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Setup repo. (#1)
Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>
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‎.devcontainer/README.md‎

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# DevContainers
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- [DevContainers](#devcontainers)
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- [Lekiwi-Dev](#lekiwi-dev)
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- [Image Details](#image-details)
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- [Getting Started](#getting-started)
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## Lekiwi-Dev
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#### Image Details
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* Base Image: `jammy` (ubuntu)
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* Rust:
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* Installed via rustup.
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* The rustc version is configured via `./lekiwi-dev/devcontainer.json` [1]
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[1] Override if necessary. At a later date, we might configure the bazel version via a marker file at the project root.
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#### Getting Started
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Locally:
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* [Install VSCode](https://code.visualstudio.com/docs/setup/linux#_debian-and-ubuntu-based-distributions)
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* Install [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers)
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* Open the project in VSCode
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* CTRL-SHIFT-P &rarr; Reopen in Container
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* Open a terminal in the container and run
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```
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(docker) dev@rust-dev:/workspaces/lekiwi-dora$ cargo build
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```
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CodeSpaces:
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* Go to Codespaces
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* Select `New with Options`
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* Select `Lekiwi Dev` from the `Dev Container Configuration`
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* Open a terminal in the container and run
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```
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@<github-username> ➜ /workspaces/rnd_lekiwi (main) $ cargo build
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```

‎.devcontainer/lekiwi-dev/Dockerfile‎

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################################################################################
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# Base Image
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################################################################################
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ARG BASE_IMAGE=jammy
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FROM mcr.microsoft.com/devcontainers/base:${BASE_IMAGE}
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################################################################################
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# Configuration
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################################################################################
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ARG RUST_VERSION=1.86.0
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################################################################################
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# User 'dev'
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################################################################################
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ARG USERNAME=dev
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ARG UID=1000
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ARG GID=1000
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RUN groupadd -o --gid ${GID} ${USERNAME}
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RUN useradd -o --uid ${UID} --gid ${GID} -s "/bin/bash" -m ${USERNAME} && \
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apt-get install -y sudo && \
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echo "${USERNAME} ALL=NOPASSWD: ALL" > /etc/sudoers.d/${USERNAME} && \
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chmod 0440 /etc/sudoers.d/${USERNAME}
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RUN usermod -a -G dialout $USERNAME
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COPY .devcontainer/lekiwi-dev/dev.bashrc /home/${USERNAME}/.bashrc.d/dev.bashrc
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RUN echo "source /home/${USERNAME}/.bashrc.d/dev.bashrc" >> /home/${USERNAME}/.bashrc
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RUN mkdir -p /home/${USERNAME}/.local/share/bash-completion/completions/ && \
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chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}/.local
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################################################################################
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# Tools & Utilities
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################################################################################
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RUN apt-get update && apt-get install -y --no-install-recommends \
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# development
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curl \
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bash \
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bash-completion \
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g++ \
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gcc \
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git \
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graphviz \
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make \
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pkg-config \
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ssh \
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wget \
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vim \
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less \
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zip \
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# python
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python3-dev \
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python3-pip \
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# linux
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libudev-dev \
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# cv2 deps
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ffmpeg libsm6 libxext6 \
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# gl deps
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mesa-utils libvulkan1 libvulkan-dev vulkan-tools libegl1 libgles2 \
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# Rerun specifically needs libxkbcommon-dev, libxkbcommon-x11-0
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libasound2-dev libudev-dev libx11-dev libxinerama-dev libxkbcommon-dev libxkbcommon-x11-0 x11-apps x11-xserver-utils \
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&& apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/*
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RUN pip install \
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pre-commit==2.20.0
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################################################################################
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# Installs Rust toolchain for specified rust version (RUST_VERSION).
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# Installs Rust autocompletion for bash.
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################################################################################
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ENV RUSTUP_HOME="/opt/rustup"
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ENV CARGO_HOME="/opt/cargo"
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RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y --default-toolchain ${RUST_VERSION} \
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&& . "${CARGO_HOME}/env" \
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&& rustup component add clippy \
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&& rustup component add rustfmt \
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&& cargo install cargo-deb \
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&& cargo install cargo-expand \
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&& cargo install cargo-rdme \
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&& rustup target add x86_64-unknown-linux-gnu \
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&& rustup completions bash cargo >> /home/${USERNAME}/.local/share/bash-completion/completions/cargo \
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&& echo "export RUSTUP_HOME=${RUSTUP_HOME}" >> /etc/profile \
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&& echo "export PATH=${CARGO_HOME}/bin:\${PATH}" >> /etc/profile
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ENV PATH="$CARGO_HOME/bin/:$PATH"
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# The previous command roots permissions in ${CARGO_HOME} and ${RUSTUP_HOME}.
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# Establish wide permissions for user 'dev'. This step takes several minutes.
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RUN find ${CARGO_HOME} -type d -exec chmod 777 {} + && \
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find ${CARGO_HOME} -type f -exec chmod a+rw {} + && \
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find ${RUSTUP_HOME} -type d -exec chmod 777 {} + && \
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find ${RUSTUP_HOME} -type f -exec chmod a+rw {} +
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##############################################################################
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# Final configuration
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##############################################################################
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# Update pip: Default pip version(22.) presents issues with
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# installing packages without setupt.py file:
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# See https://stackoverflow.com/questions/78034052/unknown-project-name-and-version-number-for-my-own-pip-package
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RUN pip install --upgrade pip
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# Install desired cargo bin crates
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RUN cargo install \
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# Depending on binary crates doesn't allow you to use them from cli.
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# https://github.com/rust-lang/cargo/issues/2267
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dora-cli --version 0.3.12
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# The previous commands roots permissions in ${CARGO_HOME} and ${RUSTUP_HOME}.
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# Establish wide permissions for user 'dev'. This step takes several minutes.
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RUN find ${CARGO_HOME} -type d -exec chmod 777 {} + && \
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find ${CARGO_HOME} -type f -exec chmod a+rw {} + && \
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find ${RUSTUP_HOME} -type d -exec chmod 777 {} + && \
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find ${RUSTUP_HOME} -type f -exec chmod a+rw {} +
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USER ${USERNAME}
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################################################################################
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# Python dev install
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################################################################################
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# Install uv package manager: https://github.com/astral-sh/uv
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RUN curl -LsSf https://astral.sh/uv/install.sh | sh
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################################################################################
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# NVIDIA
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################################################################################
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ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
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ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics,display,video,utility,compute
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################################################################################
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# Login Shell
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################################################################################
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ENV TERM xterm-256color
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ENTRYPOINT ["/bin/bash", "--login", "-i"]

‎.devcontainer/lekiwi-dev/dev.bashrc‎

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# parsing Git information
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parse_git_branch() {
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git branch 2> /dev/null | sed -e '/^[^*]/d' -e 's/* \(.*\)/ (\1)/'
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}
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unstaged() {
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if [[ $(git status -s 2> /dev/null | wc -c) != 0 ]]; then echo " +"; fi
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}
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export PS1='\[\033[01;36m\](docker)\[\033[00m\] \[\033[01;32m\]\u@lekiwi-${USER}\[\033[00m\]:\[\033[01;34m\]\w\[\033[33m\]$(parse_git_branch)$(unstaged)\[\033[00m\] \$ '
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alias ll='ls --color=auto -alFNh'
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alias ls='ls --color=auto -Nh'

‎.devcontainer/lekiwi-dev/devcontainer.json‎

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{
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"name": "lekiwi-dora dev",
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// This is a workaround for the limitation of not being able to run $(id -u) in devcontainer.json
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// so as to pass it to the build context via "build" dictionary.
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// We are here using initializeCommand to run a script that builds the image with the correct UID and GID.
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"initializeCommand": [".devcontainer/lekiwi-dev/initialize_command.sh"],
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"image": "lekiwi-dora-dev-container",
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"containerEnv": {
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"DISPLAY": "${localEnv:DISPLAY}",
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// Guarantee that the uv cache is in the same filesystem as the workspace
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// to avoid copies.
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"UV_CACHE_DIR": "${containerWorkspaceFolder}/.uv_cache"
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},
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"mounts": [
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"type=bind,source=/dev,target=/dev",
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"type=bind,source=/tmp/.X11-unix,target=/tmp/.X11-unix"
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],
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"remoteUser": "dev",
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"customizations": {
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"vscode": {
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"extensions": [
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"rust-lang.rust-analyzer",
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"bierner.github-markdown-preview",
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"bierner.markdown-preview-github-styles",
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"github.vscode-github-actions",
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"pbkit.vscode-pbkit",
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"streetsidesoftware.code-spell-checker",
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"yzhang.markdown-all-in-one",
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"tamasfe.even-better-toml",
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"ritwickdey.liveserver",
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"ms-python.python",
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"ms-python.vscode-pylance"
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]
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}
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},
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// TODO(francocipollone): Create another devcontainer profile for non-GPU-enabled development
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"runArgs": [
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"--privileged", // Required for /dev access
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"--network=host",
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"--runtime=nvidia", // Use NVIDIA runtime for GPU access
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"--gpus=all", // Use all available GPUs
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"--name=lekiwi-dora"
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]
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}

‎.devcontainer/lekiwi-dev/initialize_command.sh‎

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#!/bin/bash
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export UID=$(id -u)
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export GID=$(id -g)
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docker build -t lekiwi-dora-dev-container -f .devcontainer/lekiwi-dev/Dockerfile \
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--build-arg UID=$UID \
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--build-arg GID=$GID \
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.

‎.github/workflows/ci.yaml‎

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name: CI
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on:
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push:
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branches:
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- main
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pull_request:
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workflow_dispatch:
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# Cancel previously running PR jobs
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concurrency:
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group: '${{ github.workflow }} @ ${{ github.event.pull_request.head.label || github.head_ref || github.ref }}'
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cancel-in-progress: true
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env:
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CARGO_TERM_COLOR: always
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jobs:
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lint:
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name: Lint
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Install prerequisites
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uses: awalsh128/cache-apt-pkgs-action@latest
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with:
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packages: libudev-dev
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version: 1.0
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- name: Install pre-commit
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run: |
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python3 -m pip install --upgrade pip
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python3 -m pip install pre-commit
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- name: Install pre-commit hooks
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run: pre-commit install
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- name: Indicate safe directory
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## See https://github.com/actions/checkout/issues/363
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run: git config --global --add safe.directory $(realpath .)
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- name: Rust cache
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uses: Swatinem/rust-cache@v2
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- run: pre-commit run --all-files --verbose --show-diff-on-failure
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build_and_test_cargo:
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name: Cargo Build & Test
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needs: lint
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Install prerequisites
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uses: awalsh128/cache-apt-pkgs-action@latest
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with:
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packages: libudev-dev
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version: 1.0
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- name: Rust cache
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uses: Swatinem/rust-cache@v2
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- name: Cargo build
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run: cargo build --workspace --all-targets
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- name: Cargo test
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run: cargo test --workspace --all-targets
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build_and_test_uv:
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name: UV Build & Test
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needs: lint
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Install uv package manager
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run: |
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python3 -m pip install --upgrade pip
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python3 -m pip install uv
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- name: UV build
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run: uv build --all-packages
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- name: pytest
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run: uv run --all-packages pytest

‎.gitignore‎

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# Generated by Cargo
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# will have compiled files and executables
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debug/
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target/
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# These are backup files generated by rustfmt
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**/*.rs.bk
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# Generated by dora node
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out
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# Generated by dora graph command
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*-graph.html
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# Folder for the user to test stuff
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sandbox
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# datasets of yolo
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*.pt
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# Python compiled files
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dist
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*.egg-info
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.venv
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__pycache__
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*.pyc
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*.ruff_cache
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*.pytest_cache
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# MuJoCo outputs
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*.mp4
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# uv cache
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.uv_cache

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