OpenCastor/docker-compose.arm.yml at main · craigm26/OpenCastor · GitHub

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# OpenCastor — SO-ARM101 arm setup compose file
# Target: alex.local (or any Linux machine with USB serial ports)
#
# Usage:
#   docker compose -f docker-compose.arm.yml up -d
#   docker exec -it opencastor-arm castor arm status
#   docker exec -it opencastor-arm castor arm assemble
#
# USB serial passthrough:
#   Add devices as needed. Run `ls /dev/ttyACM*` on the host first.
#   Or use privileged: true to pass through ALL USB devices (easier during setup).

services:
  opencastor-arm:
    build:
      context: .
      dockerfile: Dockerfile.arm
    image: opencastor-arm:latest
    pull_policy: never
    container_name: opencastor-arm
    restart: unless-stopped

    # ── Port mapping ──────────────────────────────────────────────
    ports:
      - "8000:8000"    # REST API
      - "8765:8765"    # Web wizard (castor wizard --web)

    # ── Environment ───────────────────────────────────────────────
    env_file:
      - .env
    command: >
      sh -c "castor gateway --config /app/config/arm.rcan.yaml --host 0.0.0.0 --port 8000"

    environment:
      - CASTOR_CONFIG=/app/config/arm.rcan.yaml
      - OPENCASTOR_CONFIG=/app/config/arm.rcan.yaml
      - OPENCASTOR_API_HOST=0.0.0.0
      - OPENCASTOR_API_PORT=8000

    # ── Volumes ───────────────────────────────────────────────────
    volumes:
      # Robot config (arm.rcan.yaml generated here by castor arm config)
      - ./config:/app/config
      # Episode recordings for imitation learning
      - arm_episodes:/app/episodes
      # Calibration data persisted across restarts
      - arm_calibration:/home/castor/.cache/lerobot

    # ── USB serial passthrough ────────────────────────────────────
    # Option A: Specific devices (safer, requires knowing port names)
    #   Uncomment and adjust to your /dev/ttyACM* paths:
    # devices:
    #   - /dev/ttyACM0:/dev/ttyACM0   # follower arm
    #   - /dev/ttyACM1:/dev/ttyACM1   # leader arm (bimanual)
    #
    # Option B: Privileged mode (easiest during initial setup)
    #   Passes through ALL host devices including all /dev/ttyACM*
    privileged: true

    # ── Serial port group access ──────────────────────────────────
    group_add:
      - dialout

    # ── Network ───────────────────────────────────────────────────
    network_mode: host   # Simplifies mDNS / arm network discovery

    # ── Logging ───────────────────────────────────────────────────
    logging:
      driver: json-file
      options:
        max-size: "10m"
        max-file: "3"

    # ── Health check ──────────────────────────────────────────────
    healthcheck:
      test: ["CMD", "python", "-c", "import castor; print('ok')"]
      interval: 30s
      timeout: 10s
      start_period: 15s
      retries: 3

    # ── Labels ────────────────────────────────────────────────────
    labels:
      - "com.opencastor.role=arm"
      - "com.opencastor.hardware=so_arm101"

volumes:
  arm_episodes:
  arm_calibration: