Merge pull request #778 from StanfordVL/docker-400

Update Docker images to Isaac Sim 4.0.0
StanfordVL · Jul 9, 2024 · 0f98738 · 0f98738
2 parents ca2632b + 52bb0fe
commit 0f98738
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Showing 7 changed files with 651 additions and 24 deletions.
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
@@ -56,7 +56,7 @@ jobs:
 
       - name: Run tests
         working-directory: omnigibson-src
-        run: pytest tests/${{ matrix.test_file }}.py --junitxml=${{ matrix.test_file }}.xml && cp ${{ matrix.test_file }}.xml ${GITHUB_WORKSPACE}/
+        run: pytest -s tests/${{ matrix.test_file }}.py --junitxml=${{ matrix.test_file }}.xml && cp ${{ matrix.test_file }}.xml ${GITHUB_WORKSPACE}/
 
       - name: Deploy artifact
         uses: actions/upload-artifact@v3

diff --git a/docker/build_docker.sh b/docker/build_docker.sh
@@ -1,11 +1,6 @@
 #!/usr/bin/env bash
 set -e -o pipefail
 
-docker build \
-    -t stanfordvl/omnigibson-dev:latest \
-    -f docker/dev.Dockerfile \
-    .
-
 docker build \
     -t stanfordvl/omnigibson:latest \
     -t stanfordvl/omnigibson:$(sed -ne "s/.*version= *['\"]\([^'\"]*\)['\"] *.*/\1/p" setup.py) \

diff --git a/docker/gh-actions/Dockerfile b/docker/gh-actions/Dockerfile
@@ -1,4 +1,4 @@
-FROM stanfordvl/omnigibson-dev:og-develop
+FROM stanfordvl/omnigibson:og-develop
 
 ARG DUMB_INIT_VERSION="1.2.2"
 ARG GIT_CORE_PPA_KEY="A1715D88E1DF1F24"

diff --git a/docker/prod.Dockerfile b/docker/prod.Dockerfile
@@ -1,4 +1,4 @@
-FROM nvcr.io/nvidia/isaac-sim:2023.1.1
+FROM nvcr.io/nvidia/isaac-sim:4.0.0
 
 # Set up all the prerequisites.
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
@@ -10,9 +10,6 @@ RUN rm -rf /isaac-sim/exts/omni.isaac.ml_archive/pip_prebundle/gym*
 RUN rm -rf /isaac-sim/kit/extscore/omni.kit.pip_archive/pip_prebundle/numpy*
 RUN /isaac-sim/python.sh -m pip install click~=8.1.3
 
-# Disable the livestream extension getting launched by default in Isaac Sim 2023.1.1
-RUN sed -i 's/\"omni.kit.livestream.native.*//g' /isaac-sim/apps/omni.isaac.sim.python.kit
-
 # Mount the data directory
 VOLUME ["/data"]
 ENV OMNIGIBSON_DATASET_PATH /data/og_dataset