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docker_instruction.MD

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Quick steps for evaluating in Docker

  1. Download isaacgym replace its Dockerfile in the docker with ours.
  2. Build a image by running build.sh.
  3. Run the container by running run.sh.
  4. Download the code from this repo by
git clone https://github.com/ZhengyiLuo/PerpetualHumanoidControl
  1. Download SMPL data, rename and put them in the PerpetualHumanoidControl folder
mv basicmodel_neutral_lbs_10_207_0_v1.1.0.pkl SMPL_NEUTRAL.pkl
mv basicmodel_m_lbs_10_207_0_v1.1.0.pkl SMPL_MALE.pkl
mv basicmodel_f_lbs_10_207_0_v1.1.0.pkl SMPLE_FEMALE.pkl

The file sturcture should be:

PerpetualHumanoidControl/
├── data
│   └── smpl
│       ├── SMPL_FEMALE.pkl
│       ├── SMPL_MALE.pkl
│       └── SMPL_NEUTRAL.pkl
  1. Download the model files:
sh download.sh
  1. Now we should be able to run the evaluation script!😄
python phc/run.py --task HumanoidImMCPGetup --cfg_env phc/data/cfg/phc_shape_mcp_iccv.yaml --cfg_train phc/data/cfg/train/rlg/im_mcp.yaml --motion_file sample_data/amass_isaac_standing_upright_slim.pkl --network_path output/phc_shape_mcp_iccv --test --num_envs 1 --epoch -1

Dockerfile explained

We have made several modifications to the official isaacgym Dockerfile.

  1. Use nvcr.io/nvidia/pytorch:23.02-py3 as base image, which ships last version of 1.x pytorch in nvidia's images. See support matrix here.
  2. Add the gymuser to no-password sudoer.
  3. Install libosmesa6-dev and xserver-xephyr for X11.
  4. Install all python dependency this repo needed.