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isaac-sim / OmniIsaacGymEnvs

Reinforcement Learning Environments for Omniverse Isaac Gym
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Question about Docker setting #102

Open doyeon-danny opened 1 year ago

doyeon-danny commented 1 year ago

Hi, I am setting Docker container to launch Omni Isaac Gym project only in Docker.

  1. Docker container I made a container with run_docker_viewer.sh file with erasing --rm to remain this container. image

  2. Custom RL example I made cartpole_task.py and cartpole_train.py following below tutorial. https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_gym_tutorials/tutorial_gym_isaac_gym_new_oige_example.html And I got this error messages. image I guess 2023.1.0-hotfix.1 image(that is used to make a Docker container) doesn't have Cuda, nvcc etc.

  3. IsaacGym Docker (it is different with 1st docker) When I downloaded and played IsaacGym Docker, it works with nvcc because its' dockerfile uses FROM nvcr.io/nvidia/pytorch:21.09-py3 base image.

  4. Then how can I develop OmniIsaacGym fully in Docker? I found Dockerfile Multi Stage that can make a docker image with multiple docker images. So I imagined to combine 2023.1.0-hotfix.1 & nvcr.io/nvidia/pytorch:21.09-py3 together. Would it be the correct way to construct Full Docker environment?

I hope you can read and answer my questions, thank you.

kellyguo11 commented 12 months ago

Hi there, the Isaac Sim docker containers will use the cuda runtime that's included in the drivers of the host machine. Please make sure you have a valid driver installed and that the machine is capable of running with rendering if using run_docker_viewer.sh. For a headless machine, you can use the headless docker script run_docker.sh. It looks like your task may be running into an error, AttributeError: 'CartpoleTask' object has no attribute 'reset', which could also be the cause of the CUDA errors. To validate this, you can try running one of the built-in environments using the docker container.

doyeon-danny commented 12 months ago

@kellyguo11 Hi, I appreciate your answer. IsaacGym has 11.4 Cuda version, then is it better to install 11.4 Cuda? Doesn't it matter what host machine's cuda version is?

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My host has Ubuntu 22.04. That is why I am using Docker to set ROS 1 or ROS2(foxy) later. Do you think it would work?

kellyguo11 commented 12 months ago

Hi there, yes that should work. As long as you have one of the recommended driver versions installed, isaac sim should be able to use the cuda runtime that comes with the driver. I don't think a separate cuda toolkit installation is required.