add isaac sim 2023 support and dockerfiles
This commit is contained in:
Balakumar Sundaralingam
247
docker/isaac_sim.dockerfile
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247
docker/isaac_sim.dockerfile
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##
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## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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##
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## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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## property and proprietary rights in and to this material, related
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## documentation and any modifications thereto. Any use, reproduction,
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## disclosure or distribution of this material and related documentation
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## without an express license agreement from NVIDIA CORPORATION or
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## its affiliates is strictly prohibited.
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##
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ARG DEBIAN_FRONTEND=noninteractive
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ARG BASE_DIST=ubuntu20.04
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ARG CUDA_VERSION=11.4.2
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ARG ISAAC_SIM_VERSION=2022.2.1
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FROM nvcr.io/nvidia/isaac-sim:${ISAAC_SIM_VERSION} AS isaac-sim
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FROM nvcr.io/nvidia/cudagl:${CUDA_VERSION}-devel-${BASE_DIST}
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# this does not work for 2022.2.1
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#$FROM nvcr.io/nvidia/cuda:${CUDA_VERSION}-cudnn8-devel-${BASE_DIST}
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LABEL maintainer "User Name"
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ARG VULKAN_SDK_VERSION=1.3.224.1
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# Deal with getting tons of debconf messages
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# See: https://github.com/phusion/baseimage-docker/issues/58
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RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
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# add GL if using a cuda docker instead of cudagl:
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#RUN apt-get update && apt-get install -y --no-install-recommends \
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# pkg-config \
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# libglvnd-dev \
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# libgl1-mesa-dev \
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# libegl1-mesa-dev \
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# libgles2-mesa-dev && \
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# rm -rf /var/lib/apt/lists/*
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# Set timezone info
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RUN apt-get update && apt-get install -y \
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tzdata \
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software-properties-common \
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&& rm -rf /var/lib/apt/lists/* \
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&& ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
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&& echo "America/Los_Angeles" > /etc/timezone \
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&& dpkg-reconfigure -f noninteractive tzdata \
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&& add-apt-repository -y ppa:git-core/ppa \
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&& apt-get update && apt-get install -y \
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curl \
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lsb-core \
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wget \
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build-essential \
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cmake \
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git \
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git-lfs \
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iputils-ping \
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make \
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openssh-server \
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openssh-client \
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libeigen3-dev \
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libssl-dev \
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python3-pip \
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python3-ipdb \
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python3-tk \
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python3-wstool \
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sudo git bash unattended-upgrades \
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apt-utils \
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terminator \
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&& rm -rf /var/lib/apt/lists/*
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# https://catalog.ngc.nvidia.com/orgs/nvidia/containers/cudagl
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RUN apt-get update && apt-get install -y --no-install-recommends \
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libatomic1 \
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libegl1 \
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libglu1-mesa \
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libgomp1 \
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libsm6 \
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libxi6 \
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libxrandr2 \
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libxt6 \
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libfreetype-dev \
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libfontconfig1 \
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openssl \
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libssl1.1 \
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wget \
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vulkan-utils \
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&& apt-get -y autoremove \
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&& apt-get clean autoclean \
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&& rm -rf /var/lib/apt/lists/*
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# Download the Vulkan SDK and extract the headers, loaders, layers and binary utilities
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RUN wget -q --show-progress \
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--progress=bar:force:noscroll \
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https://sdk.lunarg.com/sdk/download/${VULKAN_SDK_VERSION}/linux/vulkansdk-linux-x86_64-${VULKAN_SDK_VERSION}.tar.gz \
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-O /tmp/vulkansdk-linux-x86_64-${VULKAN_SDK_VERSION}.tar.gz \
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&& echo "Installing Vulkan SDK ${VULKAN_SDK_VERSION}" \
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&& mkdir -p /opt/vulkan \
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&& tar -xf /tmp/vulkansdk-linux-x86_64-${VULKAN_SDK_VERSION}.tar.gz -C /opt/vulkan \
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&& mkdir -p /usr/local/include/ && cp -ra /opt/vulkan/${VULKAN_SDK_VERSION}/x86_64/include/* /usr/local/include/ \
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&& mkdir -p /usr/local/lib && cp -ra /opt/vulkan/${VULKAN_SDK_VERSION}/x86_64/lib/* /usr/local/lib/ \
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&& cp -a /opt/vulkan/${VULKAN_SDK_VERSION}/x86_64/lib/libVkLayer_*.so /usr/local/lib \
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&& mkdir -p /usr/local/share/vulkan/explicit_layer.d \
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&& cp /opt/vulkan/${VULKAN_SDK_VERSION}/x86_64/etc/vulkan/explicit_layer.d/VkLayer_*.json /usr/local/share/vulkan/explicit_layer.d \
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&& mkdir -p /usr/local/share/vulkan/registry \
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&& cp -a /opt/vulkan/${VULKAN_SDK_VERSION}/x86_64/share/vulkan/registry/* /usr/local/share/vulkan/registry \
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&& cp -a /opt/vulkan/${VULKAN_SDK_VERSION}/x86_64/bin/* /usr/local/bin \
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&& ldconfig \
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&& rm /tmp/vulkansdk-linux-x86_64-${VULKAN_SDK_VERSION}.tar.gz && rm -rf /opt/vulkan
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# Setup the required capabilities for the container runtime
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ENV NVIDIA_VISIBLE_DEVICES=all NVIDIA_DRIVER_CAPABILITIES=all
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# Open ports for live streaming
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EXPOSE 47995-48012/udp \
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47995-48012/tcp \
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49000-49007/udp \
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49000-49007/tcp \
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49100/tcp \
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8011/tcp \
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8012/tcp \
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8211/tcp \
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8899/tcp \
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8891/tcp
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ENV OMNI_SERVER http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/${ISAAC_SIM_VERSION}
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# ENV OMNI_SERVER omniverse://localhost/NVIDIA/Assets/Isaac/2022.1
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# ENV OMNI_USER admin
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# ENV OMNI_PASS admin
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ENV MIN_DRIVER_VERSION 525.60.11
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# Copy Isaac Sim files
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COPY --from=isaac-sim /isaac-sim /isaac-sim
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RUN mkdir -p /root/.nvidia-omniverse/config
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COPY --from=isaac-sim /root/.nvidia-omniverse/config /root/.nvidia-omniverse/config
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COPY --from=isaac-sim /etc/vulkan/icd.d/nvidia_icd.json /etc/vulkan/icd.d/nvidia_icd.json
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COPY --from=isaac-sim /etc/vulkan/icd.d/nvidia_icd.json /etc/vulkan/implicit_layer.d/nvidia_layers.json
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WORKDIR /isaac-sim
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ENV TORCH_CUDA_ARCH_LIST="7.0+PTX"
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# create an alias for omniverse python
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ENV omni_python='/isaac-sim/python.sh'
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RUN echo "alias omni_python='/isaac-sim/python.sh'" >> /.bashrc
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RUN $omni_python -m pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
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# if you want to use a different version of curobo, create folder as docker/pkgs and put your
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# version of curobo there. Then uncomment below line and comment the next line that clones from
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# github
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# COPY pkgs /pkgs
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RUN mkdir /pkgs && cd /pkgs && git clone https://github.com/NVlabs/curobo.git
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RUN $omni_python -m pip install ninja wheel tomli
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RUN cd /pkgs/curobo && $omni_python -m pip install .[dev, isaac_sim] --no-build-isolation
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# Optionally install nvblox:
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RUN apt-get update && \
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apt-get install -y curl tcl && \
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rm -rf /var/lib/apt/lists/*
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# install gflags and glog statically, instructions from: https://github.com/nvidia-isaac/nvblox/blob/public/docs/redistributable.md
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RUN cd /pkgs && git clone https://github.com/sqlite/sqlite.git -b version-3.39.4 && \
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cd /pkgs/sqlite && CFLAGS=-fPIC ./configure --prefix=/pkgs/sqlite/install/ && \
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make && make install
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RUN cd /pkgs && git clone https://github.com/google/glog.git -b v0.4.0 && \
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cd glog && \
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mkdir build && cd build && \
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cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
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-DCMAKE_INSTALL_PREFIX=/pkgs/glog/install/ \
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-DWITH_GFLAGS=OFF -DBUILD_SHARED_LIBS=OFF \
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&& make -j8 && make install
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RUN cd /pkgs && git clone https://github.com/gflags/gflags.git -b v2.2.2 && \
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cd gflags && \
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mkdir build && cd build && \
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cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
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-DCMAKE_INSTALL_PREFIX=/pkgs/gflags/install/ \
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-DGFLAGS_BUILD_STATIC_LIBS=ON -DGFLAGS=google \
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&& make -j8 && make install
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RUN cd /pkgs && git clone https://github.com/google/googletest.git -b v1.14.0 && \
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cd googletest && mkdir build && cd build && cmake .. && make -j8 && make install
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RUN cd /pkgs && git clone https://github.com/valtsblukis/nvblox.git
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RUN cd /pkgs/nvblox/nvblox && mkdir build && cd build && \
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cmake .. -DPRE_CXX11_ABI_LINKABLE=ON -DBUILD_REDISTRIBUTABLE=ON -DSQLITE3_BASE_PATH="/pkgs/sqlite/install/" -DGLOG_BASE_PATH="/pkgs/glog/install/" -DGFLAGS_BASE_PATH="/pkgs/gflags/install/" && \
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make -j32 && \
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make install
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# install newer cmake and glog for pytorch:
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# TODO: use libgoogle from source that was compiled instead.
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RUN apt-get update && \
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apt-get install -y libgoogle-glog-dev && \
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rm -rf /var/lib/apt/lists/*
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RUN cd /pkgs && wget https://cmake.org/files/v3.19/cmake-3.19.5.tar.gz && \
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tar -xvzf cmake-3.19.5.tar.gz && \
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apt update && apt install -y build-essential checkinstall zlib1g-dev libssl-dev && \
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cd cmake-3.19.5 && ./bootstrap && \
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make -j8 && \
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make install && rm -rf /var/lib/apt/lists/*
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ENV cudnn_version=8.2.4.15
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ENV cuda_version=cuda11.4
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RUN apt update && apt-get install -y libcudnn8=${cudnn_version}-1+${cuda_version} libcudnn8-dev=${cudnn_version}-1+${cuda_version} && \
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rm -rf /var/lib/apt/lists/*
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RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
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cd /pkgs/nvblox_torch && \
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sh install_isaac_sim.sh $($omni_python -c 'import torch.utils; print(torch.utils.cmake_prefix_path)') && \
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$omni_python -m pip install -e .
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# install realsense for nvblox demos:
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RUN $omni_python -m pip install pyrealsense2 opencv-python transforms3d
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