OpenCastor/Dockerfile.arm at main · craigm26/OpenCastor · GitHub

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# OpenCastor — SO-ARM101 / LeRobot arm image
# Targets: Raspberry Pi 5 (arm64), alex.local (x86_64 or arm64)
#
# Includes:
#   - OpenCastor runtime + castor arm commands
#   - LeRobot + feetech-servo-sdk (lerobot[feetech])
#   - FFmpeg / media build deps (required by LeRobot)
#   - USB serial access (dialout group)
#
# Build:
#   docker build -f Dockerfile.arm -t opencastor-arm:latest .
#
# Run (quick test):
#   docker run --rm --device /dev/ttyACM0 opencastor-arm castor arm status

# ── Stage 1: Builder ──────────────────────────────────────────────────────────
FROM python:3.12-slim-bookworm AS builder

# System deps: build tools + FFmpeg libs (LeRobot requirement)
RUN apt-get update && apt-get install -y --no-install-recommends \
    build-essential \
    cmake \
    git \
    pkg-config \
    python3-dev \
    # FFmpeg (LeRobot video/episode recording)
    libavformat-dev \
    libavcodec-dev \
    libavdevice-dev \
    libavutil-dev \
    libswscale-dev \
    libswresample-dev \
    libavfilter-dev \
    ffmpeg \
    # OpenCV + display
    libgl1-mesa-glx \
    libglib2.0-0 \
    libsm6 \
    libxext6 \
    && rm -rf /var/lib/apt/lists/*

WORKDIR /build

# Install OpenCastor deps
COPY pyproject.toml requirements.txt ./
RUN pip install --no-cache-dir --prefix=/install -r requirements.txt

# Install OpenCastor + arm extras (feetech + lerobot sdk)
COPY . .
RUN pip install --no-cache-dir --prefix=/install ".[lerobot]"

# Install LeRobot from HuggingFace (full package for lerobot-* CLI tools)
RUN pip install --no-cache-dir --prefix=/install \
    "lerobot[feetech] @ git+https://github.com/huggingface/lerobot.git"

# ── Stage 2: Runtime ─────────────────────────────────────────────────────────
FROM python:3.12-slim-bookworm

LABEL org.opencontainers.image.title="OpenCastor ARM"
LABEL org.opencontainers.image.description="OpenCastor + SO-ARM101 + LeRobot"
LABEL org.opencontainers.image.source="https://github.com/craigm26/OpenCastor"
LABEL org.opencontainers.image.licenses="Apache-2.0"

# Runtime system deps
RUN apt-get update && apt-get install -y --no-install-recommends \
    # FFmpeg runtime
    ffmpeg \
    # USB serial (lsusb, /dev/ttyACM*)
    usbutils \
    # OpenCV headless runtime
    libgl1-mesa-glx \
    libglib2.0-0 \
    libsm6 \
    libxext6 \
    # Serial port device access
    cu \
    && rm -rf /var/lib/apt/lists/*

# Non-root user — member of dialout for USB serial access
RUN groupadd --system castor 2>/dev/null || true && \
    useradd --system --gid castor \
        --create-home --home-dir /home/castor --shell /bin/bash castor 2>/dev/null || true && \
    usermod -aG dialout castor 2>/dev/null || true

WORKDIR /app
ENV PYTHONUNBUFFERED=1
ENV PYTHONDONTWRITEBYTECODE=1
ENV HOME=/home/castor
ENV OPENCASTOR_DIR=/home/castor/.opencastor
ENV CASTOR_CONFIG=/app/config/arm.rcan.yaml
# Make lerobot-* CLI tools findable
ENV PATH="/usr/local/bin:${PATH}"

# Copy installed packages from builder
COPY --from=builder /install /usr/local

# Copy source
COPY --from=builder /build/castor ./castor
COPY --from=builder /build/pyproject.toml ./

# Config + data mount points
RUN mkdir -p /app/config /app/episodes \
        /home/castor/.cache/huggingface/lerobot/calibration/robots/so_follower \
        /home/castor/.cache/huggingface/lerobot/calibration/robots/so_leader \
        /home/castor/.opencastor && \
    chown -R castor:castor /app /home/castor && \
    chmod -R 755 /home/castor

# Entrypoint (reuse base one — handles missing config gracefully)
COPY docker/entrypoint.sh /entrypoint.sh
RUN chmod +x /entrypoint.sh

# Arm-specific entrypoint wrapper
COPY docker/arm-entrypoint.sh /arm-entrypoint.sh
RUN chmod +x /arm-entrypoint.sh

USER castor

# Expose web wizard + API
EXPOSE 8000 8765

# Health: just check castor is importable (no gateway needed for arm setup mode)
HEALTHCHECK --interval=60s --timeout=10s --start-period=15s --retries=3 \
    CMD python -c "import castor; print('ok')" || exit 1

ENTRYPOINT ["/arm-entrypoint.sh"]
CMD ["castor", "run", "--config", "/app/config/arm.rcan.yaml"]