AILAB-summer-school-2024

Environment Setup

• Below procedure is Workstation Setup and instruction to setting Step by Step
• If you want to use already setup env please follow docker setup instruction

1. Download Isaac Sim

• Notice: Following lectures are built on the version of Isaac Sim 2023.1.1.
• Dependency check
  • Ubuntu
    • Lecture Tested on: 20.04
    • Isaac Sim Recommanded : 20.04 / 22.04
  • NVIDIA Driver version
    • Lecture Tested on: 510.108.03
    • Isaac Sim Recommanded: 525.60.11
    • Isaac Sim Minimum: 510.73.05
• Download Omniverse

2. Clone Repository

• move to Isaac-sim installed path

  version=2023.1.1
  isaac_path=/home/${USER}/.local/share/ov/pkg/isaac-sim-${version}
  cd ${isaac_path}

• clone repository

  git clone https://github.com/gist-ailab/AILAB-summer-school.git --recurse-submodules --remote-submodules

3. Python Setup

• Notice: Following lectures are built on the version of Python 3.10 & Anaconda environment

  • Replaceable with python-venv and miniconda

• Check Python Environment Installation

• Create conda env

  • This procedure run inside isaac sim path(ex. .../isaac-sim-2023.1.1$)
  • This process can take a long time.

  conda env create -f environment.yml 
  conda activate isaac-sim

• Setup environment variables so that Isaac Sim python packages are located correctly

  source setup_conda_env.sh

• Install requirment pakages

  • This procedure takes place within the AILAB-summer-school repository.

  cd AILAB-summer-school
  pip install -r requirements.txt

• Install pycocotools

  conda install -c conda-forge pycocotools

• Install CLIP

  pip install git+https://github.com/openai/CLIP.git

3. Download Checkpoints and Assets

• Detection model checkpoint download

  cd lecture/data
  mkdir -p checkpoint/faster_r-cnn_ckpt
  cd checkpoint/faster_r-cnn_ckpt
  gdown https://drive.google.com/uc?id=16AnvrmyTgm-1xZMIQTmKc4aZVgj76OXt

• Grasp model checkpoint download

  cd lecture/data
  mkdir -p checkpoint/contact_grasp_ckpt
  cd checkpoint/contact_grasp_ckpt
  gdown https://drive.google.com/uc?id=16XYFNjSosM7W7DxXUNcI9VNGIPbol6tY

• Asset files download

  cd lecture/data
  gdown https://drive.google.com/uc?id=1SA9Q6HPGmsNEY4RNGUMHsFq3HtGRoP_1
  unzip scene_generate_usd.zip

• Detection dataset (PennFudanPed Dataset) download

  cd lecture/data
  gdown https://drive.google.com/uc?id=15EbsaKLnkhHxGHYejORDTsS9rThELJMR
  unzip PennFudanPed.zip

Docker (2024)

• install Docker on local & set permission

  sudo apt install docker.io
  sudo usermod -aG docker ${USER}
  sudo service docker restart
  # To apply permission settings, you must log out and reconnect the logged-in session.

• Install the nvidia Docker Container Toolkit to Use the gpu Option in Docker (official instruction)

  curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
  sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
  sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list

  sudo apt-get update

  sudo apt-get install -y nvidia-container-toolkit

  sudo systemctl restart docker

• Docker cache store for local

  mkdir -p ~/docker/isaac-sim/cache/kit
  mkdir -p ~/docker/isaac-sim/cache/ov
  mkdir -p ~/docker/isaac-sim/cache/pip
  mkdir -p ~/docker/isaac-sim/cache/glcache
  mkdir -p ~/docker/isaac-sim/cache/computecache
  

• Pull docker image

  docker login
  
  id : birdomi
  pwd : dckr_pat_c3afN9jUpcVUVMqKlWxzFNL8Y_Y
  

  docker pull docker.io/birdomi/ailab-summer-camp-2024:1.0.4
  

• Start the container

  docker run -it --entrypoint bash --name isaac-sim -e "ACCEPT_EULA=Y" --gpus all --rm --network=host \
  -e DISPLAY \
  -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
  -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
  -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
  -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
  -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
  birdomi/ailab-summer-camp-2024:1.0.4
  

• In the docker,some alias are alreadly set.

  code: run visual studio code.
  sim: run isaac-sim.