Merge pull request #303 from Kashu7100/feat-docker

Feat docker

README.md

@@ -74,6 +74,26 @@ cd Genesis
 pip install -e .
 ```
 
+## Docker Support
+
+If you want to use Genesis from Docker, you can first build the Docker image as:
+
+```bash
+docker build -t genesis -f docker/Dockerfile docker
+```
+
+Then you can run the examples inside the docker image (mounted to `/workspace/examples`):
+
+```bash
+xhost +local:root # Allow the container to access the display
+
+docker run --gpus all --rm -it \
+-e DISPLAY=$DISPLAY \
+-v /tmp/.X11-unix/:/tmp/.X11-unix \
+-v $PWD:/workspace \
+genesis
+```
+
 ## Documentation
 
 Comprehensive documentation is available in [English](https://genesis-world.readthedocs.io/en/latest/user_guide/index.html) and [Chinese](https://genesis-world.readthedocs.io/zh-cn/latest/user_guide/index.html). This includes detailed installation steps, tutorials, and API references.

README_CN.md

@@ -68,6 +68,26 @@ pip install genesis-world  # 需要 Python >=3.9
 
 同时需要按照[官方指南](https://pytorch.org/get-started/locally/)安装 PyTorch。
 
+### Docker 支持
+
+如果您想通过 Docker 使用 Genesis，您可以首先构建 Docker 镜像，命令如下：
+
+```bash
+docker build -t genesis -f docker/Dockerfile docker
+```
+
+然后，您可以在 Docker 镜像内运行示例代码（挂载到 `/workspace/examples`）：
+
+```bash
+xhost +local:root # 允许容器访问显示器
+
+docker run --gpus all --rm -it \
+-e DISPLAY=$DISPLAY \
+-v /tmp/.X11-unix/:/tmp/.X11-unix \
+-v $PWD:/workspace \
+genesis
+```
+
 ### 文档
 
 - [英文文档](https://genesis-world.readthedocs.io/en/latest/user_guide/index.html)

docker/10_nvidia.json

@@ -0,0 +1,6 @@
+{
+    "file_format_version" : "1.0.0",
+    "ICD" : {
+        "library_path" : "libEGL_nvidia.so.0"
+    }
+}

docker/Dockerfile

@@ -0,0 +1,118 @@
+ARG CUDA_VERSION=12.1
+
+# ===============================================================
+# Stage 1: Build LuisaRender
+# ===============================================================
+FROM pytorch/pytorch:2.5.1-cuda${CUDA_VERSION}-cudnn9-devel AS builder
+
+ENV DEBIAN_FRONTEND=noninteractive
+ARG PYTHON_VERSION=3.11
+
+# Install necessary packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    build-essential \
+    manpages-dev \
+    libvulkan-dev \
+    zlib1g-dev \
+    xorg-dev libglu1-mesa-dev \
+    libsnappy-dev \
+    software-properties-common \
+    git \
+    curl \
+    wget
+RUN add-apt-repository ppa:ubuntu-toolchain-r/test && \
+    apt update && \
+    apt install -y --no-install-recommends \
+    gcc-11 \
+    g++-11 \
+    gcc-11 g++-11 patchelf && \
+    rm -rf /var/lib/apt/lists/*
+
+# Set GCC-11 and G++-11 as the default
+RUN update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 110 && \
+    update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-11 110
+
+# Install Rust for build requirements
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
+
+RUN pip install "pybind11[global]"
+
+# Install CMake
+RUN wget https://github.com/Kitware/CMake/releases/download/v3.31.0-rc2/cmake-3.31.0-rc2-linux-x86_64.sh && \
+    chmod +x cmake-3.31.0-rc2-linux-x86_64.sh && \
+    ./cmake-3.31.0-rc2-linux-x86_64.sh --skip-license --prefix=/usr/local && \
+    rm cmake-3.31.0-rc2-linux-x86_64.sh
+
+# Build LuisaRender
+WORKDIR /workspace
+RUN git clone https://github.com/Genesis-Embodied-AI/Genesis.git && \
+    cd Genesis && \
+    git submodule update --init --recursive
+COPY build_luisa.sh /workspace/build_luisa.sh
+RUN chmod +x ./build_luisa.sh && ./build_luisa.sh ${PYTHON_VERSION}
+
+# ===============================================================
+# Stage 2: Runtime Environment
+# ===============================================================
+FROM pytorch/pytorch:2.5.1-cuda${CUDA_VERSION}-cudnn9-devel
+
+ARG PYTHON_VERSION=3.11
+ENV DEBIAN_FRONTEND=noninteractive
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+
+# Install runtime dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    tmux \
+    git \
+    curl \
+    wget \
+    bash-completion \
+    libgl1 \
+    libgl1-mesa-glx \
+    libegl-dev \
+    libegl1 \
+    libxrender1 \
+    libglib2.0-0 \
+    ffmpeg \
+    libgtk2.0-dev \
+    pkg-config \
+    libvulkan-dev \
+    libgles2 \
+    libglvnd0 \
+    libglx0 \
+    && apt clean \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /workspace
+
+# --------------------------- Genesis ----------------------------
+RUN pip install --no-cache-dir open3d
+RUN git clone https://github.com/Genesis-Embodied-AI/Genesis.git && \
+    cd Genesis && \
+    pip install . && \
+    pip install --no-cache-dir PyOpenGL==3.1.5
+
+# ------------------------ Motion planning -----------------------
+RUN PYTHON_MAJOR_MINOR=$(echo ${PYTHON_VERSION} | tr -d '.') && \
+    wget https://github.com/ompl/ompl/releases/download/prerelease/ompl-1.6.0-cp${PYTHON_MAJOR_MINOR}-cp${PYTHON_MAJOR_MINOR}-manylinux_2_28_x86_64.whl && \
+    pip install ompl-1.6.0-cp${PYTHON_MAJOR_MINOR}-cp${PYTHON_MAJOR_MINOR}-manylinux_2_28_x86_64.whl && \
+    rm ompl-1.6.0-cp${PYTHON_MAJOR_MINOR}-cp${PYTHON_MAJOR_MINOR}-manylinux_2_28_x86_64.whl
+
+# -------------------- Surface Reconstruction --------------------
+# Set the LD_LIBRARY_PATH directly in the environment
+COPY --from=builder /workspace/Genesis/genesis/ext/ParticleMesher/ParticleMesherPy /opt/conda/lib/python3.1/site-packages/genesis/ext/ParticleMesher/ParticleMesherPy
+ENV LD_LIBRARY_PATH=/opt/conda/lib/python3.1/site-packages/genesis/ext/ParticleMesher/ParticleMesherPy:$LD_LIBRARY_PATH
+
+# --------------------- Ray Tracing Renderer ---------------------
+# Copy LuisaRender build artifacts from the builder stage
+COPY --from=builder /workspace/Genesis/genesis/ext/LuisaRender/build/bin /opt/conda/lib/python3.1/site-packages/genesis/ext/LuisaRender/build/bin
+# fix GLIBCXX_3.4.30 not found
+RUN cd /opt/conda/lib && \
+    mv libstdc++.so.6 libstdc++.so.6.old && \
+    ln -s /usr/lib/x86_64-linux-gnu/libstdc++.so.6 libstdc++.so.6
+
+COPY 10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+COPY nvidia_icd.json /usr/share/vulkan/icd.d/nvidia_icd.json
+COPY nvidia_layers.json /etc/vulkan/implicit_layer.d/nvidia_layers.json
+
+ENTRYPOINT ["/bin/bash"]

docker/build_luisa.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+# Check if Python version is provided
+if [ -z "$1" ]; then
+    echo "Usage: $0 <PYTHON_VERSION>"
+    exit 1
+fi
+
+PYTHON_VERSION=$1
+
+cd Genesis/genesis/ext/LuisaRender && \
+git submodule update --init --recursive && \
+mkdir -p build && \
+cmake -S . -B build \
+    -D CMAKE_BUILD_TYPE=Release \
+    -D PYTHON_VERSIONS=$PYTHON_VERSION \
+    -D LUISA_COMPUTE_DOWNLOAD_NVCOMP=ON \
+    -D LUISA_COMPUTE_DOWNLOAD_OIDN=ON \
+    -D LUISA_COMPUTE_ENABLE_GUI=OFF \
+    -D LUISA_COMPUTE_ENABLE_CUDA=ON \
+    -Dpybind11_DIR=$(python3 -c "import pybind11; print(pybind11.get_cmake_dir())") && \
+cmake --build build -j $(nproc)

docker/nvidia_icd.json

@@ -0,0 +1,7 @@
+{
+    "file_format_version" : "1.0.0",
+    "ICD": {
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.2.155"
+    }
+}

docker/nvidia_layers.json

@@ -0,0 +1,22 @@
+
+{
+    "file_format_version" : "1.0.0",
+    "layer": {
+        "name": "VK_LAYER_NV_optimus",
+        "type": "INSTANCE",
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.2.155",
+        "implementation_version" : "1",
+        "description" : "NVIDIA Optimus layer",
+        "functions": {
+            "vkGetInstanceProcAddr": "vk_optimusGetInstanceProcAddr",
+            "vkGetDeviceProcAddr": "vk_optimusGetDeviceProcAddr"
+        },
+        "enable_environment": {
+            "__NV_PRIME_RENDER_OFFLOAD": "1"
+        },
+        "disable_environment": {
+            "DISABLE_LAYER_NV_OPTIMUS_1": ""
+        }
+    }
+}