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reproduce_render_issue_oige
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#task_name='Ant' | |
task_name='Humanoid' | |
# set up logging | |
log_dir=render_bug_logs_${task_name} | |
rm -r ${log_dir} 2>/dev/null | |
mkdir -p ${log_dir} | |
#docker rm -f $(docker ps -a -q) # for reproducibility remove all running containers | |
xhost +local:docker # optional: allow x-host forwarding to docker. Can be necessary on some linux setups | |
# build the docker if needed | |
docker build -t isaac-sim-oige -f docker/dockerfile . | |
# run docker as per documentation but | |
# add -d so we can then execute multiple runs in the same container | |
docker run --name isaac-sim-oige-container -it -d --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \ | |
-e "PRIVACY_CONSENT=Y" \ | |
-v $HOME/.Xauthority:/root/.Xauthority \ | |
-e DISPLAY \ | |
-v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \ | |
-v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \ | |
-v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \ | |
-v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \ | |
-v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \ | |
-v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \ | |
-v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \ | |
-v ~/docker/isaac-sim/documents:/root/Documents:rw \ | |
isaac-sim-oige | |
# Train with defaults in headless | |
echo ' ++ Training ++ ' | |
docker exec -it -w /workspace/omniisaacgymenvs/omniisaacgymenvs isaac-sim-oige-container \ | |
/isaac-sim/python.sh scripts/rlgames_train.py task=${task_name} headless=True \ | |
> ${log_dir}/train_${task_name}_headless.log | |
# Test in headless | |
echo ' ++ Testing Headless ++ ' | |
docker exec -it -w /workspace/omniisaacgymenvs/omniisaacgymenvs isaac-sim-oige-container \ | |
/isaac-sim/python.sh scripts/rlgames_train.py task=${task_name} test=True headless=True \ | |
checkpoint=/workspace/omniisaacgymenvs/omniisaacgymenvs/runs/${task_name}/nn/${task_name}.pth \ | |
> ${log_dir}/test_${task_name}_headless.log | |
# Test in headfull | |
# Note: this takes a bit to startup as shaders for the rendering need to be compiled, | |
echo ' ++ Testing Headfull ++ ' | |
docker exec -it -w /workspace/omniisaacgymenvs/omniisaacgymenvs isaac-sim-oige-container \ | |
/isaac-sim/python.sh scripts/rlgames_train.py task=${task_name} test=True headless=False \ | |
checkpoint=/workspace/omniisaacgymenvs/omniisaacgymenvs/runs/${task_name}/nn/${task_name}.pth \ | |
> ${log_dir}/test_${task_name}_headfull.log | |
# Test in headless but with `enable_cameras=1` which produces a result exactly equivalent to `headless=False` | |
# Note: there is a delay as some visualization code is trying to access a window to render but cant | |
echo ' ++ Testing Headless with rendering ++ ' | |
docker exec -it -w /workspace/omniisaacgymenvs/omniisaacgymenvs isaac-sim-oige-container \ | |
/isaac-sim/python.sh scripts/rlgames_train.py task=${task_name} test=True headless=True \ | |
task.sim.enable_cameras=True \ | |
checkpoint=/workspace/omniisaacgymenvs/omniisaacgymenvs/runs/${task_name}/nn/${task_name}.pth \ | |
> ${log_dir}/test_${task_name}_headless_cameras.log | |
printf "\n == ${task_name} Test; headless=True\n" >> ${log_dir}/${task_name}_comparison.log | |
cat ${log_dir}/test_${task_name}_headless.log | grep 'av reward' \ | |
>> ${log_dir}/${task_name}_comparison.log | |
printf "\n == ${task_name} Test; headless=False\n" >> ${log_dir}/${task_name}_comparison.log | |
cat ${log_dir}/test_${task_name}_headfull.log | grep 'av reward' \ | |
>> ${log_dir}/${task_name}_comparison.log | |
printf "\n == ${task_name} Test; headless=True enable_cameras=True == \n" >> ${log_dir}/${task_name}_comparison.log | |
cat ${log_dir}/test_${task_name}_headless_cameras.log | grep 'av reward' \ | |
>> ${log_dir}/${task_name}_comparison.log |
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