 100644 --- a/docker/python/Dockerfile +++ b/docker/python/Dockerfile @@ -37,7 +37,7 @@ RUN apt-get install -y \ # Fix distutils-installed packages that block pip upgrades RUN apt-get purge -y python3-blinker python3-sympy python3-oauthlib || true -# Install UV for fast Python package management +# Install UV ENV UV_SYSTEM_PYTHON=1 RUN curl -LsSf https://astral.sh/uv/install.sh | sh ENV PATH="/root/.local/bin:$PATH" diff --git a/pyproject.toml b/pyproject.toml index 670f98a0b7..2f6beeea05 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -19,7 +19,7 @@ authors = [ ] version = "0.0.4" description = "Powering agentive generalist robotics" -requires-python = ">=3.10" +requires-python = ">=3.10,<3.12" dependencies = [ # Core requirements @@ -71,11 +71,16 @@ dependencies = [ "pyaudio", "requests", "wasmtime", - + "rich>=14.0.0", + # Audio "openai-whisper", "soundfile", + # PyTorch (version constraints from base-requirements.txt) + "torch==2.0.1", + "torchvision==0.15.2", + # Hugging Face "transformers[torch]==4.49.0", @@ -184,15 +189,24 @@ sim = [ "mujoco>=3.3.4", "playground>=0.0.5", "pygame>=2.6.1", + "warp-lang>=1.9.1", ] jetson-jp6-cuda126 = [ # Jetson Jetpack 6.2 with CUDA 12.6 specific wheels - # Note: Alternative torch wheel from docs: 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onnxruntime-gpu==1.23.0 --index-url https://pypi.jetson-ai-lab.io/jp6/cu126/+f/e1e/9e3dc2f4d5551/ + # uv pip install xformers==0.0.33 --index-url https://pypi.jetson-ai-lab.io/jp6/cu126/+f/731/15133b0ebb2b3/ + # Then run: uv sync --extra dev --no-install-project +] + +[tool.uv] +# Limit resolution to common platforms to avoid jetson-specific wheel conflicts +environments = [ + "sys_platform == 'linux' and platform_machine == 'x86_64'", + "sys_platform == 'darwin'", ] [tool.ruff] diff --git a/requirements.txt b/requirements.txt deleted file mode 100644 index 5faa7c8874..0000000000 --- a/requirements.txt +++ /dev/null @@ -1,96 +0,0 @@ -opencv-python -python-dotenv -openai -anthropic>=0.19.0 -cerebras-cloud-sdk -numpy>=1.26.4,<2.0.0 -colorlog==6.9.0 -yapf==0.40.2 -typeguard -empy==3.3.4 -catkin_pkg -lark -plum-dispatch==2.5.7 - -# pycolmap -ffmpeg-python -pytest -python-dotenv -openai -tiktoken>=0.8.0 -Flask>=2.2 -python-multipart==0.0.20 -reactivex 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