Merge pull request #670 from StanfordVL/colab-docker

Remove dev docker image, add colab image & improve example/installation usability

.dockerignore

@@ -1,2 +1 @@
-omnigibson/data
-docker
+omnigibson/data

.github/workflows/build-push-containers.yml

@@ -67,16 +67,6 @@ jobs:
         with:
           username: ${{ secrets.DOCKER_HUB_USERNAME }}
           password: ${{ secrets.DOCKER_HUB_PASSWORD }}
-      -
-        name: Metadata for dev Image
-        id: meta-dev
-        uses: docker/metadata-action@v5
-        with:
-          images: |
-            stanfordvl/omnigibson-dev
-          tags: |
-            type=ref,event=branch
-            type=semver,pattern={{version}}
       -
         name: Metadata for prod Image
         id: meta-prod
@@ -97,22 +87,6 @@ jobs:
           tags: |
             type=ref,event=branch
             type=semver,pattern={{version}}
-      -
-        name: Build and push dev image
-        id: build-dev
-        uses: docker/build-push-action@v5
-        with:
-          context: .
-          push: true
-          tags: ${{ steps.meta-dev.outputs.tags }}
-          labels: ${{ steps.meta-dev.outputs.labels }}
-          file: docker/dev.Dockerfile
-          cache-from: type=gha
-          cache-to: type=gha,mode=max
-
-      - name: Update prod image Dockerfile with dev image tag
-        run: |
-          sed -i "s/omnigibson-dev:latest/omnigibson-dev@${{ steps.build-dev.outputs.digest }}/g" docker/prod.Dockerfile && cat docker/prod.Dockerfile
       -
         name: Build and push prod image
         id: build-prod
@@ -140,4 +114,4 @@ jobs:
           labels: ${{ steps.meta-vscode.outputs.labels }}
           file: docker/vscode.Dockerfile
           cache-from: type=gha
-          cache-to: type=gha,mode=min
+          cache-to: type=gha,mode=min

docker/build_docker.sh

@@ -15,4 +15,9 @@ docker build \
 docker build \
     -t stanfordvl/omnigibson-vscode:latest \
     -f docker/vscode.Dockerfile \
+    .
+
+docker build \
+    -t stanfordvl/omnigibson-colab:latest \
+    -f docker/colab.Dockerfile \
     .

docker/colab.Dockerfile

@@ -0,0 +1,21 @@
+FROM stanfordvl/omnigibson:colab-docker
+
+# environment settings
+ARG DEBIAN_FRONTEND="noninteractive"
+ENV OMNIGIBSON_HEADLESS="1"
+ENV OMNIGIBSON_REMOTE_STREAMING="webrtc"
+
+# Fix the JS file to allow for remote streaming on the same port (80)
+RUN sed -i "s/49100/80/g" /isaac-sim/extscache/omni.services.streamclient.webrtc-1.3.8/web/js/kit-player.js && \
+    sed -i -E 's/IsValidIPv4=.*test\(e\)/IsValidIPv4=function(e){return true/g' /isaac-sim/extscache/omni.services.streamclient.webrtc-1.3.8/web/js/kit-player.js
+
+# Install nginx
+RUN apt-get update && apt-get install -y nginx && apt-get clean
+
+# Download the demo dataset and the assets
+RUN python -m omnigibson.utils.asset_utils --download_assets --download_demo_data --accept_license
+
+# Add the nginx configuration file
+ADD docker/nginx.conf /etc/nginx/sites-available/default
+
+CMD nginx && python -m omnigibson.examples.robots.robot_control_example --quickstart

docker/nginx.conf

@@ -0,0 +1,24 @@
+map $http_upgrade $connection_upgrade {
+    default upgrade;
+    '' close;
+}
+
+server {
+    listen 8123;
+
+    location /streaming/ {
+        proxy_pass http://127.0.0.1:8211/streaming/;
+        proxy_http_version 1.1;
+        proxy_set_header Upgrade $http_upgrade;
+        proxy_set_header Connection $connection_upgrade;
+        proxy_set_header Host $host;
+    }
+
+    location / {
+        proxy_pass http://127.0.0.1:49100/;
+        proxy_http_version 1.1;
+        proxy_set_header Upgrade $http_upgrade;
+        proxy_set_header Connection $connection_upgrade;
+        proxy_set_header Host $host;
+    }
+}

docker/prod.Dockerfile

@@ -1,4 +1,68 @@
-FROM stanfordvl/omnigibson-dev:latest
+FROM nvcr.io/nvidia/isaac-sim:2023.1.1
+
+# Set up all the prerequisites.
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+  curl git wget \
+  g++ cmake pkg-config libeigen3-dev wget libyaml-cpp-dev castxml pypy3 \
+  && rm -rf /var/lib/apt/lists/*
+
+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*
+RUN /isaac-sim/python.sh -m pip install click~=8.1.3
+
+# Disable the livestream extension getting launched by default in Isaac Sim 2023.1.1
+RUN sed -i 's/\"omni.kit.livestream.native.*//g' /isaac-sim/apps/omni.isaac.sim.python.kit
+
+# Mount the data directory
+VOLUME ["/data"]
+ENV OMNIGIBSON_DATASET_PATH /data/og_dataset
+ENV OMNIGIBSON_ASSET_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=3.10
+RUN micromamba shell init --shell=bash --prefix=/micromamba
+
+# Make sure isaac gets properly sourced every time omnigibson gets called
+ARG CONDA_ACT_FILE="/micromamba/envs/omnigibson/etc/conda/activate.d/env_vars.sh"
+RUN mkdir -p "/micromamba/envs/omnigibson/etc/conda/activate.d"
+RUN touch $CONDA_ACT_FILE
+
+RUN echo '#!/bin/sh' > $CONDA_ACT_FILE
+RUN echo "source /isaac-sim/setup_conda_env.sh" >> $CONDA_ACT_FILE
+
+RUN echo "micromamba activate omnigibson" >> /root/.bashrc
+
+# Prepare to build OMPL
+ENV CXX="g++"
+ENV MAKEFLAGS="-j `nproc`"
+RUN micromamba run -n omnigibson micromamba install -c conda-forge boost && \
+    micromamba run -n omnigibson pip install pyplusplus && \
+    git clone https://github.com/ompl/ompl.git /ompl && \
+    mkdir -p /ompl/build/Release && \
+    sed -i "s/find_program(PYPY/# find_program(PYPY/g" /ompl/CMakeModules/Findpypy.cmake
+
+# Build and install OMPL 
+RUN micromamba run -n omnigibson /bin/bash --login -c 'source /isaac-sim/setup_conda_env.sh && (which python > /root/PYTHON_EXEC) && (echo $PYTHONPATH > /root/PYTHONPATH)' && \
+    cd /ompl/build/Release && \
+    micromamba run -n omnigibson cmake ../.. \
+      -DCMAKE_INSTALL_PREFIX="$CONDA_PREFIX" \
+      -DBOOST_ROOT="$CONDA_PREFIX" \
+      -DPYTHON_EXEC=$(cat /root/PYTHON_EXEC) \
+      -DPYTHONPATH=$(cat /root/PYTHONPATH) && \
+    micromamba run -n omnigibson make -j 4 update_bindings && \
+    micromamba run -n omnigibson make -j 4 && \
+    cd py-bindings && \
+    micromamba run -n omnigibson make install
+
+# Test OMPL
+RUN micromamba run -n omnigibson python -c "from ompl import base"
+
+# Add setup to be executed on bash launch
+RUN echo "OMNIGIBSON_NO_OMNIVERSE=1 python scripts/download_datasets.py" >> /root/.bashrc
 
 # Copy over omnigibson source
 ADD . /omnigibson-src
@@ -9,5 +73,5 @@ SHELL ["micromamba", "run", "-n", "omnigibson", "/bin/bash", "--login", "-c"]
 # Install OmniGibson
 RUN micromamba run -n omnigibson pip install -e .
 
-# Add setup to be executed on bash launch
-RUN echo "OMNIGIBSON_NO_OMNIVERSE=1 python scripts/download_datasets.py" >> /root/.bashrc
+ENTRYPOINT ["micromamba", "run", "-n", "omnigibson"]
+CMD ["/bin/bash"]

omnigibson/examples/robots/robot_control_example.py

@@ -57,20 +57,24 @@ def choose_controllers(robot, random_selection=False):
     return controller_choices
 
 
-def main(random_selection=False, headless=False, short_exec=False):
+def main(random_selection=False, headless=False, short_exec=False, quickstart=False):
     """
     Robot control demo with selection
     Queries the user to select a robot, the controllers, a scene and a type of input (random actions or teleop)
     """
     og.log.info(f"Demo {__file__}\n    " + "*" * 80 + "\n    Description:\n" + main.__doc__ + "*" * 80)
 
     # Choose scene to load
-    scene_model = choose_from_options(options=SCENES, name="scene", random_selection=random_selection)
+    scene_model = "Rs_int"
+    if not quickstart:
+        scene_model = choose_from_options(options=SCENES, name="scene", random_selection=random_selection)
 
     # Choose robot to create
-    robot_name = choose_from_options(
-        options=list(sorted(REGISTERED_ROBOTS.keys())), name="robot", random_selection=random_selection
-    )
+    robot_name = "Fetch"
+    if not quickstart:
+        robot_name = choose_from_options(
+            options=list(sorted(REGISTERED_ROBOTS.keys())), name="robot", random_selection=random_selection
+        )
 
     scene_cfg = dict()
     if scene_model == "empty":
@@ -82,7 +86,7 @@ def main(random_selection=False, headless=False, short_exec=False):
     # Add the robot we want to load
     robot0_cfg = dict()
     robot0_cfg["type"] = robot_name
-    robot0_cfg["obs_modalities"] = ["rgb", "depth", "seg_instance", "normal", "scan", "occupancy_grid"]
+    robot0_cfg["obs_modalities"] = ["rgb"]
     robot0_cfg["action_type"] = "continuous"
     robot0_cfg["action_normalize"] = True
 
@@ -94,11 +98,20 @@ def main(random_selection=False, headless=False, short_exec=False):
 
     # Choose robot controller to use
     robot = env.robots[0]
-    controller_choices = choose_controllers(robot=robot, random_selection=random_selection)
+    controller_choices = {
+        "base": "DifferentialDriveController",
+        "arm_0": "InverseKinematicsController",
+        "gripper_0": "MultiFingerGripperController",
+        "camera": "JointController"
+    }
+    if not quickstart:
+        controller_choices = choose_controllers(robot=robot, random_selection=random_selection)
 
     # Choose control mode
     if random_selection:
         control_mode = "random"
+    elif quickstart:
+        control_mode = "teleop"
     else:
         control_mode = choose_from_options(options=CONTROL_MODES, name="control mode")
 
@@ -151,4 +164,13 @@ def main(random_selection=False, headless=False, short_exec=False):
 
 
 if __name__ == "__main__":
-    main()
+    import argparse
+    parser = argparse.ArgumentParser(description="Teleoperate a robot in a BEHAVIOR scene.")
+
+    parser.add_argument(
+        "--quickstart",
+        action="store_true",
+        help="Whether the example should be loaded with default settings for a quick start.",
+    )
+    args = parser.parse_args()
+    main(quickstart=args.quickstart)