initial release

droid-dataset · Mar 14, 2024 · 5f1114d · 5f1114d
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diff --git a/.docker/README.md b/.docker/README.md
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+# Overview
+
+In order to simplify the setup and deployment of DROID across different machines we supply Dockerfiles for both the control server (nuc) and the client machine (laptop). The directory structure is broken down as follows: 
+
+    ├── nuc                                      # directory for nuc docker setup files
+    ├──── Dockerfile.nuc                         # nuc image definition
+    ├──── docker-compose-nuc.yaml                # nuc container deployment settings
+    ├── laptop                                   # directory for laptop docker setup files
+    ├──── Dockerfile.laptop                      # laptop image definition
+    ├──── docker-compose-laptop.yaml             # laptop container deployment settings
+    ├──── entrypoint.sh                          # script that is run on entrypoint of Docker container
+
+We recognise that some users may not already be familiar with Docker, the syntax of Dockerfiles and the syntax of docker compose configuration files. We point the user towards the following resources on these topics:
+
+* [Docker Overview](https://docs.docker.com/get-started/overview/)
+* [Dockerfile Reference](https://docs.docker.com/engine/reference/builder/)
+* [Docker Compose Overview](https://docs.docker.com/compose/)
+
+# NUC Setup
+In order to set up the control server on your NUC run `sudo ./nuc_setup.sh` from this [directory](https://github.com/AlexanderKhazatsky/DROID/tree/main/scripts/setup). Running through all the steps in this script will install host system dependencies and ensure the control server runs automatically in a docker container each time your machine is booted.
+
+Further details on the steps in README.md in the `scripts/setup` directory.
+
+# Laptop Setup  
+In order to set up the user client on your laptop run `sudo ./laptop_setup.sh` from this [directory](https://github.com/AlexanderKhazatsky/DROID/tree/main/scripts/setup). Running through all the steps in this script will install host system dependencies and ensure the user client can be run in a docker container.
+
+Further details can be found [README.md](https://github.com/AlexanderKhazatsky/DROID/tree/main/scripts/setup/README.md).
+
diff --git a/.docker/laptop/Dockerfile.laptop b/.docker/laptop/Dockerfile.laptop
@@ -0,0 +1,96 @@
+FROM nvidia/cuda:12.1.0-devel-ubuntu22.04
+
+# build args
+ARG ROBOT_TYPE=${ROBOT_TYPE}
+ARG LIBFRANKA_VERSION=${LIBFRANKA_VERSION}
+ARG ROBOT_IP=${ROBOT_IP}
+ARG NUC_IP=${NUC_IP}
+ARG NUC_ROBOT_CONFIG_DIR=/app/config/${ROBOT_TYPE}
+ARG NUC_OCULUS_DIR=/app/droid/oculus_reader
+ARG NUC_POLYMETIS_DIR=/app/droid/fairo/polymetis
+ARG NUC_POLYMETIS_CONFIG_DIR=${NUC_POLYMETIS_DIR}/polymetis/conf
+
+# runtime env vars
+ENV ROBOT_TYPE=${ROBOT_TYPE}
+ENV LIBFRANKA_VERSION=${LIBFRANKA_VERSION}
+ENV ROBOT_IP=${ROBOT_IP}
+ENV NUC_IP=${NUC_IP}
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES \
+    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}compute,video,utility
+
+# copy project code to container
+COPY . /app
+WORKDIR /app
+
+# base system installations
+RUN apt-get update && \
+    apt-get install -y software-properties-common build-essential sudo git curl wget python3-pip libspdlog-dev \
+    libeigen3-dev lsb-release ffmpeg libsm6 libxext6 zstd && \
+    apt-get upgrade -y
+
+# install miniconda 
+RUN wget \
+    https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh \
+    && mkdir /root/.conda \
+    && bash Miniconda3-latest-Linux-x86_64.sh -b \
+    && rm -f Miniconda3-latest-Linux-x86_64.sh
+ENV PATH /root/miniconda3/bin:$PATH
+
+# create conda environment
+RUN conda create -n "robot" python=3.7
+SHELL ["conda", "run", "-n", "robot", "/bin/bash", "-c"]
+
+# install the zed sdk
+ARG UBUNTU_RELEASE_YEAR=22
+ARG ZED_SDK_MAJOR=4
+ARG ZED_SDK_MINOR=0
+ARG CUDA_MAJOR=12
+ARG CUDA_MINOR=1
+
+RUN echo "Europe/Paris" > /etc/localtime ; echo "CUDA Version ${CUDA_MAJOR}.${CUDA_MINOR}.0" > /usr/local/cuda/version.txt
+
+# setup the ZED SDK
+RUN apt-get update -y || true ; apt-get install --no-install-recommends lsb-release wget less udev sudo zstd build-essential cmake python3 python3-pip libpng-dev libgomp1 -y && \ 
+    python3 -m pip install numpy opencv-python && \
+    wget -q -O ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}${CUDA_MINOR%.*}/ubuntu${UBUNTU_RELEASE_YEAR} && \
+    chmod +x ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run && \
+    ./ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run -- silent skip_tools skip_cuda && \
+    ln -sf /lib/x86_64-linux-gnu/libusb-1.0.so.0 /usr/lib/x86_64-linux-gnu/libusb-1.0.so && \
+    rm ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run && \
+    rm -rf /var/lib/apt/lists/*
+RUN conda install -c conda-forge libstdcxx-ng requests # required for pyzed
+RUN python /usr/local/zed/get_python_api.py && python -m pip install --ignore-installed /app/pyzed-4.0-cp37-cp37m-linux_x86_64.whl
+
+# install oculus reader
+RUN add-apt-repository universe && \
+    apt-get update -y && \ 
+    apt-get install -y android-tools-fastboot
+RUN pip3 install -e $NUC_OCULUS_DIR && \
+    apt install -y android-tools-adb
+
+# python environment setup
+RUN pip3 install -e . && \
+    pip3 install dm-robotics-moma==0.5.0 --no-deps && \
+    pip3 install dm-robotics-transformations==0.5.0 --no-deps && \
+    pip3 install dm-robotics-agentflow==0.5.0 --no-deps && \
+    pip3 install dm-robotics-geometry==0.5.0 --no-deps && \
+    pip3 install dm-robotics-manipulation==0.5.0 --no-deps && \
+    pip3 install dm-robotics-controllers==0.5.0 --no-deps
+
+
+# using miniconda instead of anaconda so overwrite sh scripts
+RUN find /app/droid/franka -type f -name "launch_*.sh" -exec sed -i 's/anaconda/miniconda/g' {} \;
+RUN find /app/scripts/server -type f -name "launch_server.sh" -exec sed -i 's/anaconda/miniconda/g' {} \;
+
+# set absolute paths
+RUN find /app/droid/franka -type f -name "launch_*.sh" -exec sed -i 's|~|/root|g' {} \;
+RUN find /app/scripts/server -type f -name "launch_server.sh" -exec sed -i 's|~|/root|g' {} \;
+
+# set polymetis config files
+RUN cp ${NUC_ROBOT_CONFIG_DIR}/franka_hardware.yaml ${NUC_POLYMETIS_CONFIG_DIR}/robot_client/franka_hardware.yaml && \
+    cp ${NUC_ROBOT_CONFIG_DIR}/franka_panda.yaml ${NUC_POLYMETIS_CONFIG_DIR}/robot_model/franka_panda.yaml
+
+# start the server
+RUN chmod +x /app/.docker/laptop/entrypoint.sh
+ENTRYPOINT ["/app/.docker/laptop/entrypoint.sh"]
diff --git a/.docker/laptop/Dockerfile.laptop_fr3 b/.docker/laptop/Dockerfile.laptop_fr3
@@ -0,0 +1,92 @@
+FROM nvidia/cuda:12.1.0-devel-ubuntu22.04
+
+# set robot parameters
+ENV ROBOT_TYPE=fr3
+ENV LIBFRANKA_VERSION=0.10.0
+ENV ROBOT_IP=172.16.0.1 
+ENV NUC_IP=172.16.0.2
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES \
+    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}compute,video,utility
+
+# set directory structure
+ARG NUC_ROBOT_CONFIG_DIR=/app/config/${ROBOT_TYPE}
+ARG NUC_OCULUS_DIR=/app/droid/oculus_reader
+ARG NUC_POLYMETIS_DIR=/app/droid/fairo/polymetis
+ARG NUC_POLYMETIS_CONFIG_DIR=${NUC_POLYMETIS_DIR}/polymetis/conf
+
+# copy project code to container
+COPY . /app
+WORKDIR /app
+
+# base system installations
+RUN apt-get update && \
+    apt-get install -y software-properties-common build-essential sudo git curl wget python3-pip libspdlog-dev \
+    libeigen3-dev lsb-release ffmpeg libsm6 libxext6 zstd && \
+    apt-get upgrade -y
+
+# install miniconda 
+RUN wget \
+    https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh \
+    && mkdir /root/.conda \
+    && bash Miniconda3-latest-Linux-x86_64.sh -b \
+    && rm -f Miniconda3-latest-Linux-x86_64.sh
+ENV PATH /root/miniconda3/bin:$PATH
+
+# create conda environment
+RUN conda create -n "robot" python=3.7
+SHELL ["conda", "run", "-n", "robot", "/bin/bash", "-c"]
+
+# install the zed sdk
+ARG UBUNTU_RELEASE_YEAR=22
+ARG ZED_SDK_MAJOR=4
+ARG ZED_SDK_MINOR=0
+ARG CUDA_MAJOR=12
+ARG CUDA_MINOR=1
+
+RUN echo "Europe/Paris" > /etc/localtime ; echo "CUDA Version ${CUDA_MAJOR}.${CUDA_MINOR}.0" > /usr/local/cuda/version.txt
+
+# setup the ZED SDK
+RUN apt-get update -y || true ; apt-get install --no-install-recommends lsb-release wget less udev sudo zstd build-essential cmake python3 python3-pip libpng-dev libgomp1 -y && \ 
+    python3 -m pip install numpy opencv-python && \
+    wget -q -O ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}${CUDA_MINOR%.*}/ubuntu${UBUNTU_RELEASE_YEAR} && \
+    chmod +x ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run && \
+    ./ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run -- silent skip_tools skip_cuda && \
+    ln -sf /lib/x86_64-linux-gnu/libusb-1.0.so.0 /usr/lib/x86_64-linux-gnu/libusb-1.0.so && \
+    rm ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run && \
+    rm -rf /var/lib/apt/lists/*
+RUN conda install -c conda-forge libstdcxx-ng requests # required for pyzed
+RUN python /usr/local/zed/get_python_api.py && python -m pip install --ignore-installed /app/pyzed-4.0-cp37-cp37m-linux_x86_64.whl
+
+# install oculus reader
+RUN add-apt-repository universe && \
+    apt-get update -y && \ 
+    apt-get install -y android-tools-fastboot
+RUN pip3 install -e $NUC_OCULUS_DIR && \
+    apt install -y android-tools-adb
+
+# python environment setup
+RUN pip3 install -e . && \
+    pip3 install dm-robotics-moma==0.5.0 --no-deps && \
+    pip3 install dm-robotics-transformations==0.5.0 --no-deps && \
+    pip3 install dm-robotics-agentflow==0.5.0 --no-deps && \
+    pip3 install dm-robotics-geometry==0.5.0 --no-deps && \
+    pip3 install dm-robotics-manipulation==0.5.0 --no-deps && \
+    pip3 install dm-robotics-controllers==0.5.0 --no-deps
+
+
+# using miniconda instead of anaconda so overwrite sh scripts
+RUN find /app/droid/franka -type f -name "launch_*.sh" -exec sed -i 's/anaconda/miniconda/g' {} \;
+RUN find /app/scripts/server -type f -name "launch_server.sh" -exec sed -i 's/anaconda/miniconda/g' {} \;
+
+# set absolute paths
+RUN find /app/droid/franka -type f -name "launch_*.sh" -exec sed -i 's|~|/root|g' {} \;
+RUN find /app/scripts/server -type f -name "launch_server.sh" -exec sed -i 's|~|/root|g' {} \;
+
+# set polymetis config files
+RUN cp ${NUC_ROBOT_CONFIG_DIR}/franka_hardware.yaml ${NUC_POLYMETIS_CONFIG_DIR}/robot_client/franka_hardware.yaml && \
+    cp ${NUC_ROBOT_CONFIG_DIR}/franka_panda.yaml ${NUC_POLYMETIS_CONFIG_DIR}/robot_model/franka_panda.yaml
+
+# start the server
+RUN chmod +x /app/.docker/laptop/entrypoint.sh
+ENTRYPOINT ["/app/.docker/laptop/entrypoint.sh"]
diff --git a/.docker/laptop/Dockerfile.laptop_panda b/.docker/laptop/Dockerfile.laptop_panda
@@ -0,0 +1,94 @@
+FROM nvidia/cuda:12.1.0-devel-ubuntu22.04
+
+# set robot parameters
+ENV ROBOT_TYPE=panda
+ENV LIBFRANKA_VERSION=0.9.0
+ENV ROBOT_IP=172.16.0.1 
+ENV NUC_IP=172.16.0.2
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES \
+    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}compute,video,utility
+
+# set directory structure
+ARG NUC_ROBOT_CONFIG_DIR=/app/config/${ROBOT_TYPE}
+ARG NUC_OCULUS_DIR=/app/droid/oculus_reader
+ARG NUC_POLYMETIS_DIR=/app/droid/fairo/polymetis
+ARG NUC_POLYMETIS_CONFIG_DIR=${NUC_POLYMETIS_DIR}/polymetis/conf
+
+# copy project code to container
+COPY . /app
+WORKDIR /app
+
+# base system installations
+RUN apt-get update && \
+    apt-get install -y software-properties-common build-essential sudo git curl wget python3-pip libspdlog-dev \
+    libeigen3-dev lsb-release ffmpeg libsm6 libxext6 zstd && \
+    apt-get upgrade -y
+
+# install miniconda 
+RUN wget \
+    https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh \
+    && mkdir /root/.conda \
+    && bash Miniconda3-latest-Linux-x86_64.sh -b \
+    && rm -f Miniconda3-latest-Linux-x86_64.sh
+ENV PATH /root/miniconda3/bin:$PATH
+
+# create conda environment
+RUN conda create -n "robot" python=3.7
+SHELL ["conda", "run", "-n", "robot", "/bin/bash", "-c"]
+
+# install the zed sdk
+ARG UBUNTU_RELEASE_YEAR=22
+ARG ZED_SDK_MAJOR=4
+ARG ZED_SDK_MINOR=0
+ARG CUDA_MAJOR=12
+ARG CUDA_MINOR=1
+
+RUN echo "Europe/Paris" > /etc/localtime ; echo "CUDA Version ${CUDA_MAJOR}.${CUDA_MINOR}.0" > /usr/local/cuda/version.txt
+
+# setup the ZED SDK
+RUN apt-get update -y || true ; apt-get install --no-install-recommends lsb-release wget less udev sudo zstd build-essential cmake python3 python3-pip libpng-dev libgomp1 -y && \ 
+    python3 -m pip install numpy opencv-python && \
+    wget -q -O ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}${CUDA_MINOR%.*}/ubuntu${UBUNTU_RELEASE_YEAR} && \
+    chmod +x ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run && \
+    ./ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run -- silent skip_tools skip_cuda && \
+    ln -sf /lib/x86_64-linux-gnu/libusb-1.0.so.0 /usr/lib/x86_64-linux-gnu/libusb-1.0.so && \
+    rm ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN conda install -c conda-forge libstdcxx-ng requests # required for pyzed
+RUN python /usr/local/zed/get_python_api.py && python -m pip install --ignore-installed /app/pyzed-4.0-cp37-cp37m-linux_x86_64.whl
+
+# install oculus reader
+RUN add-apt-repository universe && \
+    apt-get update -y && \ 
+    apt-get install -y android-tools-fastboot
+RUN pip3 install -e $NUC_OCULUS_DIR && \
+    apt install -y android-tools-adb && \
+    rm -rf /var/lib/apt/lists/*
+
+# python environment setup
+RUN pip3 install -e . && \
+    pip3 install dm-robotics-moma==0.5.0 --no-deps && \
+    pip3 install dm-robotics-transformations==0.5.0 --no-deps && \
+    pip3 install dm-robotics-agentflow==0.5.0 --no-deps && \
+    pip3 install dm-robotics-geometry==0.5.0 --no-deps && \
+    pip3 install dm-robotics-manipulation==0.5.0 --no-deps && \
+    pip3 install dm-robotics-controllers==0.5.0 --no-deps
+
+
+# using miniconda instead of anaconda so overwrite sh scripts
+RUN find /app/droid/franka -type f -name "launch_*.sh" -exec sed -i 's/anaconda/miniconda/g' {} \;
+RUN find /app/scripts/server -type f -name "launch_server.sh" -exec sed -i 's/anaconda/miniconda/g' {} \;
+
+# set absolute paths
+RUN find /app/droid/franka -type f -name "launch_*.sh" -exec sed -i 's|~|/root|g' {} \;
+RUN find /app/scripts/server -type f -name "launch_server.sh" -exec sed -i 's|~|/root|g' {} \;
+
+# set polymetis config files
+RUN cp ${NUC_ROBOT_CONFIG_DIR}/franka_hardware.yaml ${NUC_POLYMETIS_CONFIG_DIR}/robot_client/franka_hardware.yaml && \
+    cp ${NUC_ROBOT_CONFIG_DIR}/franka_panda.yaml ${NUC_POLYMETIS_CONFIG_DIR}/robot_model/franka_panda.yaml
+
+# start the server
+RUN chmod +x /app/.docker/laptop/entrypoint.sh
+ENTRYPOINT ["/app/.docker/laptop/entrypoint.sh"]
diff --git a/.docker/laptop/docker-compose-laptop-data-upload.yaml b/.docker/laptop/docker-compose-laptop-data-upload.yaml
@@ -0,0 +1,34 @@
+version: "3"
+
+services: 
+  laptop_setup:
+    image: ghcr.io/alexanderkhazatsky/droid:laptop_fer
+    environment:
+      ROOT_DIR: ${ROOT_DIR}
+      DISPLAY: ${DISPLAY}
+      XAUTHORITY: ${DOCKER_XAUTH}
+      ROBOT_TYPE: ${ROBOT_TYPE}
+      LIBFRANKA_VERSION: ${LIBFRANKA_VERSION}
+      NUC_IP: ${NUC_IP}
+      ROBOT_IP: ${ROBOT_IP}
+      LAPTOP_IP: ${LAPTOP_IP}
+      NVIDIA_VISIBLE_DEVICES: all
+      ANDROID_ADB_SERVER_ADDRESS: host.docker.internal
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${DOCKER_XAUTH}:${DOCKER_XAUTH}
+      - ${ROOT_DIR}/droid/misc/parameters.py:/app/droid/misc/parameters.py
+      - ${ROOT_DIR}/droid/calibration/calibration_info.json:/app/droid/calibration/calibration_info.json
+      - ${ROOT_DIR}/data:/app/data
+      - ${ROOT_DIR}/cache:/app/cache
+      - ${ROOT_DIR}/droid-credentials.json:/app/droid-credentials.json
+      - ${ROOT_DIR}/scripts/postprocess.py:/app/scripts/postprocess.py
+    build: 
+      context: ../../
+      dockerfile: .docker/laptop/Dockerfile.laptop
+    devices:
+      - "/dev:/dev"
+    runtime: nvidia
+    privileged: true
+    network_mode: "host"
+    command: python /app/scripts/postprocess.py
diff --git a/.docker/laptop/docker-compose-laptop.yaml b/.docker/laptop/docker-compose-laptop.yaml
@@ -0,0 +1,37 @@
+version: "3"
+
+services: 
+  laptop_setup:
+    image: ghcr.io/droid-dataset/droid_laptop:${ROBOT_TYPE}
+    environment:
+      ROOT_DIR: ${ROOT_DIR}
+      DISPLAY: ${DISPLAY}
+      XAUTHORITY: ${DOCKER_XAUTH}
+      ROBOT_TYPE: ${ROBOT_TYPE}
+      LIBFRANKA_VERSION: ${LIBFRANKA_VERSION}
+      NUC_IP: ${NUC_IP}
+      ROBOT_IP: ${ROBOT_IP}
+      LAPTOP_IP: ${LAPTOP_IP}
+      NVIDIA_VISIBLE_DEVICES: all
+      ANDROID_ADB_SERVER_ADDRESS: host.docker.internal
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${DOCKER_XAUTH}:${DOCKER_XAUTH}
+      - ${ROOT_DIR}/droid/misc/parameters.py:/app/droid/misc/parameters.py
+      - ${ROOT_DIR}/droid/calibration/calibration_info.json:/app/droid/calibration/calibration_info.json
+      - ${ROOT_DIR}/data:/app/data
+      - ${ROOT_DIR}/cache:/app/cache
+    build: 
+      context: ../../
+      dockerfile: .docker/laptop/Dockerfile.laptop
+      args:
+        ROOT_DIR: ${ROOT_DIR}
+        ROBOT_TYPE: ${ROBOT_TYPE}
+        NUC_IP: ${NUC_IP}
+        ROBOT_IP: ${ROBOT_IP}
+    devices:
+      - "/dev:/dev"
+    runtime: nvidia
+    privileged: true
+    network_mode: "host"
+    command: python /app/scripts/main.py
diff --git a/.docker/laptop/entrypoint.sh b/.docker/laptop/entrypoint.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+# activate conda
+source ~/miniconda3/bin/activate
+conda activate robot
+
+# run user command
+exec "$@"