Merge remote-tracking branch 'origin/main' into back_to_rlbench

Dockerfile

@@ -10,6 +10,7 @@ ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
     apt-get install -y \
     curl \
+    ffmpeg \
     git \
     build-essential \
     libssl-dev \
@@ -26,21 +27,33 @@ RUN apt-get update && \
     tk-dev \
     libffi-dev \
     liblzma-dev \
-    python-openssl && \
-    apt-get clean && \
-    rm -rf /var/lib/apt/lists/*
-
-
-# VirtualGL Dependencies
-RUN apt-get update && apt-get install -y \
-    openbox \
-    libxv1 \
+    libncursesw5-dev \
+    libsqlite3-dev \
+    libssl-dev \
+    libreadline-dev \
+    libxml2-dev \
+    libxmlsec1-dev \
+    tk-dev \
+    xz-utils \
+    zlib1g-dev \
+    # VirtualGL Dependencies.
+    libc6 \
     libglu1-mesa \
-    mesa-utils \
     libglvnd-dev \
+    libxv1 \
+    mesa-utils \
+    openbox \
     wget \
     xvfb \
-    libc6 \
+    # CoppeliaSim Dependencies.
+    libglu1-mesa-dev \
+    '^libxcb.*-dev' \
+    libxi-dev \
+    libxkbcommon-dev \
+    libxkbcommon-x11-dev \
+    libxrender-dev \
+    libx11-xcb-dev \
+    && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 
 # CoppeliaSim Dependencies
@@ -126,13 +139,35 @@ RUN pip install --no-build-isolation "pyrep @ git+https://github.com/stepjam/PyR
 RUN mkdir $CODING_ROOT/code
 WORKDIR $CODING_ROOT/code
 
-# Only copy in the source code that is necessary for the dependencies to install
-COPY ./taxpose $CODING_ROOT/code/taxpose
-COPY ./third_party $CODING_ROOT/code/third_party
-COPY ./setup.py $CODING_ROOT/code/setup.py
-COPY ./pyproject.toml $CODING_ROOT/code/pyproject.toml
-RUN pip install -e ".[rlbench]"
-RUN pip install -e third_party/ndf_robot
+# Download CoppeliaSim
+RUN mkdir $CODING_ROOT/.coppelia
+WORKDIR $CODING_ROOT/.coppelia
+RUN curl -L https://www.coppeliarobotics.com/files/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz -o CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz && \
+    tar -xf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz && \
+    rm CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
+
+# Set the working directory back to the code directory.
+WORKDIR $CODING_ROOT/code
+
+# modify environment variables for coppelia sim
+ENV COPPELIASIM_ROOT="$CODING_ROOT/.coppelia/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04"
+ENV LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$COPPELIASIM_ROOT"
+ENV QT_QPA_PLATFORM_PLUGIN_PATH="$COPPELIASIM_ROOT"
+
+# Install VirtualGL
+RUN wget --no-check-certificate https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_amd64.deb \
+    && dpkg -i virtualgl_*.deb \
+    && rm virtualgl_*.deb
+
+# Configure VirtualGL
+RUN /opt/VirtualGL/bin/vglserver_config +s +f -t +egl
+
+# Setup environment variables for NVIDIA and VirtualGL
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES all
+
+# Copy in the requirements.
+COPY requirements-gpu.txt .
 
 # Changes to the configs and scripts will not require a rebuild
 COPY ./configs $CODING_ROOT/code/configs
@@ -146,46 +181,23 @@ RUN mkdir $CODING_ROOT/data
 # Make a logs directory.
 RUN mkdir $CODING_ROOT/logs
 
-# Install gdown.
-RUN pip install gdown
+# Install pyrep.
+RUN pip install --no-cache-dir --no-build-isolation "pyrep @ git+https://github.com/stepjam/PyRep.git"
 
-# Copy the download script.
-COPY ./download_data.sh $CODING_ROOT/code/download_data.sh
+# Copy in pyproject.toml.
+COPY pyproject.toml .
+RUN mkdir taxpose
+RUN touch taxpose/py.typed
 
+# Install our project.
+RUN pip install --no-cache-dir -e ".[develop,rlbench]"
 
-# Install ffmpeg.
-RUN apt-get update && apt-get install -y ffmpeg && apt-get clean && rm -rf /var/lib/apt/lists/*
+# Copy in the code.
+COPY . .
 
+# Make directories for mounting.
+RUN mkdir $CODING_ROOT/data
+RUN mkdir $CODING_ROOT/logs
 
 COPY ./docker/entrypoint.sh /opt/baeisner/entrypoint.sh
 ENTRYPOINT ["/opt/baeisner/entrypoint.sh"]
-
-# RUN pip install --force-reinstall torch-scatter==2.0.9 torch-sparse==0.6.15 torch-cluster==1.6.0 torch-spline-conv==1.2.1 pyg_lib==0.1.0 -f https://data.pyg.org/whl/torch-1.13.0+cu116.html
-
-# RUN pip install --force-reinstall torch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2 --index-url https://download.pytorch.org/whl/cu118
-# RUN pip install --force-reinstall pyg_lib torch_scatter torch_sparse torch_cluster torch_spline_conv -f https://data.pyg.org/whl/torch-2.0.0+cu118.html
-# RUN pip uninstall -y pytorch3d
-# RUN pip install --force-reinstall fvcore iopath && \
-#     pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu118_pyt201/download.html
-#
-# RUN rm -r /opt/baeisner/.coppelia
-# # COPY docker/.coppelia /opt/baeisner/.coppelia
-# COPY docker/.coppelia/coppeliasim.tar.xz /opt/baeisner/.coppelia/coppeliasim.tar.xz
-# WORKDIR $CODING_ROOT/.coppelia
-# RUN tar -xf /opt/baeisner/.coppelia/coppeliasim.tar.xz
-# WORKDIR $CODING_ROOT/code
-
-# ENV COPPELIASIM_ROOT="$CODING_ROOT/.coppelia/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04"
-# ENV LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$COPPELIASIM_ROOT"
-# ENV QT_QPA_PLATFORM_PLUGIN_PATH="$COPPELIASIM_ROOT"
-# RUN chmod 777 /opt/baeisner/.coppelia/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04
-
-# RUN echo "Hello"
-# RUN pip install --user --no-build-isolation "pyrep @ git+https://github.com/stepjam/PyRep.git"
-
-# RUN curl -L https://downloads.coppeliarobotics.com/V4_6_0_rev18/CoppeliaSim_Pro_V4_6_0_rev18_Ubuntu20_04.tar.xz -o CoppeliaSim_Pro_V4_6_0_rev18_Ubuntu20_04.tar.xz && \
-#     tar -xf CoppeliaSim_Pro_V4_6_0_rev18_Ubuntu20_04.tar.xz && \
-#     rm CoppeliaSim_Pro_V4_6_0_rev18_Ubuntu20_04.tar.xz
-
-# Set up the entry point
-CMD ["python", "-c", "import torch; print(torch.cuda.is_available())"]

pyproject.toml

@@ -58,8 +58,8 @@ develop = [
 ]
 rlbench = [
   # These should be installed manually...
-  "pyrep",
-  "rlbench",
+  # "pyrep",
+  # "rlbench @ git+https://github.com/stepjam/RLBench.git",
   "rpad-rlbench-utils @ git+https://github.com/r-pad/rlbench_utils.git",
 ]
 build_docs = ["mkdocs-material", "mkdocstrings[python]"]