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clayrosenthalclayrosenthal
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Create docker build GHA
1 parent 8ea9f68 commit 32cb442

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‎.github/workflows/docker-build.yaml‎

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Original file line numberDiff line numberDiff line change
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name: Docker Build
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on:
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workflow_dispatch:
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inputs:
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tag_latest:
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description: 'Tag as latest'
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required: true
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type: choice
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options:
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- 'true'
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- 'false'
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default: 'false'
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push:
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# temp disable branch filter for testing
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#branches: [main]
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paths:
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- 'docker/**'
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- 'scripts/setup_*.sh'
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- 'src/holosoma_inference/docker/Dockerfile'
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- 'src/holosoma_retargeting/docker/Dockerfile'
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permissions:
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contents: read
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env:
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ECR_REPO: 982423663241.dkr.ecr.us-west-2.amazonaws.com
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jobs:
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build:
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strategy:
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fail-fast: false # continue on one build failing
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matrix:
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include:
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# just inference for first version, quickest to build and debug issues in GHA
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- environment: inference
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dockerfile: 'src/holosoma_inference/docker/Dockerfile'
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# - environment: holosoma
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# dockerfile: 'docker/Dockerfile'
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# - environment: retargeting
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# dockerfile: 'src/holosoma_retargeting/docker/Dockerfile'
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# - environment: isaacgym
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# dockerfile: 'docker/isaacgym.Dockerfile'
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# - environment: isaacsim
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# dockerfile: 'docker/isaacsim.Dockerfile'
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# - environment: mujoco
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# dockerfile: 'docker/mujoco.Dockerfile'
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#TODO: add mujoco warp
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name: Build ${{ matrix.environment }} Docker Image
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continue-on-error: true
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runs-on: codebuild-holosoma-cpu-build-${{ github.run_id }}-${{ github.run_attempt }}
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steps:
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- name: Checkout code
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uses: actions/checkout@v6
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- name: Generate Image name and path
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id: name
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# image name should be `holosoma` or `holsoma-${environment}`
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run: |
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IMAGE_NAME="${{ matrix.environment == 'holosoma' && '' || 'holosoma-' }}${{ matrix.environment }}"
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IMAGE_PATH="${{ env.ECR_REPO }}/${IMAGE_NAME}"
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echo "image_path=${IMAGE_PATH}" >> "$GITHUB_OUTPUT"
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# might be unnecessary
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- name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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- name: Generate image tags
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id: tags
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run: |
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tags="${{ steps.name.outputs.image_path }}:$(date -u +%Y_%m%d_%H%M)"
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if [[ "${{ inputs.tag_latest || 'false' }}" == "true" ]]; then
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tags="$tags,${{ steps.name.outputs.image_path }}:latest"
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fi
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echo "tags=$tags" >> "$GITHUB_OUTPUT"
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- name: Build and push Docker image
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uses: docker/build-push-action@v5
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with:
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context: .
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file: "${{ matrix.dockerfile }}"
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push: true
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tags: "${{ steps.tags.outputs.tags }}"
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cache-from: type=registry,ref=${{ steps.name.outputs.image_path }}:buildcache
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cache-to: type=registry,ref=${{ steps.name.outputs.image_path }}:buildcache,mode=max
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- name: Summary
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run: |
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echo "## Docker Build Summary" >> "$GITHUB_STEP_SUMMARY"
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echo "- **Tags:** \`${{ steps.tags.outputs.tags }}\`" >> "$GITHUB_STEP_SUMMARY"

‎docker/build_and_push.sh‎

Lines changed: 37 additions & 38 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
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# Usage:
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# bash docker/build_and_push.sh # build & push all images
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# bash docker/build_and_push.sh mujoco retarget # only matching images
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# bash docker/build_and_push.sh --no-push # build only, skip push
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# bash docker/build_and_push.sh --latest # also tag and push as :latest
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# bash docker/build_and_push.sh --dry-run # print commands, do nothing
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#
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# Environment variables:
@@ -34,13 +34,13 @@ IMAGES=(
3434
)
3535

3636
# ── Parse flags ──────────────────────────────────────────────────────
37-
NO_PUSH=false
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TAG_LATEST=false
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DRY_RUN=false
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FILTERS=()
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4141
for arg in "$@"; do
4242
case "$arg" in
43-
--no-push) NO_PUSH=true ;;
43+
--latest) TAG_LATEST=true ;;
4444
--dry-run) DRY_RUN=true ;;
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--help|-h)
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sed -n '2,/^$/{ s/^# \?//; p }' "$0"
@@ -81,32 +81,30 @@ for cmd in docker; do
8181
fi
8282
done
8383

84-
if ! $NO_PUSH && ! $DRY_RUN; then
84+
if ! $DRY_RUN; then
8585
if ! command -v aws &>/dev/null; then
8686
echo "Error: aws CLI is not installed (required for push)" >&2; exit 1
8787
fi
8888
fi
8989

9090
# ── ECR authentication ──────────────────────────────────────────────
91-
if ! $NO_PUSH; then
92-
echo "==> Configuring ECR credential helper for ${ECR_REPO}"
93-
if ! $DRY_RUN; then
94-
# Ensure docker config dir exists
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mkdir -p ~/.docker
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97-
# Add ecr-login credential helper for our registry if not already present
98-
if [ ! -f ~/.docker/config.json ]; then
99-
echo '{}' > ~/.docker/config.json
100-
fi
91+
echo "==> Configuring ECR credential helper for ${ECR_REPO}"
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if ! $DRY_RUN; then
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# Ensure docker config dir exists
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mkdir -p ~/.docker
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# Add ecr-login credential helper for our registry if not already present
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if [ ! -f ~/.docker/config.json ]; then
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echo '{}' > ~/.docker/config.json
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fi
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102-
if ! jq -e ".credHelpers[\"${ECR_REPO}\"]" ~/.docker/config.json &>/dev/null; then
103-
tmp=$(mktemp)
104-
jq --arg repo "$ECR_REPO" '.credHelpers[$repo] = "ecr-login"' ~/.docker/config.json > "$tmp" \
105-
&& mv "$tmp" ~/.docker/config.json
106-
echo " Added ecr-login credential helper for ${ECR_REPO}"
107-
else
108-
echo " ECR credential helper already configured"
109-
fi
101+
if ! jq -e ".credHelpers[\"${ECR_REPO}\"]" ~/.docker/config.json &>/dev/null; then
102+
tmp=$(mktemp)
103+
jq --arg repo "$ECR_REPO" '.credHelpers[$repo] = "ecr-login"' ~/.docker/config.json > "$tmp" \
104+
&& mv "$tmp" ~/.docker/config.json
105+
echo " Added ecr-login credential helper for ${ECR_REPO}"
106+
else
107+
echo " ECR credential helper already configured"
110108
fi
111109
fi
112110

@@ -125,30 +123,31 @@ for entry in "${IMAGES[@]}"; do
125123
echo ""
126124
echo "==> Building ${image_name} from ${dockerfile}"
127125

128-
# tags: date tag + latest
129-
tags=(-t "${full_image}:latest" -t "${full_image}:${TAG}")
126+
# tags: always date tag, optionally latest
127+
tags=(-t "${full_image}:${TAG}")
128+
if $TAG_LATEST; then
129+
tags+=(-t "${full_image}:latest")
130+
fi
130131

131132
if run env DOCKER_BUILDKIT=1 docker build "${tags[@]}" -f "${dockerfile}" "${ROOT_REPO}"; then
132133
echo " Built: ${image_name}"
133134

134-
if ! $NO_PUSH; then
135-
echo " Pushing ${image_name}..."
136-
push_ok=true
135+
echo " Pushing ${image_name}..."
136+
push_ok=true
137+
if ! run docker push "${full_image}:${TAG}"; then
138+
push_ok=false
139+
fi
140+
if $TAG_LATEST; then
137141
if ! run docker push "${full_image}:latest"; then
138142
push_ok=false
139143
fi
140-
if ! run docker push "${full_image}:${TAG}"; then
141-
push_ok=false
142-
fi
144+
fi
143145

144-
if $push_ok; then
145-
SUCCEEDED+=("$image_name")
146-
else
147-
echo " FAILED to push: ${image_name}" >&2
148-
FAILED+=("$image_name")
149-
fi
150-
else
146+
if $push_ok; then
151147
SUCCEEDED+=("$image_name")
148+
else
149+
echo " FAILED to push: ${image_name}" >&2
150+
FAILED+=("$image_name")
152151
fi
153152
else
154153
echo " FAILED to build: ${image_name}" >&2
@@ -196,6 +195,6 @@ if [[ ${#SUCCEEDED[@]} -eq 0 ]] && [[ ${#FAILED[@]} -eq 0 ]]; then
196195
exit 1
197196
fi
198197
echo " Tag: ${TAG}"
199-
$NO_PUSH && echo " (push skipped — --no-push)"
198+
$TAG_LATEST && echo " (also tagged as :latest)"
200199
$DRY_RUN && echo " (dry run — nothing was executed)"
201200
echo " Done."

‎src/holosoma_inference/holosoma_inference/utils/network.py‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,13 +1,13 @@
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"""Network interface auto-detection for robot communication."""
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3-
import os
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from pathlib import Path
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_SKIP_PREFIXES = ("lo", "wl", "docker", "br-", "veth", "virbr", "vnet", "tun", "tap")
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77

88
def detect_robot_interface() -> str:
99
"""Return the name of the single wired NIC that is operationally UP."""
10-
for ifname in sorted(os.listdir("/sys/class/net/")):
10+
for ifname in sorted(Path("/sys/class/net/").iterdir()):
1111
if any(ifname.startswith(p) for p in _SKIP_PREFIXES):
1212
continue
1313
try:

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