smartrobot/docker-compose.yml at main · codeguylevi/smartrobot · GitHub

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services:
  smartrobot:
    build:
      context: .
      dockerfile: Dockerfile
    container_name: smartrobot
    privileged: true
    environment:
      # --- Server ---
      SERVER_PORT: "8000"

      # --- Codex OAuth / Backend ---
      CODEX_OAUTH_PORT: "1455"
      CODEX_OAUTH_BIND_HOST: "0.0.0.0"
      CODEX_REDIRECT_URI: "http://localhost:1455/auth/callback"
      TOKENS_FILE: "/data/tokens.json"
      LLM_SETTINGS_FILE: "/data/llm_settings.json"

      # --- Robot / Calibration ---
      CALIBRATION_DIR: "/data/lerobot_config"
      ROBOT_PORT: "/dev/ttyACM1"

      # --- Cameras (device paths) ---
      CAMERA_FRONT_PATH: "/dev/video0"
      CAMERA_OVER_PATH: "/dev/video2"

      # --- Cameras (capture settings) ---
      CAMERA_FRONT_WIDTH: "640"
      CAMERA_FRONT_HEIGHT: "480"
      CAMERA_FRONT_FPS: "30"
      CAMERA_OVER_WIDTH: "1280"
      CAMERA_OVER_HEIGHT: "720"
      CAMERA_OVER_FPS: "10"

      # --- Camera transforms (fix mirrored/rotated mounting) ---
      CAMERA_FRONT_FLIP_H: "false"
      CAMERA_FRONT_FLIP_V: "false"
      CAMERA_FRONT_ROTATE_180: "false"
      CAMERA_OVER_FLIP_H: "false"
      CAMERA_OVER_FLIP_V: "false"
      CAMERA_OVER_ROTATE_180: "false"

      # --- Snapshot encoding (UI + LLM payload) ---
      CAMERA_JPEG_QUALITY: "85"
      CAMERA_SNAPSHOT_WIDTH: "640"
      CAMERA_SNAPSHOT_HEIGHT: "480"

      # --- Control loop ---
      CONTROL_HZ: "5"
      MAX_STEPS: "200"
      MAX_RELATIVE_TARGET: "40"

      # --- LLM inputs ---
      LLM_SEND_OVERHEAD: "true"

      # --- Deterministic bootstrap: center from startup end-stop + overhead A/B experiments ---
      BOOTSTRAP_CENTER_AND_EXPERIMENTS: "true"
      BOOTSTRAP_ROUNDS: "2"
      BOOTSTRAP_EXPERIMENT_DELTA: "20"
      BOOTSTRAP_CENTER_TOL: "2"
      BOOTSTRAP_CENTER_MAX_STEPS: "40"
      BOOTSTRAP_CENTER_STALL_MAX_STEPS: "5"

      # --- Optional probes (off by default; bootstrap overrides them) ---
      GRIPPER_PROBE_ON_START: "false"
      ROM_PROBE_ON_START: "false"
      ROM_PROBE_DELTA: "50"

      # --- Post-action settle/flush (reduce stale frames) ---
      POST_ACT_SETTLE_SEC: "0.5"
      POST_ACT_OBSERVE_FLUSH: "2"
      POST_ACT_OBSERVE_FLUSH_SLEEP_SEC: "0.05"

      # --- Joint direction overrides (invert a joint if it moves opposite) ---
      JOINT_DELTA_SIGN_SHOULDER_PAN: "1.0"
      JOINT_DELTA_SIGN_SHOULDER_LIFT: "1.0"
      JOINT_DELTA_SIGN_ELBOW_FLEX: "1.0"
      JOINT_DELTA_SIGN_WRIST_FLEX: "1.0"
      JOINT_DELTA_SIGN_WRIST_ROLL: "1.0"
      JOINT_DELTA_SIGN_GRIPPER: "1.0"
    ports:
      - "8888:8000"
      - "1455:1455"
    volumes:
      - /dev:/dev
      - ./lerobot_config:/data/lerobot_config
      - smartrobot_data:/data
    restart: unless-stopped
volumes:
  smartrobot_data: