Add colab docker and make some scripts more amenable to a quick demo

.dockerignore

@@ -1,2 +1 @@
-omnigibson/data
-docker
+omnigibson/data

docker/build_docker.sh

@@ -2,12 +2,11 @@
 set -e -o pipefail
 
 docker build \
-    -t stanfordvl/omnigibson:latest \
-    -t stanfordvl/omnigibson:$(sed -ne "s/.*version= *['\"]\([^'\"]*\)['\"] *.*/\1/p" setup.py) \
+    -t stanfordvl/omnigibson:colab-docker \
     -f docker/prod.Dockerfile \
     .
 
 docker build \
-    -t stanfordvl/omnigibson-vscode:latest \
-    -f docker/vscode.Dockerfile \
+    -t stanfordvl/omnigibson-colab \
+    -f docker/colab.Dockerfile \
     .

docker/colab.Dockerfile

@@ -0,0 +1,21 @@
+FROM stanfordvl/omnigibson:colab-docker
+
+# environment settings
+ARG DEBIAN_FRONTEND="noninteractive"
+ENV OMNIGIBSON_HEADLESS="1"
+ENV OMNIGIBSON_REMOTE_STREAMING="webrtc"
+
+# Fix the JS file to allow for remote streaming on the same port (80)
+RUN sed -i "s/49100/80/g" /isaac-sim/extscache/omni.services.streamclient.webrtc-1.3.8/web/js/kit-player.js && \
+    sed -i -E 's/IsValidIPv4=.*test\(e\)/IsValidIPv4=function(e){return true/g' /isaac-sim/extscache/omni.services.streamclient.webrtc-1.3.8/web/js/kit-player.js
+
+# Install nginx
+RUN apt-get update && apt-get install -y nginx && apt-get clean
+
+# Download the demo dataset and the assets
+RUN python -m omnigibson.utils.asset_utils --download_assets --download_demo_data --accept_license
+
+# Add the nginx configuration file
+ADD docker/nginx.conf /etc/nginx/sites-available/default
+
+CMD nginx && python -m omnigibson.examples.robots.robot_control_example --quickstart

docker/nginx.conf

@@ -0,0 +1,24 @@
+map $http_upgrade $connection_upgrade {
+    default upgrade;
+    '' close;
+}
+
+server {
+    listen 8123;
+
+    location /streaming/ {
+        proxy_pass http://127.0.0.1:8211/streaming/;
+        proxy_http_version 1.1;
+        proxy_set_header Upgrade $http_upgrade;
+        proxy_set_header Connection $connection_upgrade;
+        proxy_set_header Host $host;
+    }
+
+    location / {
+        proxy_pass http://127.0.0.1:49100/;
+        proxy_http_version 1.1;
+        proxy_set_header Upgrade $http_upgrade;
+        proxy_set_header Connection $connection_upgrade;
+        proxy_set_header Host $host;
+    }
+}

omnigibson/examples/robots/robot_control_example.py

@@ -57,20 +57,24 @@ def choose_controllers(robot, random_selection=False):
     return controller_choices
 
 
-def main(random_selection=False, headless=False, short_exec=False):
+def main(random_selection=False, headless=False, short_exec=False, quickstart=False):
     """
     Robot control demo with selection
     Queries the user to select a robot, the controllers, a scene and a type of input (random actions or teleop)
     """
     og.log.info(f"Demo {__file__}\n    " + "*" * 80 + "\n    Description:\n" + main.__doc__ + "*" * 80)
 
     # Choose scene to load
-    scene_model = choose_from_options(options=SCENES, name="scene", random_selection=random_selection)
+    scene_model = "Rs_int"
+    if not quickstart:
+        scene_model = choose_from_options(options=SCENES, name="scene", random_selection=random_selection)
 
     # Choose robot to create
-    robot_name = choose_from_options(
-        options=list(sorted(REGISTERED_ROBOTS.keys())), name="robot", random_selection=random_selection
-    )
+    robot_name = "Fetch"
+    if not quickstart:
+        robot_name = choose_from_options(
+            options=list(sorted(REGISTERED_ROBOTS.keys())), name="robot", random_selection=random_selection
+        )
 
     scene_cfg = dict()
     if scene_model == "empty":
@@ -82,7 +86,7 @@ def main(random_selection=False, headless=False, short_exec=False):
     # Add the robot we want to load
     robot0_cfg = dict()
     robot0_cfg["type"] = robot_name
-    robot0_cfg["obs_modalities"] = ["rgb", "depth", "seg_instance", "normal", "scan", "occupancy_grid"]
+    robot0_cfg["obs_modalities"] = ["rgb"]
     robot0_cfg["action_type"] = "continuous"
     robot0_cfg["action_normalize"] = True
 
@@ -94,11 +98,20 @@ def main(random_selection=False, headless=False, short_exec=False):
 
     # Choose robot controller to use
     robot = env.robots[0]
-    controller_choices = choose_controllers(robot=robot, random_selection=random_selection)
+    controller_choices = {
+        "base": "DifferentialDriveController",
+        "arm_0": "InverseKinematicsController",
+        "gripper_0": "MultiFingerGripperController",
+        "camera": "JointController"
+    }
+    if not quickstart:
+        controller_choices = choose_controllers(robot=robot, random_selection=random_selection)
 
     # Choose control mode
     if random_selection:
         control_mode = "random"
+    elif quickstart:
+        control_mode = "teleop"
     else:
         control_mode = choose_from_options(options=CONTROL_MODES, name="control mode")
 
@@ -151,4 +164,13 @@ def main(random_selection=False, headless=False, short_exec=False):
 
 
 if __name__ == "__main__":
-    main()
+    import argparse
+    parser = argparse.ArgumentParser(description="Teleoperate a robot in a BEHAVIOR scene.")
+
+    parser.add_argument(
+        "--quickstart",
+        action="store_true",
+        help="Whether the example should be loaded with default settings for a quick start.",
+    )
+    args = parser.parse_args()
+    main(quickstart=args.quickstart)

omnigibson/utils/asset_utils.py

@@ -394,23 +394,24 @@ def download_assets():
             # These datasets come as folders; in these folder there are scenes, so --strip-components are needed.
 
 
-def download_demo_data():
+def download_demo_data(accept_license=False):
     """
     Download OmniGibson demo dataset
     """
     # Print user agreement
     if os.path.exists(gm.KEY_PATH):
         print("OmniGibson dataset encryption key already installed.")
     else:
-        print("\n")
-        print_user_agreement()
-        while (
-            input(
-                "Do you agree to the above terms for using OmniGibson dataset? [y/n]"
-            )
-            != "y"
-        ):
-            print("You need to agree to the terms for using OmniGibson dataset.")
+        if not accept_license:
+            print("\n")
+            print_user_agreement()
+            while (
+                input(
+                    "Do you agree to the above terms for using OmniGibson dataset? [y/n]"
+                )
+                != "y"
+            ):
+                print("You need to agree to the terms for using OmniGibson dataset.")
 
         download_key()
 
@@ -445,23 +446,24 @@ def download_key():
         assert urlretrieve(path, gm.KEY_PATH, show_progress), "Key download failed."
 
 
-def download_og_dataset():
+def download_og_dataset(accept_license=False):
     """
     Download OmniGibson dataset
     """
     # Print user agreement
     if os.path.exists(gm.KEY_PATH):
         print("OmniGibson dataset encryption key already installed.")
     else:
-        print("\n")
-        print_user_agreement()
-        while (
-            input(
-                "Do you agree to the above terms for using OmniGibson dataset? [y/n]"
-            )
-            != "y"
-        ):
-            print("You need to agree to the terms for using OmniGibson dataset.")
+        if not accept_license:
+            print("\n")
+            print_user_agreement()
+            while (
+                input(
+                    "Do you agree to the above terms for using OmniGibson dataset? [y/n]"
+                )
+                != "y"
+            ):
+                print("You need to agree to the terms for using OmniGibson dataset.")
 
         download_key()
 
@@ -477,28 +479,6 @@ def download_og_dataset():
         # These datasets come as folders; in these folder there are scenes, so --strip-components are needed.
 
 
-def change_data_path():
-    """
-    Changes the data paths for this repo
-    """
-    with open(os.path.join(os.path.dirname(os.path.realpath(__file__)), "..", "global_config.yaml")) as f:
-        global_config = yaml.load(f, Loader=yaml.FullLoader)
-    print("Current dataset path:")
-    for k, v in global_config.items():
-        print("{}: {}".format(k, v))
-    for k, v in global_config.items():
-        new_path = input("Change {} from {} to: ".format(k, v))
-        global_config[k] = new_path
-
-    print("New dataset path:")
-    for k, v in global_config.items():
-        print("{}: {}".format(k, v))
-    response = input("Save? [y/n]")
-    if response == "y":
-        with open(os.path.join(os.path.dirname(os.path.realpath(__file__)), "..", "global_config.yaml"), "w") as f:
-            yaml.dump(global_config, f)
-
-
 def decrypt_file(encrypted_filename, decrypted_filename):
     with open(gm.KEY_PATH, "rb") as filekey:
         key = filekey.read()
@@ -543,17 +523,14 @@ def decrypted(encrypted_filename):
     parser.add_argument("--download_assets", action="store_true", help="download assets file")
     parser.add_argument("--download_demo_data", action="store_true", help="download demo data Rs")
     parser.add_argument("--download_og_dataset", action="store_true", help="download OmniGibson Dataset")
-    parser.add_argument("--change_data_path", action="store_true", help="change the path to store assets and datasets")
-
+    parser.add_argument("--accept_license", action="store_true", help="pre-accept the OmniGibson dataset license")
     args = parser.parse_args()
 
     if args.download_assets:
         download_assets()
-    elif args.download_demo_data:
-        download_demo_data()
-    elif args.download_og_dataset:
-        download_og_dataset()
-    elif args.change_data_path:
-        change_data_path()
+    if args.download_demo_data:
+        download_demo_data(accept_license=args.accept_license)
+    if args.download_og_dataset:
+        download_og_dataset(accept_license=args.accept_license)
 
     og.shutdown()