feat: unify install script & use install script for docker

Signed-off-by: Hao Lin <linhaomails@gmail.com>

Author: andylin-hao

.github/workflows/ci-tests.yml

@@ -50,23 +50,10 @@ jobs:
               - 'tests/**'
               - '.github/workflows/*tests.yml'
               - '*.yaml'
-            install_filter:
-              - 'pyproject.toml'
-              - 'requirements/*.sh'
-              - 'requirements/*.txt'
-              - '.github/workflows/install.yml'
             docker_filter:
               - 'docker/torch*/**'
               - '.github/workflows/docker-build.yml'
 
-
-  # =============================================== install tests ====================================================
-
-  install-tests:
-    needs: [check-changes]
-    if: needs.check-changes.outputs.install_filter == 'true'
-    uses: ./.github/workflows/install.yml
-
   # =============================================== docker tests ====================================================
 
   docker-tests:

.gitignore

@@ -4,7 +4,7 @@ __pycache__
 *.idx
 *.npy
 *.txt
-!requirements/*
+!requirements/**
 !docs/*
 *.DS_Store
 *.out

docker/Dockerfile

@@ -0,0 +1,138 @@
+ARG BUILD_TARGET=reason
+
+FROM nvidia/cuda:12.4.1-cudnn-devel-ubuntu22.04 AS base-image
+
+ARG NO_MIRROR
+SHELL ["/bin/bash", "-c"]
+ENV PATH=/opt/conda/bin:$PATH
+ENV DEBIAN_FRONTEND=noninteractive
+RUN if [ -z "$NO_MIRROR" ]; then sed -i 's@//.*archive.ubuntu.com@//mirrors.ustc.edu.cn@g' /etc/apt/sources.list; fi
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    git vim libibverbs-dev openssh-server sudo runit runit-systemd tmux \
+    build-essential python3-dev cmake pkg-config iproute2 pciutils python3 python3-pip \
+    wget unzip curl
+
+RUN pip config set global.index-url https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+RUN python3 -m pip install -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple --upgrade pip setuptools wheel uv
+
+ENV HF_HOME=/opt/.cache/huggingface
+RUN mkdir -p $HF_HOME
+
+# UV setup
+ENV UV_DEFAULT_INDEX=${NO_MIRROR:+"https://pypi.org/simple/"}
+ENV UV_DEFAULT_INDEX=${UV_DEFAULT_INDEX:-"https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"}
+ENV UV_PATH=/opt/venv
+RUN mkdir $UV_PATH
+WORKDIR $UV_PATH
+ENV UV_LINK_MODE=symlink
+ENV UV_CACHE_DIR=$UV_PATH/.cache
+ENV UV_PYTHON_INSTALL_DIR=${UV_PATH}/.python
+
+# Requirements
+COPY ../pyproject.toml $UV_PATH/pyproject.toml
+COPY ../requirements $UV_PATH/requirements
+
+# switch_env utility
+RUN cat <<EOF > /usr/local/bin/switch_env
+#!/bin/bash
+if [ -z "\$1" ]; then
+    echo "Usage: switch_env <env_name>"
+    exit 1
+fi
+if [ ! -d "${UV_PATH}/\$1" ]; then
+    echo "Environment \$1 does not exist in ${UV_PATH}."
+    exit 1
+fi
+source ${UV_PATH}/\$1/bin/activate
+EOF
+RUN chmod +x /usr/local/bin/switch_env
+
+FROM base-image AS reason-image
+
+RUN bash requirements/install.sh reason --venv reason
+
+# Set default env
+RUN echo "source ${UV_PATH}/reason/bin/activate" >> ~/.bashrc
+
+FROM base-image AS embodied-common-image
+
+# Embodied NVIDIA_DRIVER_CAPABILITIES
+ENV NVIDIA_DRIVER_CAPABILITIES="all"
+
+# link_assets utility
+RUN cat <<EOF > /usr/local/bin/link_assets
+#!/bin/bash
+if [ -d /opt/.maniskill ]; then
+    ln -s /opt/.maniskill ~/.maniskill
+fi
+if [ -d /opt/.sapien ]; then
+    ln -s /opt/.sapien ~/.sapien
+fi
+mkdir -p ~/.cache
+if [ -d /opt/.openpi ]; then
+    ln -s /opt/.openpi ~/.cache/openpi
+fi
+EOF
+RUN chmod +x /usr/local/bin/link_assets
+
+# download_assets utility
+RUN cat <<EOF > /usr/local/bin/download_assets
+#!/bin/bash
+
+# Download assets for ManiSkill
+export MS_ASSET_DIR=/opt/.maniskill
+python -m mani_skill.utils.download_asset bridge_v2_real2sim -y
+python -m mani_skill.utils.download_asset widowx250s -y
+
+# Download assets for SAPIEN
+export PHYSX_VERSION=105.1-physx-5.3.1.patch0
+export PHYSX_DIR=/opt/.sapien/physx/\$PHYSX_VERSION
+mkdir -p \$PHYSX_DIR
+wget -O \$PHYSX_DIR/linux-so.zip https://github.com/sapien-sim/physx-precompiled/releases/download/\$PHYSX_VERSION/linux-so.zip
+unzip \$PHYSX_DIR/linux-so.zip -d \$PHYSX_DIR && rm \$PHYSX_DIR/linux-so.zip
+
+# Download assets for OpenPI
+export TOKENIZER_DIR=/opt/.openpi/big_vision/
+mkdir -p \$TOKENIZER_DIR && gsutil -m cp -r gs://big_vision/paligemma_tokenizer.model \$TOKENIZER_DIR
+EOF
+RUN chmod +x /usr/local/bin/download_assets
+
+FROM embodied-common-image AS embodied-image
+
+# Install openvla env
+RUN requirements/install.sh embodied --venv openvla --model openvla --env maniskill_libero
+
+# Install openvla-oft env
+RUN requirements/install.sh embodied --venv openvla-oft --model openvla-oft --env maniskill_libero
+
+# Install openpi env
+RUN requirements/install.sh embodied --venv openpi --model openpi --env maniskill_libero
+
+RUN source switch_env openvla && download_assets
+RUN link_assets
+
+# Set default env
+RUN echo "source ${UV_PATH}/openvla/bin/activate" >> ~/.bashrc
+
+FROM embodied-common-image AS embodied-behavior-image
+
+# Install openvla-oft env
+RUN bash requirements/install.sh embodied --venv openvla-oft --model openvla-oft --env behavior
+# omnigibson downloads assets to /tmp during initialization
+RUN source switch_env openvla-oft && python -c "import omnigibson as og; cfg={}; og.Environment(cfg); og.shutdown()" || exit 0
+
+RUN source switch_env openvla-oft && download_assets
+RUN link_assets
+
+# Set default env
+RUN echo "source ${UV_PATH}/${VENV_TARGET}/bin/activate" >> ~/.bashrc
+
+FROM ${BUILD_TARGET}-image AS final-image
+
+# Clean up
+RUN uv cache prune
+RUN rm -rf /var/lib/apt/lists/*
+
+WORKDIR /workspace
+
+CMD ["/bin/bash"]