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Add thor infer docker image to gha #133

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Merged
clayrosenthal merged 1 commit into from
Jun 26, 2026
Merged

Add thor infer docker image to gha #133

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12 changes: 12 additions & 0 deletions .github/workflows/docker-build.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ on:
- 'scripts/setup_*.sh'
- 'src/holosoma_inference/docker/Dockerfile'
- 'src/holosoma_retargeting/docker/Dockerfile'
- 'docker/thor/Dockerfile'

permissions:
contents: read
Expand Down Expand Up @@ -52,6 +53,16 @@ jobs:
dockerfile: 'docker/mujoco.Dockerfile'
runner_prefix: 'codebuild-holosoma-a10g-x1-gpu-build'
#TODO: add mujoco warp
# Thor (Jetson) images — aarch64 SBSA, built natively on an ARM runner.
# Single Dockerfile, two targets; each pushes its own image.
- environment: thor-inference
dockerfile: 'docker/thor/Dockerfile'
target: 'inference'
runner_prefix: 'codebuild-holosoma-arm-build'
- environment: thor-inference-ros
dockerfile: 'docker/thor/Dockerfile'
target: 'inference-ros'
runner_prefix: 'codebuild-holosoma-arm-build'
name: Build ${{ matrix.environment }} Docker Image
continue-on-error: true
runs-on: ${{ matrix.runner_prefix }}-${{ github.run_id }}-${{ github.run_attempt }}
Expand Down Expand Up @@ -87,6 +98,7 @@ jobs:
with:
context: .
file: "${{ matrix.dockerfile }}"
target: "${{ matrix.target }}"
push: true
tags: "${{ steps.tags.outputs.tags }}"
cache-from: type=registry,ref=${{ steps.name.outputs.image_path }}:buildcache
Expand Down