updated-configs-added-new-envs-and-planar-examples

docker/Commands → Docker/Commands

@@ -1,29 +1,31 @@
-# Build a docker image with all dependencies for Linux running the command below from the repo root folder.
-# Dependency: Docker, Nvidia-Docker, Nvidia cuda-enabled GPU. If you do not have Nvidia GPU you might use also the Dockerfile_Windows for building image on Linux.
-docker build . -t vtprl_image -f docker/Dockerfile
+# Build a docker image with all dependencies for Linux running the command below from the repo root folder
+# Dependency: Docker, Nvidia-Docker, Nvidia cuda-enabled GPU. if you do not have Nvidia GPU you might use also the Dockerfile_Windows for building image on Linux)
+docker build . -t cmlr_image -f Docker/Dockerfile
 
 # Build a docker image with all dependencies for Windows running the command below from the repo root folder on Windows. 
-# Dependencies: Docker for Windows with Linux containers enabled. Only difference from Dockerfile is the root image it starts from as Docker Windows does not support GPU acceleration from inside Docker.
-docker build . -t vtprl_image -f docker/Dockerfile_Windows
+# Dependencies: Docker for Windows with Linux containers enabled. Only difference from Dockerfile is the root image it starts from as Docker Windows does not support GPU acceleration from inside Docker
+docker build . -t cmlr_image -f Docker/Dockerfile_Windows
 
-# These commands are useful to run before starting the container in case you want to start the simulator from a shell inside the container (not possible for Windows, works on linux).
+# Starting the simulator on a fake display of X server on the AI4DI server from the shell:
+DISPLAY=:3 ./ManipulatorEnvironment_Linux.x86_64
 
-export DISPLAY=":0"
+# These commands are useful to run before starting the container in case you want to start the simulator from a shell inside the container (not possible for Windows, works on AI4DI servers, you can set it on your local machines or on VM from LRZ CC after installing X server) - it allows local connections to your X server
+export DISPLAY=":3"
 xhost + local:
 
-# After building create a container with the built image running the command below from the repo root folder. Same for Windows, but remove the --gpus parameter as it is not supported on Windows.
+# After building create a container with the built image running the command below from the repo root folder. Same for Windows, but remove the --gpus parameter as it is not supported on Windows
 docker run  --rm -it \
-            --name vtprl_container \
+            --name cmlr_container \
             --gpus all \
             -e DISPLAY \
             -v $(pwd):/home/[repo_name]:rw \
             -v $(pwd)/external/stable-baselines3:/home/repos/stable-baselines3:ro \
             --privileged \
             --net="host" \
-            vtprl_image:latest \
+            cmlr_image:latest \
             bash
 
 # On local machines you can start the simulator outside of docker as well, cd to the repository root folder inside the docker container and run python3 agant/main.py to connect to the simulator and start training. 
 
-# If there are errors see "Troubleshooting" section.
+# If there are errors see "Troubleshooting" section
 

docker/Dockerfile → Docker/Dockerfile

@@ -1,5 +1,5 @@
 # syntax=docker/dockerfile:1
-FROM nvidia/cudagl:10.0-devel-ubuntu18.04
+FROM nvidia/cudagl:11.0-devel-ubuntu18.04 
 
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -9,7 +9,7 @@ ADD   https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64
 RUN   dpkg -i cuda-keyring_1.0-1_all.deb
 RUN rm /etc/apt/sources.list.d/cuda.list
 RUN rm /etc/apt/sources.list.d/nvidia-ml.list
-RUN apt-get update && apt-get  install -y ffmpeg libsm6 libxext6 python3.7  python3.7-dev python3-pip && \
+RUN apt-get update && apt-get  install -y htop nano graphviz ffmpeg libsm6 libxext6 python3.7  python3.7-dev python3-pip && \
     rm /usr/bin/python3 && ln -s /usr/bin/python3.7 /usr/bin/python3 && \
     python3 -m pip install --upgrade pip
 
@@ -23,20 +23,29 @@ RUN apt-get install -y build-essential cmake pkg-config git && \
     cd pybind11 && mkdir build && cd build && cmake .. && make -j4 && make install && \
     cd /home/repos && git clone https://github.com/dartsim/dart.git && cd dart && git checkout tags/v6.11.1
 
+# Install viewer dependencies
+RUN apt-get install -y libxcb-icccm4 && apt-get install -y libxcb-image0 && \ 
+    apt-get install -y libxcb-keysyms1 && apt-get install -y libxcb-render-util0 && \
+    apt-get install -y libxcb-xkb-dev && apt-get install -y libxkbcommon-x11-0 && \
+    apt-get install -y libxcb-xinerama0
+
+RUN python3 -m pip install --upgrade pip
+
 # Install DartPy from source with new bindings
-COPY resources/dart_additional_files /home/repos/dart
+COPY Dart_Additional_Files /home/repos/dart
 RUN cd /home/repos/dart && mkdir build && cd build && \
     cmake .. -DCMAKE_INSTALL_PREFIX=/usr/ -DCMAKE_BUILD_TYPE=Release -DDART_BUILD_DARTPY=ON && \
     make -j4 dartpy && make install-dartpy
 
 # Install Requirements
-ADD docker/requirements.txt /home/requirements.txt
-RUN python3 -m pip install -r /home/requirements.txt
+ADD Docker/requirements.txt /home/requirements.txt 
+RUN python3 -m pip install -r /home/requirements.txt --log /home/requirements_logs.txt
 
 # Install Stable-Baselines-3
 COPY external/stable-baselines3 /home/repos/stable-baselines3
 #RUN cd /home/repos/stable-baselines3 && python3 -m pip install -e .
-RUN cd /usr/local/lib/python3.7/dist-packages/ && python3 /home/repos/stable-baselines3/setup.py develop
+
+RUN cd /usr/local/lib/python3.7/dist-packages/ && python3 /home/repos/stable-baselines3/setup.py develop 
 ENV PYTHONPATH='/home/repos/stable-baselines3'
 ENV WANDB_API_KEY=INSERT_KEY_HERE
 

docker/Dockerfile_Windows → Docker/Dockerfile_Windows

@@ -16,14 +16,20 @@ RUN apt-get install -y build-essential cmake pkg-config git && \
     cd /home/repos && git clone https://github.com/dartsim/dart.git && cd dart && git checkout tags/v6.11.1
 
 # Install DartPy from source with new bindings
-COPY resources/dart_additional_files /home/repos/dart
+COPY Dart_Additional_Files /home/repos/dart
 RUN cd /home/repos/dart && mkdir build && cd build && \
     cmake .. -DCMAKE_INSTALL_PREFIX=/usr/ -DCMAKE_BUILD_TYPE=Release -DDART_BUILD_DARTPY=ON && \
     make -j4 dartpy && make install-dartpy
 
+# Install viewer dependencies
+RUN apt-get install -y libxcb-icccm4 && apt-get install -y libxcb-image0 && \ 
+    apt-get install -y libxcb-keysyms1 && apt-get install -y libxcb-render-util0 && \
+    apt-get install -y libxcb-xkb-dev && apt-get install -y libxkbcommon-x11-0 && \
+    apt-get install -y libxcb-xinerama0
+
 # Install Requirements
-ADD docker/requirements.txt /home/requirements.txt
-RUN python3 -m pip install -r /home/requirements.txt
+ADD Docker/requirements.txt /home/requirements.txt
+RUN python3 -m pip install -r /home/requirements.txt --log /home/requirements_logs.txt
 
 # Install Stable-Baselines-3
 COPY external/stable-baselines3 /home/repos/stable-baselines3
@@ -33,3 +39,4 @@ ENV PYTHONPATH='/home/repos/stable-baselines3'
 ENV WANDB_API_KEY=INSERT_KEY_HERE
 
 WORKDIR /home
+

Docker/requirements.txt

@@ -0,0 +1,31 @@
+--extra-index-url https://download.pytorch.org/whl/cu116
+tqdm==4.65.0
+zmq==0.0.0
+protobuf==3.20.1
+roslibpy==1.5.0
+
+Pillow==8.0.1
+numpy==1.21.6
+matplotlib==3.5.3
+opencv-python-headless==4.7.0.72
+scipy==1.7.3
+seaborn==0.12.2
+pandas==1.1.5
+
+tensorboard==1.15.0
+tensorflow-estimator==1.15.1
+tensorflow-gpu==1.15.0
+
+torch==1.12.0+cu116
+torchvision==0.13.0+cu116
+pytorch-lightning==0.8.1
+
+optuna==3.1.1
+wandb==0.12.11
+
+Box2D==2.3.10
+gym==0.17.3
+
+PySide2==5.15.2.1
+
+ruckig==0.9.2