Add missing deps and CI (#400)

Author: m-naumann

Diff for: .dockerignore

@@ -0,0 +1,5 @@
+Dockerfile
+.*
+!.git
+!.gitignore
+!.gitmodules

Diff for: .github/workflows/ci.yml

@@ -0,0 +1,34 @@
+name: Continuous Integration
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+
+jobs:
+  build-and-smoketest:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+
+      - name: Build Docker image
+        run: docker build --tag gpudrive:latest .
+
+      - name: Run smoke test inside Docker container
+        run: |
+          docker run --rm gpudrive:latest /bin/bash -c "
+            echo 'Dummy cuda' \
+            && ln -s /usr/local/cuda/lib64/stubs/libcuda.so /usr/local/cuda/lib64/stubs/libcuda.so.1 \
+            && export LD_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/:$LD_LIBRARY_PATH \
+            && echo 'Modifications to run without extra data' \
+            && sed -i 's|train_path: \"data/processed/training\"|train_path: \"data/processed/examples\"|g' examples/experimental/config/visualization_config.yaml \
+            && sed -i '/# Load policy/{N;N;N;N;N;N;s|# Load policy\n    policy = load_policy(\n        path_to_cpt=config.cpt_path,\n        model_name=config.cpt_name,\n        device=config.device,\n        env=env,\n    )|from gpudrive.networks.late_fusion import NeuralNet\n    policy = NeuralNet.from_pretrained(\"daphne-cornelisse/policy_S10_000_02_27\")|}' examples/experimental/viz_rollouts.py \
+            && echo 'Modifications to run without GPU' \
+            && sed -i 's/device=\"cuda\"/device=\"cpu\"/g' gpudrive/datatypes/observation.py \
+            && python examples/experimental/viz_rollouts.py
+          "

Diff for: Dockerfile

@@ -4,7 +4,7 @@ FROM nvidia/cuda:12.2.2-cudnn8-devel-ubuntu22.04
 ARG DEBIAN_FRONTEND=noninteractive
 
 # Install essential packages
-RUN apt-get update && apt-get install -y --no-install-recommends \
+RUN apt-get update && apt-get install -y -q --no-install-recommends \
 	software-properties-common \
         build-essential \
         cmake \
@@ -22,35 +22,44 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
         libxi-dev \
         mesa-common-dev \
         libc++1 \
-        openssh-client && \
-    rm -rf /var/lib/apt/lists/*
+        openssh-client \
+        ffmpeg \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
 
 # Install Python 3.11
 RUN apt-add-repository -y ppa:deadsnakes/ppa \
-    && apt-get install -y python3.11 python3.11-dev python3.11-distutils
+    && apt-get install -y -q --no-install-recommends python3.11 python3.11-dev python3.11-distutils \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
 
 RUN curl -sS https://bootstrap.pypa.io/get-pip.py | python3.11
 
 # Set Python 3.11 as default
 RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.11 11 && \
     update-alternatives --install /usr/bin/python python /usr/bin/python3.11 11
 
-RUN apt-get remove -y cmake && pip3 install --upgrade cmake
+RUN apt-get remove -y cmake && pip3 install  --no-cache-dir --upgrade cmake
+
+# Copy the gpudrive repository
+COPY . /gpudrive
+WORKDIR /gpudrive
+RUN git submodule update --init --recursive --depth 1
 
-# Clone the gpudrive repository
-RUN git clone --recursive https://github.com/Emerge-Lab/gpudrive.git --branch dev-packaged
 ENV MADRONA_MWGPU_KERNEL_CACHE=./gpudrive_cache
 
-WORKDIR /gpudrive
 RUN mkdir build
 WORKDIR /gpudrive/build
-RUN cmake .. -DCMAKE_BUILD_TYPE=Release
+RUN cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_POLICY_VERSION_MINIMUM=3.5 && find external -type f -name "*.tar" -delete
 RUN ln -s /usr/local/cuda/lib64/stubs/libcuda.so /usr/local/cuda/lib64/stubs/libcuda.so.1
 RUN LD_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/:$LD_LIBRARY_PATH make -j
 RUN rm /usr/local/cuda/lib64/stubs/libcuda.so.1
 WORKDIR /gpudrive
 
-RUN pip3 install -e .[pufferlib]
+RUN pip3 install --no-cache-dir torch==2.6.0 && rm -rf ~/.cache/pip/*
+RUN pip3 install --no-cache-dir tensorflow==2.19.0 && rm -rf ~/.cache/pip/*
+RUN pip3 install --no-cache-dir nvidia-cuda-runtime-cu12==12.4.127 && rm -rf ~/.cache/pip/*
+RUN pip3 install --no-cache-dir -e .[vbd,pufferlib]
 
 CMD ["/bin/bash"]
 LABEL org.opencontainers.image.source=https://github.com/Emerge-Lab/gpudrive

Diff for: pyproject.toml

@@ -36,6 +36,9 @@ dependencies = [
     "seaborn",
     "safetensors",
     "python-box",
+    "tqdm",
+    "jax",
+    "huggingface_hub",
 ]
 
 [project.optional-dependencies]