From 16f26dfc0dc6c91344d6a91b9b117d3b511dfd1e Mon Sep 17 00:00:00 2001
From: Benjamin Bolte <ben@bolte.cc>
Date: Sun, 31 Mar 2024 19:13:18 +0000
Subject: [PATCH] sim

---
 sim/scripts/install_isaac_dependencies.sh | 68 +++++++++++++++++++++++
 sim/scripts/run_headless.sh               | 14 +++++
 sim/scripts/setup_isaac.sh                | 40 -------------
 3 files changed, 82 insertions(+), 40 deletions(-)
 create mode 100755 sim/scripts/install_isaac_dependencies.sh
 create mode 100755 sim/scripts/run_headless.sh
 delete mode 100644 sim/scripts/setup_isaac.sh

diff --git a/sim/scripts/install_isaac_dependencies.sh b/sim/scripts/install_isaac_dependencies.sh
new file mode 100755
index 00000000..891d5b04
--- /dev/null
+++ b/sim/scripts/install_isaac_dependencies.sh
@@ -0,0 +1,68 @@
+#!/bin/bash
+# Script to set up Isaac Sim on a cluster.
+# This script was adapted from here:
+# https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html
+
+set -e
+
+# Create a directory for installation artifacts.
+build_dir=$(pwd)build/sim/
+mkdir -p ${build_dir}
+
+showmsg() {
+  echo -e "\e[1;32m$1\e[0m"
+}
+
+showmsg "Updating and installing dependencies..."
+sudo apt-get update
+sudo apt install build-essential -y
+
+# Install NVIDIA drivers. This shouldn't be necessary since the cluster
+# already has NVIDIA drivers installed.
+# if [[ ! -f ${build_dir}/NVIDIA-Linux-x86_64-525.85.05.run ]]; then
+#   showmsg "Downloading NVIDIA drivers..."
+#   wget https://us.download.nvidia.com/XFree86/Linux-x86_64/525.85.05/NVIDIA-Linux-x86_64-525.85.05.run -P ${build_dir}
+#   chmod +x ${build_dir}/NVIDIA-Linux-x86_64-525.85.05.run
+#   sudo ${build_dir}/NVIDIA-Linux-x86_64-525.85.05.run
+# fi
+
+# Docker installation using the convenience script
+if [[ ! -f /usr/bin/docker ]]; then
+  showmsg "Installing Docker..."
+  curl -fsSL https://get.docker.com -o ${build_dir}get-docker.sh
+  sudo sh ${build_dir}get-docker.sh
+
+  showmsg "Post-install steps for Docker..."
+  sudo groupadd docker
+  sudo usermod -aG docker $USER
+  newgrp docker
+
+  showmsg "Verifying Docker installation..."
+  docker run hello-world
+fi
+
+# Configure the repository
+if [[ ! -f /etc/apt/sources.list.d/nvidia-container-toolkit.list ]]; then
+  showmsg "Configuring the NVIDIA Container Toolkit repository..."
+  if [[ ! -f /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg ]]; then
+    curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | \
+      sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg
+  fi
+  curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
+      sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
+      sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
+
+  showmsg "Updating the package list..."
+  sudo apt-get update
+
+  showmsg "Installing NVIDIA Container Toolkit..."
+  sudo apt-get install -y nvidia-container-toolkit
+  sudo systemctl restart docker
+fi
+
+showmsg "Verifying NVIDIA Container Toolkit..."
+docker run --rm --gpus all ubuntu nvidia-smi
+
+showmsg "Installing NVIDIA Container Runtime..."
+docker login nvcr.io
+docker pull nvcr.io/nvidia/isaac-sim:2023.1.1
diff --git a/sim/scripts/run_headless.sh b/sim/scripts/run_headless.sh
new file mode 100755
index 00000000..bbcd567e
--- /dev/null
+++ b/sim/scripts/run_headless.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+# Runs Isaac in headless mode.
+
+docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
+    -e "PRIVACY_CONSENT=Y" \
+    -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 \
+    nvcr.io/nvidia/isaac-sim:2023.1.1
diff --git a/sim/scripts/setup_isaac.sh b/sim/scripts/setup_isaac.sh
deleted file mode 100644
index 0620e25d..00000000
--- a/sim/scripts/setup_isaac.sh
+++ /dev/null
@@ -1,40 +0,0 @@
-#!/bin/bash
-# Script to set up Isaac Sim on a cluster.
-# This script was adapted from here:
-# https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html
-
-# Run updates and install dependencies.
-sudo apt-get update
-sudo apt install build-essential -y
-
-# Install NVIDIA drivers.
-wget https://us.download.nvidia.com/XFree86/Linux-x86_64/525.85.05/NVIDIA-Linux-x86_64-525.85.05.run
-chmod +x NVIDIA-Linux-x86_64-525.85.05.run
-sudo ./NVIDIA-Linux-x86_64-525.85.05.run
-
-# Docker installation using the convenience script
-curl -fsSL https://get.docker.com -o get-docker.sh
-sudo sh get-docker.sh
-
-# Post-install steps for Docker
-sudo groupadd docker
-sudo usermod -aG docker $USER
-newgrp docker
-
-# Verify Docker
-docker run hello-world
-
-# Configure the repository
-curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
-  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
-    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
-    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list \
-  && \
-    sudo apt-get update
-
-# Install the NVIDIA Container Toolkit packages
-sudo apt-get install -y nvidia-container-toolkit
-sudo systemctl restart docker
-
-# Verify NVIDIA Container Toolkit
-docker run --rm --gpus all ubuntu nvidia-smi