Taskfile.yml

version: "3"

dotenv: [".env"]

includes:
  install:
    dir: .
    taskfile: Taskfile.install.yml
  droid:
    dir: deployments/fr3_droid
    taskfile: deployments/fr3_droid/Taskfile.yml

vars:
  PRETTIER_VERSION: 3.6.2
  RUFF_VERSION: 0.12.1
  RUFF_THIRD_PARTY_EXCLUDE: "**/third_party/**"
  SHFMT_EXCLUDE_REGEX: "(^|/)tmp/|(^|/)third_party/|(^|/)\\.venv/"

  # Docker vars
  BUILD_CREATED:
    sh: date -u +'%Y-%m-%dT%H:%M:%SZ'
  GIT_COMMIT:
    sh: git rev-parse HEAD 2>/dev/null || echo "latest"
  BUILD_VERSION: '{{.BUILD_VERSION | default .GIT_COMMIT}}'
  BUILD_TARGET: '{{.BUILD_TARGET | default "dev"}}'
  DOCKER_REGISTRY: '{{.DOCKER_REGISTRY | default "registry.localhost"}}'
  DOCKER_TAG: '{{.DOCKER_TAG | default "latest"}}'

tasks:
  list-services:
    desc: List all available services
    cmds:
      - |
        echo "Available services:"
        find services -name "docker-compose.yml" -type f | grep -v "third_party" | xargs -I{} dirname {} | xargs -I{} basename {} | sort

  lerobot-export:
    desc: "Convert raw episodes -> ONE LeRobot dataset, synchronised (usage: task lerobot-export DATASET=name [INPUT=..] [DEPLOYMENT=..] [FPS=20] [LIMIT=0])"
    preconditions:
      - sh: '[ -n "{{.DATASET}}" ]'
        msg: "DATASET is required. Usage: task lerobot-export DATASET=name"
    cmds:
      - bash scripts/lerobot_export.sh DATASET={{.DATASET}} INPUT={{.INPUT}} OUTPUT={{.OUTPUT}} DEPLOYMENT={{.DEPLOYMENT}} FPS={{.FPS}} LIMIT={{.LIMIT}}

  build:
    desc: "Build service container (usage: task build SERVICE=name)"
    preconditions:
      - sh: '[ -n "{{.SERVICE}}" ]'
        msg: "SERVICE is required. Usage: task build SERVICE=name"
    cmds:
      - |
        SERVICE_PATH=$(find services -type d -name "{{.SERVICE}}" 2>/dev/null | head -1)
        if [ -z "$SERVICE_PATH" ]; then
          echo "Error: Service not found: {{.SERVICE}}" >&2
          exit 1
        fi
        cd "$SERVICE_PATH"
        docker compose build $([ "${NO_CACHE}" = "1" ] && echo "--no-cache") \
          --build-arg BUILD_TARGET={{.BUILD_TARGET}} \
          --build-arg BUILD_VERSION={{.BUILD_VERSION}} \
          --build-arg GIT_COMMIT={{.GIT_COMMIT}}

  start:
    desc: "Start service container (usage: task start SERVICE=name)"
    deps: [build]
    preconditions:
      - sh: '[ -n "{{.SERVICE}}" ]'
        msg: "SERVICE is required. Usage: task start SERVICE=name"
    cmds:
      - |
        SERVICE_PATH=$(find services -type d -name "{{.SERVICE}}" 2>/dev/null | head -1)
        if [ -z "$SERVICE_PATH" ]; then
          echo "Error: Service not found: {{.SERVICE}}" >&2
          exit 1
        fi
        cd "$SERVICE_PATH"
        docker compose up -d

  start-droid:
    desc: "Start unified fr3_droid recording and teleop stack (no franka-policy; ~1 core lighter per node)"
    aliases: [droid]
    cmds:
      - task: droid:start-prod

  start-droid-inference:
    desc: "Start unified fr3_droid stack with franka-policy enabled (requires GPU_INFER_ENDPOINT in .env)"
    aliases: [droid-inference]
    cmds:
      - task: droid:start-prod-inference

  stop:
    desc: "Stop a service (SERVICE=name) or the unified fr3_droid project"
    cmds:
      - |
        if [ -n "{{.SERVICE}}" ]; then
          SERVICE_PATH=$(find services -type d -name "{{.SERVICE}}" 2>/dev/null | head -1)
          if [ -z "$SERVICE_PATH" ]; then echo "Error: Service not found: {{.SERVICE}}" >&2; exit 1; fi
          cd "$SERVICE_PATH" && docker compose down
        else
          docker compose -p fr3_droid down --remove-orphans
        fi

  restart:
    desc: "Restart service container (usage: task restart SERVICE=name)"
    cmds:
      - task: stop
      - task: start

  logs:
    desc: "Show service logs (usage: task logs SERVICE=name)"
    preconditions:
      - sh: '[ -n "{{.SERVICE}}" ]'
        msg: "SERVICE is required. Usage: task logs SERVICE=name"
    cmds:
      - |
        if ! docker ps --format '{{`{{.Names}}`}}' | grep -qx "{{.SERVICE}}"; then
          echo "Error: Container '{{.SERVICE}}' is not running" >&2
          docker ps --format '  {{`{{.Names}}`}}' | sort
          exit 1
        fi
        docker logs -f {{.SERVICE}}

  exec:
    desc: "Exec into service container (usage: task exec SERVICE=name)"
    preconditions:
      - sh: '[ -n "{{.SERVICE}}" ]'
        msg: "SERVICE is required. Usage: task exec SERVICE=name"
    cmds:
      - |
        if ! docker ps --format '{{`{{.Names}}`}}' | grep -qx "{{.SERVICE}}"; then
          echo "Error: Container '{{.SERVICE}}' is not running" >&2
          echo "Running containers:"
          docker ps --format '  {{`{{.Names}}`}}' | sort
          exit 1
        fi
        docker exec -it {{.SERVICE}} bash

  format-check:
    desc: Check file formatting
    cmds:
      - |
        if [[ "$CI" == 1 ]];then
          uvx ruff@{{.RUFF_VERSION}} format --check --exclude "{{.RUFF_THIRD_PARTY_EXCLUDE}}" .
          npx prettier@{{.PRETTIER_VERSION}} --check "**/*.json"
          npx prettier@{{.PRETTIER_VERSION}} --check "**/*.md"
          shfmt -f . | grep -vE "{{.SHFMT_EXCLUDE_REGEX}}" | xargs shfmt -i 4 -ci -d
        else
          uvx ruff@{{.RUFF_VERSION}} format --check --exclude "{{.RUFF_THIRD_PARTY_EXCLUDE}}" .
          docker pull tmknom/prettier:{{.PRETTIER_VERSION}}
          docker run --rm -u "$(id -u):$(id -g)" -v $(pwd):/work tmknom/prettier:{{.PRETTIER_VERSION}} --check "**/*.json"
          docker run --rm -u "$(id -u):$(id -g)" -v $(pwd):/work tmknom/prettier:{{.PRETTIER_VERSION}} --check "**/*.md"
          shfmt -f . | grep -vE "{{.SHFMT_EXCLUDE_REGEX}}" | xargs shfmt -i 4 -ci -d
        fi

  format:
    desc: Format files
    cmds:
      - |
        if [[ "$CI" == 1 ]];then
          uvx ruff@{{.RUFF_VERSION}} format --exclude "{{.RUFF_THIRD_PARTY_EXCLUDE}}" .
          npx prettier@{{.PRETTIER_VERSION}} --write "**/*.json"
          npx prettier@{{.PRETTIER_VERSION}} --write "**/*.md"
          shfmt -f . | grep -vE "{{.SHFMT_EXCLUDE_REGEX}}" | xargs shfmt -i 4 -ci -w
        else
          uvx ruff@{{.RUFF_VERSION}} format --exclude "{{.RUFF_THIRD_PARTY_EXCLUDE}}" .
          docker run --rm -u "$(id -u):$(id -g)" -v $(pwd):/work tmknom/prettier:{{.PRETTIER_VERSION}} --write "**/*.json"
          docker run --rm -u "$(id -u):$(id -g)" -v $(pwd):/work tmknom/prettier:{{.PRETTIER_VERSION}} --write "**/*.md"
          shfmt -f . | grep -vE "{{.SHFMT_EXCLUDE_REGEX}}" | xargs shfmt -i 4 -ci -w
        fi

  lint-check:
    desc: Check file linting
    cmds:
      - uvx ruff@{{.RUFF_VERSION}} check --exclude "{{.RUFF_THIRD_PARTY_EXCLUDE}}" .

  lint:
    desc: Fix lint issues (Ruff auto-fix)
    cmds:
      - |
        if [[ "$CI" == 1 ]];then
          uvx ruff@{{.RUFF_VERSION}} check --exclude "{{.RUFF_THIRD_PARTY_EXCLUDE}}" .
        else
          uvx ruff@{{.RUFF_VERSION}} check --exclude "{{.RUFF_THIRD_PARTY_EXCLUDE}}" --fix .
        fi

  pre-commit-check:
    desc: Pre commit check
    cmds:
      - task: format-check
      - task: lint-check

  # ---------------------------------------------------------------------------
  # Dataset Builder
  # ---------------------------------------------------------------------------
  #
  # Quick usage — convert a single episode:
  #
  #   task dataset-builder-convert-episode \
  #     INPUT_MCAP=/workspace/data/processed_episodes/<date>/<uuid>/mcap/mcap_0.mcap \
  #     DATASET_NAME=<dataset-name>
  #
  # The output is written to /workspace/data/datasets/lerobot/<dataset-name>.
  # Override with OUTPUT_DIR if a non-standard path is needed.
  # DEPLOYMENT_DIR defaults to /workspace/deployments/example_station.
  # Pass extra CLI flags via CLI_ARGS, e.g. CLI_ARGS="--fps 30".
  # Override data paths via DATA_ROOT (default ./data) and DEPLOYMENTS_ROOT (default ./deployments).
  # ---------------------------------------------------------------------------

  dataset-builder-run:
    desc: "Run a command inside the dataset-builder container (usage: task dataset-builder-run CMD='uv run pytest')"
    vars:
      CMD: '{{.CMD | default "/bin/bash"}}'
    cmds:
      - task: build
        vars: { SERVICE: dataset-builder }
      - |
        docker run -it --rm \
          -v ${DATA_ROOT:-./data}:/workspace/data \
          -v ${DEPLOYMENTS_ROOT:-./deployments}:/workspace/deployments \
          {{.DOCKER_REGISTRY}}/labs/dataset-builder:{{.DOCKER_TAG}} \
          {{.CMD}}

  dataset-builder-convert-episode:
    desc: Convert a single processed MCAP episode to a LeRobot dataset (set INPUT_MCAP, DATASET_NAME; optionally DEPLOYMENT_DIR)
    vars:
      INPUT_MCAP: '{{.INPUT_MCAP | default .Env.INPUT_MCAP}}'
      DATASET_NAME: '{{.DATASET_NAME | default (.Env.DATASET_NAME | default "my-dataset")}}'
      DEPLOYMENT_DIR: '{{.DEPLOYMENT_DIR | default (.Env.DEPLOYMENT_DIR | default "/workspace/deployments/fr3_droid")}}'
    preconditions:
      - sh: '[ -n "{{.INPUT_MCAP}}" ]'
        msg: "INPUT_MCAP is required. Usage: task dataset-builder-convert-episode INPUT_MCAP=... DATASET_NAME=..."
      - sh: '[ -n "{{.DATASET_NAME}}" ]'
        msg: "DATASET_NAME is required. Usage: task dataset-builder-convert-episode INPUT_MCAP=... DATASET_NAME=..."
    cmds:
      - task: build
        vars: { SERVICE: dataset-builder }
      - |
        docker run --rm \
          -v ${DATA_ROOT:-./data}:/workspace/data \
          -v ${DEPLOYMENTS_ROOT:-./deployments}:/workspace/deployments \
          {{.DOCKER_REGISTRY}}/labs/dataset-builder:{{.DOCKER_TAG}} \
          ./entrypoint.sh \
            --dataset-name {{.DATASET_NAME}} \
            --deployment-dir {{.DEPLOYMENT_DIR}} \
            single --input {{.INPUT_MCAP}} \
            {{.CLI_ARGS}}