Pixi Setup (python)

.devcontainer/devcontainer.json

@@ -0,0 +1,22 @@
+{
+    "name": "Obelisk Dev Container",
+    "dockerComposeFile": "../docker/docker-compose.yml",
+    "service": "obelisk",
+    "workspaceFolder": "${localWorkspaceFolder}",
+    "shutdownAction": "stopCompose",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "mutantdino.resourcemonitor",
+                "ms-azuretools.vscode-docker",
+                "nvidia.nsight-vscode-edition",
+                "ms-python.python",
+                "charliermarsh.ruff"
+            ]
+        }
+    },
+    "initializeCommand": "export OBELISK_ROOT=${localWorkspaceFolder}",
+    "remoteEnv": {
+        "OBELISK_ROOT": "${localEnv: OBELISK_ROOT}"
+    },
+}

.github/workflows/code_checks.yml

@@ -0,0 +1,41 @@
+name: Core Tests
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12.4'
+      - uses: prefix-dev/[email protected]
+        with:
+          pixi-version: v0.24.2
+          cache: true
+      - uses: actions/cache@v4
+        with:
+          path: ${{ env.pythonLocation }}
+          key: ${{ env.pythonLocation }}-${{ hashFiles('pixi.toml') }}
+      - name: Run Ruff Linter
+        run: |
+          pixi run --environment test-workflow ruff check docs/ obelisk/ tests/ --output-format=github
+      - name: Run Ruff Formatter
+        run: |
+          pixi run --environment test-workflow ruff format docs/ obelisk/ tests/ --diff
+      - name: Run Pyright
+        run: |
+          pixi run --environment test-workflow pyright
+      - name: Test with pytest
+        run: |
+          pixi run --environment test-workflow pytest

.github/workflows/deploy_docs.yml → .github/workflows/docs.yml

@@ -18,4 +18,4 @@ jobs:
       uses: sphinx-notes/pages@v3
       with:
         python_version: 3.11
-        documentation_path: ./docs/source
+        documentation_path: ./docs/source

.gitignore

@@ -206,4 +206,17 @@ Thumbs.db
 
 # Build directories
 doctrees
-html
+html
+
+# #### #
+# PIXI #
+# #### #
+.pixi
+
+# #### #
+# ROS2 #
+# #### #
+build
+install
+log
+.built_by

.pre-commit-config.yaml

@@ -0,0 +1,16 @@
+default_language_version:
+    python: python3
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+    -   id: trailing-whitespace
+    -   id: end-of-file-fixer
+-   repo: https://github.com/charliermarsh/ruff-pre-commit
+    rev: v0.4.9
+    hooks:
+    -   id: ruff
+        types_or: [ python, pyi, jupyter ]
+        args: [ --fix ]
+    -   id: ruff-format
+        types_or: [ python, pyi, jupyter ]

README.md

@@ -4,15 +4,31 @@ This repository hosts generic interfaces for controlling the lab's robots with R
 [Docs](https://caltech-amber.github.io/obelisk/)
 
 ## Development
-We recommend developing locally inside a `conda` environment for `sphinx` integration. To set up the development workflow, run the following commands from the repository root
+We recommend developing using `pixi` for dependency management. First, install required system-level dependencies for development and set environment variables by running the following script:
 ```
-# for system-wide dependencies
-bash dev_setup.sh
+source dev_setup.sh
+newgrp docker
+```
+This will do the following:
+1. install `docker`
+2. install `nvidia-container-toolkit`
+3. install `pixi`
+4. install `uv`
+5. install `nvm` (required for `pyright`)
+6. set the `OBELISK_ROOT` environment variable to the repo root
 
-# for python dependencies (you can choose different dependency groups besides dev, see pyproject.toml)
-conda env create -f environment.yml --name <my_env>
-conda activate <my_env>
-pip install -e .[dev]
+### Docker
+We recommend developing on `obelisk` using a Docker container (we provide `.devcontainer` support if you use an IDE supporting it). You can also bring up a container using docker-compose as follows from the repository root:
+```
+docker compose -f docker/docker-compose.yml run --build obelisk
+```
+To enter the container without rebuilding or to join from a different terminal window, run
+```
+docker compose -f docker/docker-compose.yml run obelisk
+```
+If you are running on a machine with no Nvidia GPUs, you can instead run
+```
+docker compose -f docker/docker-compose-no-gpu.yml run --build obelisk
 ```
 
 ### Building Docs

dev_setup.sh

@@ -6,30 +6,97 @@ sudo apt-get install -y \
 
 # docker
 # also, see https://stackoverflow.com/questions/48957195/how-to-fix-docker-got-permission-denied-issue
-sudo apt-get update
-sudo apt-get install ca-certificates curl
-sudo install -m 0755 -d /etc/apt/keyrings
-sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
-sudo chmod a+r /etc/apt/keyrings/docker.asc
-echo \
-  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
-  $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | \
-  sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
-sudo apt-get update
-sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
-
-sudo groupadd docker
-sudo usermod -aG docker $USER
-newgrp docker
-sudo chmod 660 /var/run/docker.sock
-sudo systemctl restart docker
+if ! command -v docker &> /dev/null; then
+    echo -e "\033[1;32mDocker is not installed. Installing Docker...\033[0m"
 
-# if the system has nvidia GPUs, install nvidia-container-toolkit
-if (($(nvidia-smi -L | wc -l) > 0)); then
-	curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg && \
-		curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
-	    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
-	    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
 	sudo apt-get update
-	sudo apt-get install -y nvidia-container-toolkit
+	sudo apt-get install ca-certificates curl
+	sudo install -m 0755 -d /etc/apt/keyrings
+	sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
+	sudo chmod a+r /etc/apt/keyrings/docker.asc
+	echo \
+	"deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
+	$(. /etc/os-release && echo "$VERSION_CODENAME") stable" | \
+	sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
+	sudo apt-get update
+	sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
+
+	echo -e "\033[1;32mDocker setup complete. Continuing with the script.\033[0m"
+else
+    echo -e "\033[1;33mDocker is already installed. Skipping Docker installation.\033[0m"
+fi
+
+# check docker group exists
+if ! getent group docker &> /dev/null; then
+	echo -e "\033[1;32mDocker group does not exist. Creating Docker group and adding user...\033[0m"
+
+	sudo groupadd docker
+	sudo usermod -aG docker $USER
+	sg docker -c 'sudo chmod 660 /var/run/docker.sock && sudo systemctl restart docker'
+else
+	echo -e "\033[1;33mDocker group already exists. Skipping Docker group creation.\033[0m"
+fi
+
+# if the system has nvidia GPUs, install nvidia-container-toolkit
+is_nvidia_container_toolkit_installed() {
+    dpkg -s nvidia-container-toolkit &> /dev/null
+}
+if ! is_nvidia_container_toolkit_installed; then
+    echo -e "\033[1;32mNVIDIA Container Toolkit is not installed. Installing...\033[0m"
+	if (($(nvidia-smi -L | wc -l) > 0)); then
+		curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg -y && \
+			curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
+			sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
+			sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
+		sudo apt-get update
+		sudo apt-get install -y nvidia-container-toolkit
+		sudo nvidia-ctk runtime configure --runtime=docker
+		sudo systemctl restart docker
+		echo -e "\033[1;32mNVIDIA Container Toolkit installation complete!\033[0m"
+    else
+        echo -e "\033[1;33mNVIDIA GPU not detected. Skipping NVIDIA Container Toolkit installation.\033[0m"
+    fi
+else
+    echo -e "\033[1;33mNVIDIA Container Toolkit is already installed. Skipping installation.\033[0m"
+fi
+
+# installing pixi
+if ! command -v pixi &> /dev/null; then
+	echo -e "\033[1;32mPixi is not installed. Installing Pixi...\033[0m"
+	curl -fsSL https://pixi.sh/install.sh | bash
+else
+	echo -e "\033[1;33mPixi is already installed. Skipping Pixi installation.\033[0m"
+fi
+
+# installing uv
+if ! command -v uv &> /dev/null; then
+	echo -e "\033[1;32muv is not installed. Installing uv...\033[0m"
+	curl -LsSf https://astral.sh/uv/install.sh | sh
+else
+	echo -e "\033[1;33muv is already installed. Skipping uv installation.\033[0m"
+fi
+
+# installing nvm
+export NVM_DIR="$HOME/.nvm"
+[ -s "$NVM_DIR/nvm.sh" ] && \. "$NVM_DIR/nvm.sh"
+[ -s "$NVM_DIR/bash_completion" ] && \. "$NVM_DIR/bash_completion"
+if ! command -v nvm &> /dev/null; then
+	echo -e "\033[1;32mnvm is not installed. Installing nvm...\033[0m"
+	curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.39.7/install.sh | bash
+	export NVM_DIR="$HOME/.nvm"
+	[ -s "$NVM_DIR/nvm.sh" ] && \. "$NVM_DIR/nvm.sh"
+	[ -s "$NVM_DIR/bash_completion" ] && \. "$NVM_DIR/bash_completion"
+	source ~/.bashrc
+	nvm install 20
+else
+	echo -e "\033[1;33mnvm is already installed. Skipping NVM installation.\033[0m"
+fi
+
+# set OBELISK_ROOT to the directory where dev_setup.sh is located if it doesn't exist already
+if [ -z "$OBELISK_ROOT" ]; then
+	export OBELISK_ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+	echo "export OBELISK_ROOT=$OBELISK_ROOT" >> ~/.bashrc
+	echo -e "\033[1;32mOBELISK_ROOT is now set to $OBELISK_ROOT!\033[0m"
+else
+	echo -e "\033[1;33mOBELISK_ROOT is already set to $OBELISK_ROOT, skipping...\033[0m"
 fi

docker/Dockerfile

@@ -0,0 +1,58 @@
+# syntax=docker/dockerfile:1
+
+# base image
+FROM ubuntu:22.04 as base
+SHELL ["/bin/bash", "-c"]
+
+# username, uid, gid
+ARG USER=user
+ARG UID=1000
+ARG GID=1000
+ENV USER=$USER
+ENV UID=$UID
+ENV GID=$GID
+
+# set timezone
+ENV TZ=America/Los_Angeles
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+# essential dependencies
+RUN apt-get update -y && \
+	apt-get install -y \
+    curl \
+    build-essential \
+    cmake \
+    clang-tools-12 \
+    nano \
+    vim \
+    git \
+    python3-dev \
+    python-is-python3 \
+    python3-pip \
+    python3-argcomplete \
+    sudo && \
+    rm -rf /var/lib/apt/lists/*
+
+# create non-root user with sudo privileges for certain commands
+RUN groupadd --gid $GID $USER && \
+    useradd --uid $UID --gid $GID -m $USER -d /home/${USER} --shell /usr/bin/bash && \
+    echo "${USER}:password" | chpasswd && \
+    usermod -aG sudo ${USER} && \
+    echo "%${USER} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+# switch to new user and workdir
+USER ${UID}
+
+# pixi, uv, and nvm (for pyright)
+RUN curl -fsSL https://pixi.sh/install.sh | bash && \
+curl -LsSf https://astral.sh/uv/install.sh | sh && \
+    curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.39.7/install.sh | bash && \
+    source /home/${USER}/.bashrc && \
+    export NVM_DIR="$HOME/.nvm" && \
+    [ -s "$NVM_DIR/nvm.sh" ] && \. "$NVM_DIR/nvm.sh" && \
+    [ -s "$NVM_DIR/bash_completion" ] && \. "$NVM_DIR/bash_completion" && \
+    nvm install 20
+
+# add local user binary folder to PATH variable
+ENV PATH="${PATH}:/home/${USER}/.local/bin"
+WORKDIR /home/${USER}

docker/docker-compose-no-gpu.yml

@@ -0,0 +1,35 @@
+services:
+  obelisk:
+    shm_size: '12gb'
+    build:
+      context: .
+      args:
+        USER: $USER
+        UID: $GID
+        GID: $GID
+      dockerfile: Dockerfile
+    network_mode: host
+    ipc: host
+    environment:
+      NVIDIA_DRIVER_CAPABILITIES: all
+      DISPLAY: $DISPLAY
+      USER: $USER
+      UID: $UID
+      GID: $UID
+      QT_X11_NO_MITSHM: 1
+    security_opt:
+      - seccomp=unconfined
+    cap_add:
+      - NET_ADMIN
+    volumes:
+      - $OBELISK_ROOT:$OBELISK_ROOT
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $HOME/.Xauthority:/root/.Xauthority:rw
+      - $HOME/.bashrc:$HOME/.bashrc
+    ports:
+      - 7007:7007
+    privileged: true
+    working_dir: $OBELISK_ROOT
+    stdin_open: true
+    tty: true
+    command: /bin/bash