Introduce new, single-entrypoint installation script

omnigibson/download_datasets.py

@@ -23,7 +23,7 @@ def main():
         print(
             f"If you want to install data under a different path, please change the DATA_PATH variable in omnigibson/macros.py and rerun omnigibson/download_datasets.py."
         )
-        if click.confirm("Do you want to continue?"):
+        if click.confirm("Do you want to continue?", default=True):
             # Only download if the dataset path doesn't exist
             if not dataset_exists:
                 print("Downloading dataset...")

omnigibson/install.py

@@ -0,0 +1,345 @@
+import os
+import platform
+import subprocess
+import sys
+import tempfile
+import urllib.request
+from pathlib import Path
+from typing import Optional
+
+import click
+import pip
+
+from omnigibson.macros import gm
+from omnigibson.utils.asset_utils import download_assets, download_og_dataset
+
+# List of NVIDIA PyPI packages needed for OmniGibson
+ISAAC_SIM_PACKAGES = [
+    "omniverse_kit-106.1.0.140981",
+    "isaacsim_kernel-4.2.0.2",
+    "isaacsim_app-4.2.0.2",
+    "isaacsim_core-4.2.0.2",
+    "isaacsim_gui-4.2.0.2",
+    "isaacsim_utils-4.2.0.2",
+    "isaacsim_storage-4.2.0.2",
+    "isaacsim_asset-4.2.0.2",
+    "isaacsim_sensor-4.2.0.2",
+    "isaacsim_robot_motion-4.2.0.2",
+    "isaacsim_robot-4.2.0.2",
+    "isaacsim_benchmark-4.2.0.2",
+    "isaacsim_code_editor-4.2.0.2",
+    "isaacsim_ros1-4.2.0.2",
+    "isaacsim_cortex-4.2.0.2",
+    "isaacsim_example-4.2.0.2",
+    "isaacsim_replicator-4.2.0.2",
+    "isaacsim_rl-4.2.0.2",
+    "isaacsim_robot_setup-4.2.0.2",
+    "isaacsim_ros2-4.2.0.2",
+    "isaacsim_template-4.2.0.2",
+    "isaacsim_test-4.2.0.2",
+    "isaacsim-4.2.0.2",
+    "isaacsim_extscache_physics-4.2.0.2",
+    "isaacsim_extscache_kit-4.2.0.2",
+    "isaacsim_extscache_kit_sdk-4.2.0.2",
+]
+BASE_URL = "https://pypi.nvidia.com"
+
+
+def _find_isaac_sim_path():
+    """Try to find the path of a launcher-based Isaac Sim installation."""
+    if platform.system() == "Windows":
+        base_path = Path.home() / "AppData" / "Local" / "ov" / "pkg"
+    else:
+        base_path = Path.home() / ".local" / "share" / "ov" / "pkg"
+
+    # If the pkg dir is missing, we definitely can't find an Isaac Sim installation
+    if not base_path.exists():
+        return None
+
+    isaac_dirs = list(base_path.glob("isaac*"))
+    if not isaac_dirs:
+        return None
+
+    return isaac_dirs[-1]
+
+
+def _get_filename(package: str, temp_dir: Path):
+    if platform.system() == "Windows":
+        return temp_dir / f"{package}-cp310-win_amd64.whl"
+    return temp_dir / f"{package}-cp310-none-manylinux_2_34_x86_64.whl"
+
+
+def _download_package(url: str, filename: Path):
+    try:
+        urllib.request.urlretrieve(url, filename)
+    except Exception as e:
+        raise ValueError(f"Failed to download {url}") from e
+
+
+def _rename_if_necessary(filename: Path):
+    """
+    Rename the file if the system's GLIBC version is older than the one used in the NVIDIA PyPI packages.
+
+    This is permissible because the manylinux wheels are compatible with older GLIBC versions even though
+    the filename suggests not - so we apply this hacky workaround. This allows pip to try to install them.
+    """
+    if platform.system() == "Linux" and _is_glibc_older():
+        return filename.with_name(filename.name.replace("manylinux_2_34", "manylinux_2_31"))
+    return filename
+
+
+def _is_glibc_older():
+    """Check if the system's GLIBC version is older than the one used in the NVIDIA PyPI packages."""
+    try:
+        dist_info = subprocess.check_output(["ldd", "--version"]).decode("utf-8")
+        if any(version in dist_info for version in ["2.31", "2.32", "2.33"]):
+            return True
+        elif any(version in dist_info for version in ["2.34", "2.35", "2.36", "2.37", "2.38", "2.39"]):
+            return False
+        else:
+            raise ValueError("Incompatible GLIBC version")
+    except subprocess.CalledProcessError:
+        raise ValueError("Failed to check GLIBC version. `ldd` was not accessible. Try running it yourself to see why.")
+
+
+def _pip_install(filename: Path):
+    """Install a package using pip."""
+    try:
+        pip.main(["install", str(filename)])
+    except Exception as e:
+        raise ValueError(f"Failed to install {filename}") from e
+
+
+def _install_isaac_sim_package(package: str, temp_dir: Path):
+    package_name = package.split("-")[0].replace("_", "-")
+    filename = _get_filename(package, temp_dir)
+    url = f"{BASE_URL}/{package_name}/{filename}"
+
+    try:
+        _download_package(url, filename)
+        _pip_install(_rename_if_necessary(filename))
+    except Exception as e:
+        click.echo(f"Failed to install {package}: {str(e)}")
+        raise
+
+
+def _setup_windows_conda_env(isaac_sim_path: Path, conda_prefix: Path):
+    # Create directories
+    for dir_name in ["activate.d", "deactivate.d"]:
+        os.makedirs(conda_prefix / "etc" / "conda" / dir_name, exist_ok=True)
+
+    # Create empty files
+    for file_name in ["env_vars.bat", "env_vars.ps1"]:
+        for dir_name in ["activate.d", "deactivate.d"]:
+            (conda_prefix / "etc" / "conda" / dir_name / file_name).touch()
+
+    # Setup CMD activation script
+    cmd_act_file = conda_prefix / "etc" / "conda" / "activate.d" / "env_vars.bat"
+    with cmd_act_file.open("w") as f:
+        f.write("@echo off\n")
+        f.write("set PYTHONPATH_OLD=%PYTHONPATH%\n")
+        f.write(f"set PYTHONPATH=%PYTHONPATH%;{isaac_sim_path}\\site\n")
+        f.write(f"set CARB_APP_PATH={isaac_sim_path}\\kit\n")
+        f.write(f"set EXP_PATH={isaac_sim_path}\\apps\n")
+        f.write(f"set ISAAC_PATH={isaac_sim_path}\n")
+
+    # Setup CMD deactivation script
+    cmd_deact_file = conda_prefix / "etc" / "conda" / "deactivate.d" / "env_vars.bat"
+    with cmd_deact_file.open("w") as f:
+        f.write("@echo off\n")
+        f.write("set PYTHONPATH=%PYTHONPATH_OLD%\n")
+        f.write('set PYTHONPATH_OLD=""\n')
+
+    # Setup PowerShell activation script
+    ps_act_file = conda_prefix / "etc" / "conda" / "activate.d" / "env_vars.ps1"
+    with ps_act_file.open("w") as f:
+        f.write('$env:PYTHONPATH_OLD="$env:PYTHONPATH"\n')
+        f.write(f'$env:PYTHONPATH="$env:PYTHONPATH;{isaac_sim_path}\\site"\n')
+        f.write(f'$env:CARB_APP_PATH="{isaac_sim_path}\\kit"\n')
+        f.write(f'$env:EXP_PATH="{isaac_sim_path}\\apps"\n')
+        f.write(f'$env:ISAAC_PATH="{isaac_sim_path}"\n')
+
+    # Setup PowerShell deactivation script
+    ps_deact_file = conda_prefix / "etc" / "conda" / "deactivate.d" / "env_vars.ps1"
+    with ps_deact_file.open("w") as f:
+        f.write('$env:PYTHONPATH="$env:PYTHONPATH_OLD"\n')
+        f.write('$env:PYTHONPATH_OLD="$null"\n')
+
+
+def _setup_unix_conda_env(isaac_sim_path: Path, conda_prefix: Path):
+    # Set up conda environment files
+    for dir_name in ["activate.d", "deactivate.d"]:
+        os.makedirs(conda_prefix / "etc" / "conda" / dir_name, exist_ok=True)
+
+    # Create activation script
+    with open(conda_prefix / "etc" / "conda" / "activate.d" / "env_vars.sh", "w") as f:
+        f.write("#!/bin/sh\n")
+        f.write("export LD_LIBRARY_PATH_OLD=$LD_LIBRARY_PATH\n")
+        f.write("export PYTHONPATH_OLD=$PYTHONPATH\n")
+        f.write(f"source {isaac_sim_path}/setup_conda_env.sh\n")
+
+    # Create deactivation script
+    with open(conda_prefix / "etc" / "conda" / "deactivate.d" / "env_vars.sh", "w") as f:
+        f.write("#!/bin/sh\n")
+        f.write("export LD_LIBRARY_PATH=$LD_LIBRARY_PATH_OLD\n")
+        f.write("export PYTHONPATH=$PYTHONPATH_OLD\n")
+        f.write("unset ISAAC_PATH\n")
+        f.write("unset CARB_APP_PATH\n")
+        f.write("unset LD_LIBRARY_PATH_OLD\n")
+        f.write("unset PYTHONPATH_OLD\n")
+
+
+def _launcher_based_install(isaac_sim_path: Optional[Path]):
+    # If we are using a launcher-based installation, we need to find the path to the Isaac Sim installation
+    if isaac_sim_path is None:
+        isaac_sim_path = _find_isaac_sim_path()
+
+    # If it's not at the provided or default path, remove it
+    if isaac_sim_path is None or not list(Path(isaac_sim_path).glob("isaac*.*")):
+        return False
+
+    # Update conda environment files to point to the specified Isaac Sim installation
+    conda_prefix = Path(os.environ["CONDA_PREFIX"])
+    if platform.system() == "Windows":
+        _setup_windows_conda_env(isaac_sim_path, conda_prefix)
+    else:
+        _setup_unix_conda_env(isaac_sim_path, conda_prefix)
+
+    return True
+
+
+def _pip_based_install():
+    try:
+        # Create a temporary directory to download the packages
+        with tempfile.TemporaryDirectory() as temp_dir:
+            # Install all required packages
+            for package in ISAAC_SIM_PACKAGES:
+                _install_isaac_sim_package(package, temp_dir)
+
+        # Check that it can now be imported
+        import isaacsim
+    except ImportError:
+        return False
+
+    return True
+
+
+def attempt_launcher_install(isaac_sim_path: Optional[Path]):
+    click.echo("Checking for an existing launcher-based Isaac Sim installation...")
+    success = _launcher_based_install(isaac_sim_path)
+    if success:
+        click.echo("Successfully found and attached to launcher-based Isaac Sim installation.")
+    else:
+        click.echo("We did not find Isaac Sim installed via the launcher.")
+    return success
+
+
+def attempt_pip_install():
+    click.echo("We will now try to install Isaac Sim via pip.")
+    success = _pip_based_install()
+    if success:
+        click.echo("Successfully installed Isaac Sim via pip.")
+    else:
+        click.echo("Failed to import isaacsim. Something went wrong during the pip installation.")
+    return success
+
+
+@click.command()
+@click.option(
+    "--install-datasets", default=True, help="Install the OmniGibson dataset and assets after installing Isaac Sim"
+)
+@click.option(
+    "--force-pip-install",
+    default=False,
+    help="Install Isaac Sim via pip even if a launcher-based installation is found",
+)
+@click.option(
+    "--force-launcher-install",
+    default=False,
+    help="Do not install Isaac Sim via pip even if a launcher-based installation is not found",
+)
+@click.option(
+    "--isaac-sim-path",
+    type=click.Path(exists=True, dir_okay=True, file_okay=False, writeable=True, readable=True, path_type=Path),
+    default=None,
+    help="Path to the existing launcher-based Isaac Sim installation directory, to force the setup script to use it",
+)
+def setup_omnigibson(
+    install_datasets: bool, force_pip_install: bool, force_launcher_install: bool, isaac_sim_path: Optional[Path]
+):
+    if force_pip_install and force_launcher_install:
+        click.echo("You can't force both pip and launcher-based installations at the same time.")
+        return
+
+    # Check that we are in a conda environment
+    if "CONDA_PREFIX" not in os.environ:
+        click.echo("Please run this script from within a conda environment.")
+        click.echo("You can create one by running `conda create -n omnigibson python=3.10`.")
+        return
+
+    # Check that the current interpreter is Python 3.10
+    if sys.version_info[:2] != (3, 10):
+        click.echo("Please run this script with Python 3.10.")
+        return
+
+    # First, try to install Isaac Sim via the launcher
+    installation_successful = False
+    if not force_pip_install:
+        installation_successful = attempt_launcher_install(isaac_sim_path)
+
+    # If that failed, try to install it via pip
+    if not installation_successful:
+        if force_launcher_install:
+            # If the user forced a launcher-based installation, we should not try to install via pip
+            click.echo("You forced the script to use a launcher-based installation, but we couldn't find it.")
+            click.echo("Please make sure you have installed Isaac Sim correctly before running this setup script.")
+        else:
+            installation_successful = attempt_pip_install()
+
+    # If neither installation was successful, we should exit
+    if not installation_successful:
+        click.echo("Failed to install Isaac Sim. Please check the installation requirements and try again.")
+        return
+
+    # Now prompt the user to install the dataset and assets
+    click.echo("Isaac Sim has been successfully installed.")
+
+    if install_datasets:
+        click.echo("We will now install the datasets.")
+
+        # Only execute if the dataset path or asset path does not exist
+        dataset_exists, assets_exist = os.path.exists(gm.DATASET_PATH), os.path.exists(gm.ASSET_PATH)
+        if not (dataset_exists and assets_exist):
+            # Ask user which dataset to install
+            click.echo(f"OmniGibson will now install data under the following locations:")
+            click.echo(f"    dataset (~25GB): {gm.DATASET_PATH}")
+            click.echo(f"    assets (~2.5GB): {gm.ASSET_PATH}")
+            click.echo(
+                f"If you want to install data under a different path, please change the DATA_PATH variable in omnigibson/macros.py and "
+                f"rerun omnigibson/download_datasets.py."
+            )
+            if click.confirm("Do you want to continue?", default=True):
+                # Only download if the dataset path doesn't exist
+                if not dataset_exists:
+                    click.echo("Downloading dataset...")
+                    download_og_dataset()
+
+                # Only download if the asset path doesn't exist
+                if not assets_exist:
+                    click.echo("Downloading assets...")
+                    download_assets()
+    else:
+        click.echo(
+            "You chose not to install dataset for now. You can install it later by running python omnigibson/download_datasets.py."
+        )
+
+    click.echo(
+        "\nOmniGibson setup completed! You can now run your experiments. "
+        "Visit https://behavior.stanford.edu/omnigibson/getting_started/examples.html for some examples, "
+        "and https://behavior.stanford.edu/omnigibson-develop/getting_started/quickstart.html for a quickstart "
+        "guide for working with OmniGibson APIs."
+    )
+
+
+if __name__ == "__main__":
+    setup_omnigibson()