load qpos gradio app

Dockerfile

@@ -0,0 +1,63 @@
+FROM debian:bookworm
+
+# add extra debian repos for proprietary packages
+COPY debian.sources /etc/apt/sources.list.d/debian.sources
+RUN apt update
+
+# install packages
+RUN --mount=target=/tmp/packages.txt,source=packages.txt \
+    xargs -r -a /tmp/packages.txt apt install -y
+
+RUN rm -rf /var/lib/apt/lists/*
+RUN apt clean
+
+# merge platform-specific and common headers from the kernel directories. Run uname -r to get the version
+ARG kernel=6.1.0-32
+
+RUN --mount=target=/tmp/merge_headers.sh,source=merge_headers.sh \
+    /tmp/merge_headers.sh /usr/src/linux-headers-$kernel-cloud-amd64 /usr/src/linux-headers-$kernel-common /usr/src/linux-headers-$kernel
+
+
+# nvidia driver version. This should match the host version showed in nvidia-smi output
+ARG version=550.144.03
+
+ENV script=NVIDIA-Linux-x86_64-$version.run
+RUN curl -o $script "https://us.download.nvidia.com/XFree86/Linux-x86_64/$version/$script" 
+RUN chmod +x $script
+
+# Skip loading kernel modules to avoid "Kernel module load error: Operation not permitted" error
+RUN ./$script --silent --kernel-source-path /usr/src/linux-headers-$kernel --skip-module-load \
+    || cat /var/log/nvidia-installer.log
+
+# create user
+RUN useradd -m -s /bin/bash user
+
+RUN groupadd -g 105 render
+
+RUN usermod -aG video user
+RUN usermod -aG render user
+
+# next commands will be executed as the user
+USER user
+RUN python3 -m venv /home/user/venv
+RUN echo "cd $HOME" >> /home/user/.bashrc
+RUN echo ". /home/user/venv/bin/activate" >> /home/user/.bashrc
+
+ENV PATH="/home/user/venv/bin:$PATH"
+
+RUN --mount=target=/tmp/requirements.txt,source=requirements.txt \
+    pip install --no-cache-dir -r /tmp/requirements.txt
+
+WORKDIR /home/user/app
+
+# deploy application into target directory
+COPY --chown=user . /home/user/app
+
+# deploy robot configuration
+RUN git clone -b main https://github.com/google-deepmind/mujoco_menagerie
+RUN cp -r mujoco_menagerie/trs_so_arm100 trs_so_arm100
+RUN rm -rf mujoco_menagerie
+
+ENV GRADIO_SERVER_NAME="0.0.0.0"
+
+CMD [ "python", "sim_gradio_qpos.py" ]

README.md

@@ -1,9 +1,13 @@
 ---
 title: Slobot Genesis Qpos
-emoji: ⚡
-colorFrom: indigo
-colorTo: pink
+emoji: 🤖
+colorFrom: red
+colorTo: green
 sdk: docker
+app_port: 7860
+suggested_hardware: t4-small
+python_version: 3.11
+app_file: sim_gradio_qpos.py
 pinned: false
 license: apache-2.0
 short_description: Control SO-ARM-100 robotic arm with Genesis

debian.sources

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+Types: deb
+# http://snapshot.debian.org/archive/debian/20250224T000000Z
+URIs: http://deb.debian.org/debian
+Suites: bookworm bookworm-updates
+Components: main non-free non-free-firmware
+Signed-By: /usr/share/keyrings/debian-archive-keyring.gpg
+
+Types: deb
+# http://snapshot.debian.org/archive/debian-security/20250224T000000Z
+URIs: http://deb.debian.org/debian-security
+Suites: bookworm-security
+Components: main
+Signed-By: /usr/share/keyrings/debian-archive-keyring.gpg

merge_headers.sh

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+#!/bin/bash
+
+# Check if the correct number of arguments is provided
+if [ "$#" -ne 3 ]; then
+    echo "Usage: $0 <headers-amd64-folder> <headers-common-folder> <output-folder>"
+    exit 1
+fi
+
+# Assign input arguments to variables
+headers_amd64="$1"
+headers_common="$2"
+output_folder="$3"
+
+# Check if the input folders exist
+if [ ! -d "$headers_amd64" ]; then
+    echo "Error: Folder '$headers_amd64' does not exist."
+    exit 1
+fi
+
+if [ ! -d "$headers_common" ]; then
+    echo "Error: Folder '$headers_common' does not exist."
+    exit 1
+fi
+
+# Create the output folder if it doesn't exist
+mkdir -p "$output_folder"
+
+# Function to recursively merge directories
+merge_directories() {
+    local src="$1"
+    local dest="$2"
+
+    # Create the destination directory if it doesn't exist
+    mkdir -p "$dest"
+
+    # Iterate over all items in the source directory
+    for item in "$src"/*; do
+        local base_item="$(basename "$item")"
+
+        if [ -d "$item" ]; then
+            # If the item is a directory, recurse into it
+            merge_directories "$item" "$dest/$base_item"
+        elif [ -f "$item" ]; then
+            # If the item is a file, copy it to the destination
+            if [ -f "$dest/$base_item" ]; then
+                echo "Warning: File '$dest/$base_item' already exists. Overwriting."
+            fi
+            cp -f "$item" "$dest/$base_item"
+        fi
+    done
+}
+
+merge_directories "$headers_amd64" "$output_folder"
+
+merge_directories "$headers_common" "$output_folder"
+
+echo "Merge completed successfully. Output folder: $output_folder"

packages.txt

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+git
+wget
+curl
+vim
+python3-pip
+python3-venv
+gcc
+make
+kmod
+pciutils
+linux-headers-cloud-amd64
+xorg-dev
+libglvnd-dev
+libx11-6
+libxext6
+libvulkan-dev
+nvidia-vulkan-common
+vulkan-tools
+libxrender1
+libglib2.0-0
+libgl1
+libegl1

requirements.txt

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+slobot==0.1.4
+
+https://github.com/ompl/ompl/releases/download/prerelease/ompl-1.6.0-cp311-cp311-manylinux_2_28_x86_64.whl # should match python version
+
+git+https://github.com/huggingface/lerobot.git

sim_gradio_qpos.py

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+from slobot.gradio_qpos_app import GradioQposApp
+
+gradio_app = GradioQposApp()
+gradio_app.launch()