Create docker build GHA

.github/workflows/docker-build.yaml

@@ -0,0 +1,97 @@
+name: Docker Build
+
+on:
+  workflow_dispatch:
+    inputs:
+      tag_latest:
+        description: 'Tag as latest'
+        required: true
+        type: choice
+        options:
+          - 'true'
+          - 'false'
+        default: 'false'
+  push:
+    # temp disable branch filter for testing
+    #branches: [main]
+    paths:
+      - 'docker/**'
+      - 'scripts/setup_*.sh'
+      - 'src/holosoma_inference/docker/Dockerfile'
+      - 'src/holosoma_retargeting/docker/Dockerfile'
+
+permissions:
+  contents: read
+
+env:
+  ECR_REPO: 982423663241.dkr.ecr.us-west-2.amazonaws.com
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false # continue on one build failing
+      matrix:
+        include:
+        # CPU-buildable images
+        - environment: inference
+          dockerfile: 'src/holosoma_inference/docker/Dockerfile'
+          runner_prefix: 'codebuild-holosoma-cpu-build'
+        - environment: retargeting
+          dockerfile: 'src/holosoma_retargeting/docker/Dockerfile'
+          runner_prefix: 'codebuild-holosoma-cpu-build'
+        # GPU-required images (setup scripts build/link against CUDA/IsaacSim)
+        - environment: holosoma
+          dockerfile: 'docker/Dockerfile'
+          runner_prefix: 'codebuild-holosoma-a10g-x1-gpu-build'
+        - environment: isaacgym
+          dockerfile: 'docker/isaacgym.Dockerfile'
+          runner_prefix: 'codebuild-holosoma-a10g-x1-gpu-build'
+        - environment: isaacsim
+          dockerfile: 'docker/isaacsim.Dockerfile'
+          runner_prefix: 'codebuild-holosoma-a10g-x1-gpu-build'
+        - environment: mujoco
+          dockerfile: 'docker/mujoco.Dockerfile'
+          runner_prefix: 'codebuild-holosoma-a10g-x1-gpu-build'
+        #TODO: add mujoco warp
+    name: Build ${{ matrix.environment }} Docker Image
+    continue-on-error: true
+    runs-on: ${{ matrix.runner_prefix }}-${{ github.run_id }}-${{ github.run_attempt }}
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v6
+
+      - name: Generate Image name and path
+        id: name
+        # image name should be `holosoma` or `holsoma-${environment}`
+        run: |
+          IMAGE_NAME="${{ matrix.environment == 'holosoma' && '' || 'holosoma-' }}${{ matrix.environment }}"
+          IMAGE_PATH="${{ env.ECR_REPO }}/${IMAGE_NAME}"
+          echo "image_path=${IMAGE_PATH}" >> "$GITHUB_OUTPUT"
+
+      # might be unnecessary
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Generate image tags
+        id: tags
+        run: |
+          tags="${{ steps.name.outputs.image_path }}:$(date -u +%Y_%m%d_%H%M)"
+          if [[ "${{ inputs.tag_latest || 'false' }}" == "true" ]]; then
+            tags="$tags,${{ steps.name.outputs.image_path }}:latest"
+          fi
+          echo "tags=$tags" >> "$GITHUB_OUTPUT"
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: "${{ matrix.dockerfile }}"
+          push: true
+          tags: "${{ steps.tags.outputs.tags }}"
+          cache-from: type=registry,ref=${{ steps.name.outputs.image_path  }}:buildcache
+          cache-to: type=registry,ref=${{ steps.name.outputs.image_path }}:buildcache,mode=max
+
+      - name: Summary
+        run: |
+          echo "## Docker Build Summary" >> "$GITHUB_STEP_SUMMARY"
+          echo "- **Tags:** \`${{ steps.tags.outputs.tags }}\`" >> "$GITHUB_STEP_SUMMARY"

docker/build_and_push.sh

@@ -5,7 +5,7 @@
 # Usage:
 #   bash docker/build_and_push.sh                  # build & push all images
 #   bash docker/build_and_push.sh mujoco retarget  # only matching images
-#   bash docker/build_and_push.sh --no-push        # build only, skip push
+#   bash docker/build_and_push.sh --latest         # also tag and push as :latest
 #   bash docker/build_and_push.sh --dry-run        # print commands, do nothing
 #
 # Environment variables:
@@ -34,13 +34,13 @@ IMAGES=(
 )
 
 # ── Parse flags ──────────────────────────────────────────────────────
-NO_PUSH=false
+TAG_LATEST=false
 DRY_RUN=false
 FILTERS=()
 
 for arg in "$@"; do
   case "$arg" in
-    --no-push)  NO_PUSH=true ;;
+    --latest)   TAG_LATEST=true ;;
     --dry-run)  DRY_RUN=true ;;
     --help|-h)
       sed -n '2,/^$/{ s/^# \?//; p }' "$0"
@@ -81,32 +81,30 @@ for cmd in docker; do
   fi
 done
 
-if ! $NO_PUSH && ! $DRY_RUN; then
+if ! $DRY_RUN; then
   if ! command -v aws &>/dev/null; then
     echo "Error: aws CLI is not installed (required for push)" >&2; exit 1
   fi
 fi
 
 # ── ECR authentication ──────────────────────────────────────────────
-if ! $NO_PUSH; then
-  echo "==> Configuring ECR credential helper for ${ECR_REPO}"
-  if ! $DRY_RUN; then
-    # Ensure docker config dir exists
-    mkdir -p ~/.docker
-
-    # Add ecr-login credential helper for our registry if not already present
-    if [ ! -f ~/.docker/config.json ]; then
-      echo '{}' > ~/.docker/config.json
-    fi
+echo "==> Configuring ECR credential helper for ${ECR_REPO}"
+if ! $DRY_RUN; then
+  # Ensure docker config dir exists
+  mkdir -p ~/.docker
+
+  # Add ecr-login credential helper for our registry if not already present
+  if [ ! -f ~/.docker/config.json ]; then
+    echo '{}' > ~/.docker/config.json
+  fi
 
-    if ! jq -e ".credHelpers[\"${ECR_REPO}\"]" ~/.docker/config.json &>/dev/null; then
-      tmp=$(mktemp)
-      jq --arg repo "$ECR_REPO" '.credHelpers[$repo] = "ecr-login"' ~/.docker/config.json > "$tmp" \
-        && mv "$tmp" ~/.docker/config.json
-      echo "    Added ecr-login credential helper for ${ECR_REPO}"
-    else
-      echo "    ECR credential helper already configured"
-    fi
+  if ! jq -e ".credHelpers[\"${ECR_REPO}\"]" ~/.docker/config.json &>/dev/null; then
+    tmp=$(mktemp)
+    jq --arg repo "$ECR_REPO" '.credHelpers[$repo] = "ecr-login"' ~/.docker/config.json > "$tmp" \
+      && mv "$tmp" ~/.docker/config.json
+    echo "    Added ecr-login credential helper for ${ECR_REPO}"
+  else
+    echo "    ECR credential helper already configured"
   fi
 fi
 
@@ -125,30 +123,31 @@ for entry in "${IMAGES[@]}"; do
   echo ""
   echo "==> Building ${image_name} from ${dockerfile}"
 
-  # tags: date tag + latest
-  tags=(-t "${full_image}:latest" -t "${full_image}:${TAG}")
+  # tags: always date tag, optionally latest
+  tags=(-t "${full_image}:${TAG}")
+  if $TAG_LATEST; then
+    tags+=(-t "${full_image}:latest")
+  fi
 
   if run env DOCKER_BUILDKIT=1 docker build "${tags[@]}" -f "${dockerfile}" "${ROOT_REPO}"; then
     echo "    Built: ${image_name}"
 
-    if ! $NO_PUSH; then
-      echo "    Pushing ${image_name}..."
-      push_ok=true
+    echo "    Pushing ${image_name}..."
+    push_ok=true
+    if ! run docker push "${full_image}:${TAG}"; then
+      push_ok=false
+    fi
+    if $TAG_LATEST; then
       if ! run docker push "${full_image}:latest"; then
         push_ok=false
       fi
-      if ! run docker push "${full_image}:${TAG}"; then
-        push_ok=false
-      fi
+    fi
 
-      if $push_ok; then
-        SUCCEEDED+=("$image_name")
-      else
-        echo "    FAILED to push: ${image_name}" >&2
-        FAILED+=("$image_name")
-      fi
-    else
+    if $push_ok; then
       SUCCEEDED+=("$image_name")
+    else
+      echo "    FAILED to push: ${image_name}" >&2
+      FAILED+=("$image_name")
     fi
   else
     echo "    FAILED to build: ${image_name}" >&2
@@ -196,6 +195,6 @@ if [[ ${#SUCCEEDED[@]} -eq 0 ]] && [[ ${#FAILED[@]} -eq 0 ]]; then
   exit 1
 fi
 echo "  Tag: ${TAG}"
-$NO_PUSH && echo "  (push skipped — --no-push)"
+$TAG_LATEST && echo "  (also tagged as :latest)"
 $DRY_RUN && echo "  (dry run — nothing was executed)"
 echo "  Done."

src/holosoma_inference/holosoma_inference/utils/network.py

@@ -1,13 +1,13 @@
 """Network interface auto-detection for robot communication."""
 
-import os
+from pathlib import Path
 
 _SKIP_PREFIXES = ("lo", "wl", "docker", "br-", "veth", "virbr", "vnet", "tun", "tap")
 
 
 def detect_robot_interface() -> str:
     """Return the name of the single wired NIC that is operationally UP."""
-    for ifname in sorted(os.listdir("/sys/class/net/")):
+    for ifname in sorted(Path("/sys/class/net/").iterdir()):
         if any(ifname.startswith(p) for p in _SKIP_PREFIXES):
             continue
         try: