minor changes

docker/.env.base

@@ -7,7 +7,7 @@ ACCEPT_EULA=Y
 # NVIDIA Isaac Sim base image
 ISAACSIM_BASE_IMAGE=nvcr.io/nvidia/isaac-sim
 # NVIDIA Isaac Sim version to use (e.g. 5.0.0)
-ISAACSIM_VERSION=5.1.0
+ISAACSIM_VERSION=5.0.0
 # Derived from the default path in the NVIDIA provided Isaac Sim container
 DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
 # The Isaac Lab path in the container
@@ -17,3 +17,4 @@ DOCKER_USER_HOME=/root
 # Docker image and container name suffix (default "", set by the container_interface.py script)
 # Example: "-custom"
 DOCKER_NAME_SUFFIX=""
+

docker/Dockerfile.base

@@ -2,23 +2,23 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
+ 
 # Nvidia Dockerfiles: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles
 # Please check above link for license information.
-
+ 
 # Base image
 ARG ISAACSIM_BASE_IMAGE_ARG
 ARG ISAACSIM_VERSION_ARG
 FROM ${ISAACSIM_BASE_IMAGE_ARG}:${ISAACSIM_VERSION_ARG} AS base
 ENV ISAACSIM_VERSION=${ISAACSIM_VERSION_ARG}
-
+ 
 # Set default RUN shell to bash
 SHELL ["/bin/bash", "-c"]
-
+ 
 # Adds labels to the Dockerfile
 LABEL version="2.1.1"
 LABEL description="Dockerfile for building and running the Isaac Lab framework inside Isaac Sim container image."
-
+ 
 # Arguments
 # Path to Isaac Sim root folder
 ARG ISAACSIM_ROOT_PATH_ARG
@@ -29,13 +29,13 @@ ENV ISAACLAB_PATH=${ISAACLAB_PATH_ARG}
 # Home dir of docker user, typically '/root'
 ARG DOCKER_USER_HOME_ARG
 ENV DOCKER_USER_HOME=${DOCKER_USER_HOME_ARG}
-
+ 
 # Set environment variables
 ENV LANG=C.UTF-8
 ENV DEBIAN_FRONTEND=noninteractive
-
+ 
 USER root
-
+ 
 # Install dependencies and remove cache
 RUN --mount=type=cache,target=/var/cache/apt \
     apt-get update && apt-get install -y --no-install-recommends \
@@ -47,25 +47,25 @@ RUN --mount=type=cache,target=/var/cache/apt \
     wget && \
     apt -y autoremove && apt clean autoclean && \
     rm -rf /var/lib/apt/lists/*
-
+ 
 # Copy the Isaac Lab directory (files to exclude are defined in .dockerignore)
 COPY ../ ${ISAACLAB_PATH}
-
+ 
 # Ensure isaaclab.sh has execute permissions
 RUN chmod +x ${ISAACLAB_PATH}/isaaclab.sh
-
+ 
 # Set up a symbolic link between the installed Isaac Sim root folder and _isaac_sim in the Isaac Lab directory
 RUN ln -sf ${ISAACSIM_ROOT_PATH} ${ISAACLAB_PATH}/_isaac_sim
-
+ 
 # Install toml dependency
 RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install toml
-
+ 
 # Install apt dependencies for extensions that declare them in their extension.toml
 RUN --mount=type=cache,target=/var/cache/apt \
     ${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/tools/install_deps.py apt ${ISAACLAB_PATH}/source && \
     apt -y autoremove && apt clean autoclean && \
     rm -rf /var/lib/apt/lists/*
-
+ 
 # for singularity usage, have to create the directories that will binded
 RUN mkdir -p ${ISAACSIM_ROOT_PATH}/kit/cache && \
     mkdir -p ${DOCKER_USER_HOME}/.cache/ov && \
@@ -75,7 +75,7 @@ RUN mkdir -p ${ISAACSIM_ROOT_PATH}/kit/cache && \
     mkdir -p ${DOCKER_USER_HOME}/.nvidia-omniverse/logs && \
     mkdir -p ${DOCKER_USER_HOME}/.local/share/ov/data && \
     mkdir -p ${DOCKER_USER_HOME}/Documents
-
+ 
 # for singularity usage, create NVIDIA binary placeholders
 # NOTE: These are only needed for Singularity, not Docker
 # For Docker, comment these out as they override the real nvidia binaries
@@ -87,12 +87,12 @@ RUN mkdir -p ${ISAACSIM_ROOT_PATH}/kit/cache && \
 #     touch /etc/localtime && \
 #     mkdir -p /var/run/nvidia-persistenced && \
 #     touch /var/run/nvidia-persistenced/socket
-
+ 
 # installing Isaac Lab dependencies
 # use pip caching to avoid reinstalling large packages
 RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
     ${ISAACLAB_PATH}/isaaclab.sh --install
-
+ 
 # HACK: Remove install of quadprog dependency
 RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog
 RUN set -euo pipefail && \
@@ -116,8 +116,8 @@ RUN set -euo pipefail && \
     apt-get update && \
     apt-get install -y --no-install-recommends cuda-toolkit-12-8 && \
     apt-get -y autoremove && apt-get clean && rm -rf /var/lib/apt/lists/*
-
-
+ 
+ 
 ENV CUDA_HOME=/usr/local/cuda-12.8
 ENV PATH=${CUDA_HOME}/bin:${PATH}
 ENV LD_LIBRARY_PATH=${CUDA_HOME}/lib64:${LD_LIBRARY_PATH}
@@ -135,19 +135,19 @@ RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \
     echo "export TZ=$(date +%Z)" >> ${HOME}/.bashrc && \
     echo "shopt -s histappend" >> /root/.bashrc && \
     echo "PROMPT_COMMAND='history -a'" >> /root/.bashrc
-
+ 
     # use pip caching to avoid reinstalling large packages
 #RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
 #    pip install --upgrade --pre torch torchvision torchaudio --index-url https://download.pytorch.org/whl/nightly/cu128
 # install TensorFlow and nightly PyTorch
 RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
-    ${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip install --upgrade --pre torch torchvision torchaudio --index-url https://download.pytorch.org/whl/nightly/cu128 
-
+    ${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip install --upgrade --pre torch torchvision torchaudio
+ 
 RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
-    ${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip install tensorflow scikit-learn 
-
-RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
-${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip install protobuf==3.20.2
+    ${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip install tensorflow scikit-learn protobuf
+ 
+# RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
+# ${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip install protobuf
 # Detect Ubuntu version and install CUDA 12.8 via NVIDIA network repo (cuda-keyring)
 RUN set -euo pipefail && \
     . /etc/os-release && \
@@ -170,15 +170,15 @@ RUN set -euo pipefail && \
     apt-get update && \
     apt-get install -y --no-install-recommends cuda-toolkit-12-8 && \
     apt-get -y autoremove && apt-get clean && rm -rf /var/lib/apt/lists/*
-
-
+ 
+ 
 ENV CUDA_HOME=/usr/local/cuda-12.8
 ENV PATH=${CUDA_HOME}/bin:${PATH}
 ENV LD_LIBRARY_PATH=${CUDA_HOME}/lib64:${LD_LIBRARY_PATH}
 ENV TORCH_CUDA_ARCH_LIST=8.0+PTX
-
+ 
 # Copy the Isaac Lab directory (files to exclude are defined in .dockerignore)
 COPY ../ ${ISAACLAB_PATH}
 # make working directory as the Isaac Lab directory
 # this is the default directory when the container is run
-WORKDIR ${ISAACLAB_PATH}
+WORKDIR ${ISAACLAB_PATH}

docs/find_best_checkpoints.py

@@ -72,7 +72,7 @@ def main():
     """Main function to process all model directories."""
     # Define paths - handle both host and Docker container paths
     script_dir = Path(__file__).parent.resolve()
-    base_dir = script_dir / "place/Dev-IK-Rel-Place-v0"
+    base_dir = script_dir / "insert/Dev-IK-Rel-Insert-v0"
     output_dir = base_dir / "best_models"
 
     # Create output directory (including parent directories if needed)

docs/run_experiments.sh

@@ -2,65 +2,52 @@
 
 ## script to run experiments in the background 
 
-task="Dev-IK-Rel-Place-v0"
-horizon=5000
+task="Dev-IK-Rel-v1"
+horizon=500
 num_rollouts=100
 run_file="scripts/imitation_learning/robomimic/play_ensemble_v05.py"
-ensemble_size=15
+exp_type="lift_none"
 
 ##### this now runs the experiments
 
-## ensemble 15
-seed=101
-exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_highdem"
-./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
+# ## ensemble 15
+# ensemble_size=15
+# seed=101
+# exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_${exp_type}"
+# ./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
 
-seed=107
-exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_highdem"
-./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
+# seed=107
+# exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_${exp_type}"
+# ./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
 
-seed=115
-exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_highdem"
-./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
+# seed=115
+# exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_${exp_type}"
+# ./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
 
-## ensemble 10 
+## ensemble 10
 ensemble_size=10
 seed=101
-exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_highdem"
+exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_${exp_type}"
 ./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
 
 seed=107
-exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_highdem"
+exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_${exp_type}"
 ./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
 
 seed=115
-exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_highdem"
+exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_${exp_type}"
 ./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
 
-## ensemble 5 
+## ensemble 5
 ensemble_size=5
 seed=101
-exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_highdem"
-./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
-
-seed=107
-exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_highdem"
-./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
-
-seed=115
-exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_highdem"
-./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
-
-## ensemble 1
-ensemble_size=1
-seed=101
-exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_highdem"
+exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_${exp_type}"
 ./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
 
 seed=107
-exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_highdem"
+exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_${exp_type}"
 ./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless
 
 seed=115
-exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_highdem"
+exp_name="${task}_ensemble_${ensemble_size}_seed_${seed}_${exp_type}"
 ./isaaclab.sh -p $run_file --task $task --horizon $horizon --num_rollouts $num_rollouts --ensemble_size $ensemble_size --seed $seed --exp_name $exp_name --headless