remove unrelated configs

Dockerfile

@@ -1,192 +1,65 @@
-# Use the official Ubuntu 20.04 image as the base
-# FROM ubuntu:20.04
-FROM nvidia/cuda:11.8.0-cudnn8-runtime-ubuntu20.04
+FROM nvidia/cuda:12.4.1-base-ubuntu22.04
 
-
-# Set environment variables to avoid interactive prompts during installation
 ENV DEBIAN_FRONTEND=noninteractive
 
-# Install necessary dependencies
-RUN apt-get update && \
-    apt-get install -y \
+# Set up the environment.
+ENV CODING_ROOT=/opt/baeisner
+WORKDIR $CODING_ROOT
+
+# Install the dependencies.
+RUN apt-get update && apt-get install -y \
+    # Dependencies required for python.
+    build-essential \
     curl \
     git \
-    build-essential \
-    libssl-dev \
-    zlib1g-dev \
     libbz2-dev \
-    git \
-    libreadline-dev \
-    libsqlite3-dev \
-    wget \
-    llvm \
-    libncurses5-dev \
-    libncursesw5-dev \
-    xz-utils \
-    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 \
-    libglu1-mesa \
-    mesa-utils \
-    libglvnd-dev \
-    wget \
-    xvfb \
-    libc6 \
+    libncursesw5-dev \
+    libsqlite3-dev \
+    libssl-dev \
+    libreadline-dev \
+    libxml2-dev \
+    libxmlsec1-dev \
+    tk-dev \
+    xz-utils \
+    zlib1g-dev \
+    && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 
-# CoppeliaSim Dependencies
-RUN apt-get update && \
-    apt-get install '^libxcb.*-dev' libx11-xcb-dev libglu1-mesa-dev libxrender-dev libxi-dev libxkbcommon-dev libxkbcommon-x11-dev -y && \
-    rm -rf /var/lib/apt/lists/*
-
-# Install pyenv
-ENV CODING_ROOT="/opt/baeisner"
-
-WORKDIR $CODING_ROOT
+# Install pyenv.
 RUN git clone --depth=1 https://github.com/pyenv/pyenv.git .pyenv
-
-ENV PYENV_ROOT="$CODING_ROOT/.pyenv"
+ENV PYENV_ROOT=$CODING_ROOT/.pyenv
 ENV PATH="$PYENV_ROOT/shims:$PYENV_ROOT/bin:$PATH"
 
-# Install Python 3.9 using pyenv
+# Install python.
 RUN pyenv install 3.9.12
 RUN pyenv global 3.9.12
 
-###########################
-# OLD STUFF
-###########################
-
-# Install PyTorch with CUDA support (make sure to adjust this depending on your CUDA version)
-# RUN pip install torch==1.13.0+cu116 torchvision==0.14.0+cu116 --extra-index-url https://download.pytorch.org/whl/cu116
-
-# Install pytorch geometric.
-# RUN pip install 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
-
-# Install pytorch3d
-# RUN pip install fvcore iopath && \
-#     pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu116_pyt1130/download.html
-
-###########################
-# END OLD STUFF
-###########################
-
-# Download CoppeliaSim
-RUN mkdir $CODING_ROOT/.coppelia
-WORKDIR $CODING_ROOT/.coppelia
-RUN curl -L https://www.coppeliarobotics.com/files/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz -o CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz && \
-    tar -xf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz && \
-    rm CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
-
-# modify environment variables
-ENV COPPELIASIM_ROOT="$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"
-
-
-# TODO: put this above the code copying.
-# 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 graphics,utility,compute
-ENV NVIDIA_DRIVER_CAPABILITIES all
-
-###########################
-# Special Torch Install
-###########################
-
-RUN pip install torch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2 --index-url https://download.pytorch.org/whl/cu118
-RUN pip install 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 install fvcore iopath && \
-    pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu118_pyt201/download.html
-
-
-# Install CFFI
-RUN pip install cffi==1.14.2 wheel
-
-# Install PyRep
-RUN pip install --no-build-isolation "pyrep @ git+https://github.com/stepjam/PyRep.git"
-
 # Make the working directory the home directory
 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
-
-# Changes to the configs and scripts will not require a rebuild
-COPY ./configs $CODING_ROOT/code/configs
-COPY ./scripts $CODING_ROOT/code/scripts
-
-RUN git config --global --add safe.directory /root/code
-
-# Make a data directory.
-RUN mkdir $CODING_ROOT/data
-
-# Make a logs directory.
-RUN mkdir $CODING_ROOT/logs
+# Copy in the requirements.
+COPY requirements-gpu.txt .
 
-# Install gdown.
-RUN pip install gdown
+RUN pip install --upgrade pip && pip install wheel==0.40.0
 
-# Copy the download script.
-COPY ./download_data.sh $CODING_ROOT/code/download_data.sh
+# Install the requirements.
+RUN pip install -r requirements-gpu.txt
 
+# Copy in the third-party directory.
+COPY third_party third_party
 
-# Install ffmpeg.
-RUN apt-get update && apt-get install -y ffmpeg && apt-get clean && rm -rf /var/lib/apt/lists/*
-
-
-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"
+# Install the third-party libraries.
+RUN pip install -e third_party/ndf_robot
 
-# 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
+# Copy in pyproject.toml.
+COPY pyproject.toml .
+RUN mkdir taxpose
+RUN touch taxpose/py.typed
 
-# Set up the entry point
-CMD ["python", "-c", "import torch; print(torch.cuda.is_available())"]
+RUN pip install -e ".[develop]"
 
+# Copy in the code.
+COPY . .

README.md

@@ -57,9 +57,7 @@ For our experiments, we installed torch 1.11 with cuda 11.3:
 
 ```
 # pip install torch==1.11.0+cu113 torchvision==0.12.0+cu113 --extra-index-url https://download.pytorch.org/whl/cu113
-# pip install torch==1.13.0+cu116 torchvision==0.14.0+cu116 --extra-index-url https://download.pytorch.org/whl/cu116
-pip install torch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2 --index-url https://download.pytorch.org/whl/cu118
-
+pip install torch==1.13.0+cu116 torchvision==0.14.0+cu116 --extra-index-url https://download.pytorch.org/whl/cu116
 ```
 
 ### `pytorch-geometric`
@@ -70,8 +68,7 @@ For our experiments, we installed with the following command:
 
 ```
 # pip install 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-1.11.0+cu113.html
-# pip install 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
-pip install pyg_lib torch_scatter torch_sparse torch_cluster torch_spline_conv -f https://data.pyg.org/whl/torch-2.1.0+cu121.html
+pip install 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
 ```
 
 ### `pytorch3d`
@@ -83,9 +80,7 @@ We ran the following:
 ```
 pip install fvcore iopath
 # pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu113_pyt1110/download.html
-# pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu116_pyt1130/download.html
-# pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu118_pyt201/download.html
-
+pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu116_pyt1130/download.html
 ```
 
 ### `dgl`
@@ -98,9 +93,6 @@ pip install --pre dgl -f https://data.dgl.ai/wheels/cu113/repo.html
 pip install --pre dglgo -f https://data.dgl.ai/wheels-test/repo.html
 ```
 
-# NOTE
-Cursed vglrun requires us to pipe in our own custom LD_LIBRARY_PATH. This is a hacky way to do it, but it works for now.
-
 ## Install `taxpose`.
 
 This part should be really simple:
@@ -153,9 +145,6 @@ python setup.py
 ```
 
 
-
-
-
 # Code Structure
 
 TODO(beisner): Clean this up.
@@ -659,40 +648,3 @@ These are real-world experiments we ran, and so can't be reproduced purely from
 ## Supplement Tables 11-14: Expanded results
 
 These are granular results of the experiments in Table 1.
-
-
-## Docker
-
-### Build a Docker container.
-
-```
-docker build -t beisner/taxpose .
-```
-
-### This command works for RLBench eval. Hard-fought.
-```
-docker run --gpus "device=1" -it --rm -v /usr/share/glvnd/egl_vendor.d/10_nvidia.json:/usr/share/glvnd/egl_vendor.d/10_nvidia.json -v /home/beisner/datasets/:/data -v ./artifacts:/opt/artifacts beisner/taxpose python scripts/eval_rlbench.py --config-name commands/rlbench/reach_target/taxpose_all/eval_rlbench.yaml num_trials=100 resources.num_workers=20 wandb.artifact_dir=/opt/artifacts wandb.group=rlbench_push_button headless=True task.action_mode=gripper_and_object task.anchor_mode=background_robot_removed model.num_points=512
-```
-
-### Run training.
-
-```
-WANDB_API_KEY=<API_KEY>
-USERNAME=<USERNAME>
-# Optional: mount current directory to run / test new code.
-# Mount data directory to access data.
-docker run \
-    --shm-size=256m\
-    -v /data/ndf:/opt/baeisner/data \
-    -v $(pwd)/trained_models:/opt/baeisner/code/trained_models \
-    -v $(pwd)/logs:/opt/baeisner/logs \
-    --gpus all \
-    -e WANDB_API_KEY=$WANDB_API_KEY \
-    -e WANDB_DOCKER_IMAGE=beisner/taxpose \
-    beisner/taxpose python scripts/train_residual_flow.py \
-        task=mug_grasp \
-        model=taxpose \
-        +mode=train \
-        benchmark.dataset_root=/opt/baeisner/data \
-        log_dir=/opt/baeisner/logs
-```