Add Dockerfiles for building and running OmniGibson images (#72)

* Prepare for Docker release

* Lowercase needed

* Executable perms

* Try another installation order

* Add Omniverse EULA stuff

* Yes or no

* Spacing

* Update Dockerfile

* Remove mamba

* Another attempt

* Reditch Mamba

* Fix accidental paste

* Remove sudo

* Apt call -y

* Get pip

* Better pip install

* Revert "Better pip install"

This reverts commit f5d4479b84.

* Revert "Get pip"

This reverts commit 61f872dd50.

* Revert "Apt call -y"

This reverts commit 5823393b37.

* Revert "Remove sudo"

This reverts commit 7e22f8007a.

* Revert "Fix accidental paste"

This reverts commit d5be8d9e8e.

* Revert "Reditch Mamba"

This reverts commit 67cd60a9b0.

* Another attempt

* Activate before pip

* Init shell for mamba

* Do stuff in a shell

* Fix typo

* Ignore docker in docker

* Dont install for now

* Fix install

* Better micromamba

* Change shell

* Launch in login shell

* Upgrade numpy

* Remove prebundled numpy

* Better job removing prebuilt

* Run from web

* Be nice towards xhost.

* Fix script paths

.dockerignore

@@ -1 +1,2 @@
-gibson/assets/dataset
+omnigibson/data
+docker

MANIFEST.in

@@ -2,6 +2,5 @@ include LICENSE
 
 graft omnigibson
 prune omnigibson/data
-prune omnigibson/render/openvr/samples
 
 global-exclude *.py[co]

docker/.env

@@ -1,3 +0,0 @@
-REGISTRY=docker.io
-REPO=omnigibson
-VERSION=v2.0.4

docker/Dockerfile

@@ -0,0 +1,41 @@
+FROM nvcr.io/nvidia/isaac-sim:2022.1.1
+
+# Set up all the prerequisites.
+RUN apt-get update && apt-get install -y \
+  curl \
+  git \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN echo "bash /isaac-sim/vulkan_check.sh" >> /root/.bashrc
+RUN rm -rf /isaac-sim/exts/omni.isaac.ml_archive/pip_prebundle/gym
+RUN rm -rf /isaac-sim/kit/extscore/omni.kit.pip_archive/pip_prebundle/numpy
+
+# Add OmniGibson
+ADD . /omnigibson
+WORKDIR /omnigibson
+
+# Mount the data directory
+VOLUME ["/data"]
+ENV OMNIGIBSON_DATASET_PATH /data/og_dataset
+ENV OMNIGIBSON_ASSETS_PATH /data/assets
+ENV GIBSON_DATASET_PATH /data/g_dataset
+ENV OMNIGIBSON_KEY_PATH /data/omnigibson.key
+
+# Install Mamba (light conda alternative)
+RUN curl -Ls https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xvj -C / bin/micromamba
+ENV MAMBA_ROOT_PREFIX /micromamba
+RUN micromamba create -n omnigibson -c conda-forge python=3.7
+RUN micromamba shell init --shell=bash --prefix=/micromamba
+RUN echo "micromamba activate omnigibson" >> /root/.bashrc
+RUN echo "source /isaac-sim/setup_conda_env.sh" >> /root/.bashrc
+
+# Install some additional niceties for working with notebooks
+SHELL ["micromamba", "run", "-n", "omnigibson", "/bin/bash", "--login", "-c"]
+RUN micromamba install -c conda-forge opencv
+
+# Install OmniGibson
+RUN pip install -e .
+
+ENTRYPOINT []
+
+CMD ["/bin/bash"]

docker/README.md

@@ -0,0 +1,22 @@
+# Requirements
+
+- Modern Linux distribution (Ubuntu 20.04, Fedora 36, etc.)
+- RTX capable Nvidia graphics card (20 series or newer,)
+- Up-to-date NVIDIA drivers
+
+# Usage
+
+**The below instructions concern the usage of OmniGibson containers with self-built images. Please see the BEHAVIOR-1K docs for instructions on how to pull and run a cloud image.**
+
+1. Set up the NVIDIA Docker Runtime and login to the NVIDIA Container Registry
+See [here](https://www.pugetsystems.com/labs/hpc/how-to-setup-nvidia-docker-and-ngc-registry-on-your-workstation-part-4-accessing-the-ngc-registry-1115/) for details.
+
+2. Build the container. **From the OmniGibson root**, run: `./docker/build_docker.sh`
+
+3. Run the container
+* To get a shell inside a container with GUI: `./docker/run_docker_gui.sh`
+* To get a jupyter notebook: `./docker/run_docker_notebook.sh`
+* To get access to a shell inside a headless container `./docker/run_docker.sh`
+
+# Development
+To push a Docker container, run: `./docker/push_docker.sh`

docker/build_docker.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+
+docker build \
+    -t stanfordvl/omnigibson:latest \
+    -t stanfordvl/omnigibson:$(sed -ne "s/.*version= *['\"]\([^'\"]*\)['\"] *.*/\1/p" setup.py) \
+    -f docker/Dockerfile \
+    .

docker/omnigibson/Dockerfile

@@ -1,41 +0,0 @@
-FROM nvcr.io/nvidia/isaac-sim:2022.1.1
-
-RUN echo "bash /isaac-sim/vulkan_check.sh" >> /root/.bashrc
-RUN rm -rf /isaac-sim/exts/omni.isaac.ml_archive/pip_prebundle/gym
-
-RUN apt-get update && apt-get install -y \
-  curl \
-  git \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN  curl -Ls https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xvj -C / bin/micromamba
-
-ENV MAMBA_ROOT_PREFIX /micromamba
-RUN micromamba create -n omnigibson -c conda-forge python=3.7
-RUN micromamba shell init --shell=bash --prefix=/micromamba
-ENV PATH /micromamba/envs/omnigibson/bin:$PATH
-RUN echo "source /isaac-sim/setup_conda_env.sh" >> /root/.bashrc
-
-WORKDIR /
-ENV GITHUB_USER mjlbach
-ENV GITHUB_TOKEN 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
-ENV GITHUB_REPOSITORY stanfordvl/OmniGibson3.git
-RUN git clone https://${GITHUB_USER}:${GITHUB_TOKEN}@github.com/${GITHUB_REPOSITORY}
-
-ENV GITHUB_REPOSITORY stanfordvl/bddl-dev.git
-ENV GITHUB_TOKEN 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
-RUN git clone https://${GITHUB_USER}:${GITHUB_TOKEN}@github.com/${GITHUB_REPOSITORY}
-
-WORKDIR /OmniGibson3
-
-RUN pip install -e .
-RUN micromamba install -n omnigibson -c conda-forge opencv
-
-WORKDIR /bddl-dev
-RUN pip install -e .
-
-WORKDIR /OmniGibson3/omnigibson/examples/
-
-RUN sed -i "s/gm.HEADLESS = False/gm.HEADLESS = True/" /OmniGibson3/omnigibson/macros.py
-
-ENTRYPOINT bash --login

docker/omnigibson/build_docker.sh

@@ -1 +0,0 @@
-docker build -t omnomnigibson:latest .

docker/omnigibson/run_docker.sh

@@ -1,3 +0,0 @@
-export OMNIGIBSON_DATA_PATH=/path/to/omnomnigibson_data
-# To run with GUI: edit macros.py and add -v /tmp/.X11-unix:/tmp/.X11-unix to container launch command
-docker run -e DISPLAY -v $OMNIGIBSON_DATA_PATH:/OmniGibson3/omnigibson/data --rm -it omnomnigibson

docker/push_docker.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+
+docker push stanfordvl/omnigibson:latest
+docker push stanfordvl/omnigibson:$(sed -ne "s/.*version= *['\"]\([^'\"]*\)['\"] *.*/\1/p" setup.py)

docker/run_docker.sh

@@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+
+DATA_PATH=${1:-'~/omnigibson-data'}
+
+echo "The NVIDIA Omniverse License Agreement (EULA) must be accepted before"
+echo "Omniverse Kit can start. The license terms for this product can be viewed at"
+echo "https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html"
+
+while true; do
+    read -p "Do you accept the Omniverse EULA? [yn] " yn
+    case $yn in
+        [Yy]* ) break;;
+        [Nn]* ) exit;;
+        * ) echo "Please answer yes or no.";;
+    esac
+done
+
+docker run \
+    --gpus all \
+    --privileged \
+    -e DISPLAY \
+    -e OMNIGIBSON_HEADLESS=1 \
+    -v DATA_PATH:/data \
+    --network=host --rm -it stanfordvl/omnigibson:latest

docker/run_docker_gui.sh

@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+
+DATA_PATH=${1:-'~/omnigibson-data'}
+
+echo "The NVIDIA Omniverse License Agreement (EULA) must be accepted before"
+echo "Omniverse Kit can start. The license terms for this product can be viewed at"
+echo "https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html"
+
+while true; do
+    read -p "Do you accept the Omniverse EULA? [yn] " yn
+    case $yn in
+        [Yy]* ) break;;
+        [Nn]* ) exit;;
+        * ) echo "Please answer yes or no.";;
+    esac
+done
+
+xhost +local:root
+docker run \
+    --gpus all \
+    --privileged \
+    -e DISPLAY=${DISPLAY} \
+    -v /tmp/.X11-unix:/tmp/.X11-unix \
+    -v DATA_PATH:/data \
+    --network=host --rm -it stanfordvl/omnigibson:latest
+xhost -local:root

docker/run_docker_notebook.sh

@@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+
+DATA_PATH=${1:-'~/omnigibson-data'}
+
+echo "The NVIDIA Omniverse License Agreement (EULA) must be accepted before"
+echo "Omniverse Kit can start. The license terms for this product can be viewed at"
+echo "https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html"
+
+while true; do
+    read -p "Do you accept the Omniverse EULA? [yn] " yn
+    case $yn in
+        [Yy]* ) break;;
+        [Nn]* ) exit;;
+        * ) echo "Please answer yes or no.";;
+    esac
+done
+
+docker run \
+    --gpus all \
+    --privileged \
+    -e DISPLAY \
+    -e OMNIGIBSON_HEADLESS=1 \
+    -v DATA_PATH:/data \
+    --network=host --rm -it stanfordvl/omnigibson bash -c "source ~/.bashrc && jupyter lab --allow-root"

omnigibson/__init__.py

@@ -23,8 +23,8 @@ with open(os.path.join(os.path.dirname(os.path.realpath(__file__)), "global_conf
     global_config = yaml.load(f, Loader=yaml.FullLoader)
 
 # can override assets_path and dataset_path from environment variable
-if "GIBSON_ASSETS_PATH" in os.environ:
-    assets_path = os.environ["GIBSON_ASSETS_PATH"]
+if "OMNIGIBSON_KEY_PATH" in os.environ:
+    assets_path = os.environ["OMNIGIBSON_KEY_PATH"]
 else:
     assets_path = global_config["assets_path"]
 assets_path = os.path.expanduser(assets_path)
@@ -41,8 +41,8 @@ else:
     og_dataset_path = global_config["og_dataset_path"]
 og_dataset_path = os.path.expanduser(og_dataset_path)
 
-if "KEY_PATH" in os.environ:
-    key_path = os.environ["KEY_PATH"]
+if "OMNIGIBSON_KEY_PATH" in os.environ:
+    key_path = os.environ["OMNIGIBSON_KEY_PATH"]
 else:
     key_path = global_config["key_path"]
 key_path = os.path.expanduser(key_path)

omnigibson/macros.py

@@ -4,6 +4,8 @@ Set of macros to use globally for OmniGibson. These are generally magic numbers
 NOTE: This is generally decentralized -- the monolithic @settings variable is created here with some global values,
 but submodules within OmniGibson may import this dictionary and add to it dynamically
 """
+import os
+
 from addict import Dict
 
 
@@ -12,7 +14,7 @@ macros = Dict()
 gm = macros.globals
 
 # Whether to generate a headless or non-headless application upon OmniGibson startup
-gm.HEADLESS = False
+gm.HEADLESS = (os.getenv("OMNIGIBSON_HEADLESS", 'False').lower() in ('true', '1', 't'))
 
 # Whether to use extra settings (verboseness, extra GUI features) for debugging
 gm.DEBUG = True