reproduce_render_issue_oige

reproduce.sh

#task_name='Ant'
task_name='Humanoid'

# set up logging
log_dir=render_bug_logs_${task_name}
rm -r ${log_dir} 2>/dev/null
mkdir -p ${log_dir}


#docker rm -f $(docker ps -a -q)  # for reproducibility remove all running containers
xhost +local:docker  # optional: allow x-host forwarding to docker. Can be necessary on some linux setups

# build the docker if needed
docker build -t isaac-sim-oige -f docker/dockerfile .

# run docker as per documentation but
# add -d so we can then execute multiple runs in the same container
docker run --name isaac-sim-oige-container -it -d --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
  -e "PRIVACY_CONSENT=Y" \
  -v $HOME/.Xauthority:/root/.Xauthority \
  -e DISPLAY \
  -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 \
  isaac-sim-oige


# Train with defaults in headless
echo ' ++ Training ++ '
docker exec -it -w /workspace/omniisaacgymenvs/omniisaacgymenvs isaac-sim-oige-container \
  /isaac-sim/python.sh scripts/rlgames_train.py task=${task_name} headless=True \
  > ${log_dir}/train_${task_name}_headless.log

# Test in headless
echo ' ++ Testing Headless ++ '
docker exec -it -w /workspace/omniisaacgymenvs/omniisaacgymenvs isaac-sim-oige-container \
  /isaac-sim/python.sh scripts/rlgames_train.py task=${task_name} test=True headless=True \
  checkpoint=/workspace/omniisaacgymenvs/omniisaacgymenvs/runs/${task_name}/nn/${task_name}.pth \
  > ${log_dir}/test_${task_name}_headless.log

# Test in headfull
# Note: this takes a bit to startup as shaders for the rendering need to be compiled,
echo ' ++ Testing Headfull ++ '
docker exec -it -w /workspace/omniisaacgymenvs/omniisaacgymenvs isaac-sim-oige-container \
  /isaac-sim/python.sh scripts/rlgames_train.py task=${task_name} test=True headless=False \
  checkpoint=/workspace/omniisaacgymenvs/omniisaacgymenvs/runs/${task_name}/nn/${task_name}.pth \
  > ${log_dir}/test_${task_name}_headfull.log

# Test in headless but with `enable_cameras=1` which produces a result exactly equivalent to `headless=False`
# Note: there is a delay as some visualization code is trying to access a window to render but cant
echo ' ++ Testing Headless with rendering ++ '
docker exec -it -w /workspace/omniisaacgymenvs/omniisaacgymenvs isaac-sim-oige-container \
  /isaac-sim/python.sh scripts/rlgames_train.py task=${task_name} test=True headless=True \
  task.sim.enable_cameras=True \
  checkpoint=/workspace/omniisaacgymenvs/omniisaacgymenvs/runs/${task_name}/nn/${task_name}.pth \
  > ${log_dir}/test_${task_name}_headless_cameras.log

printf "\n == ${task_name} Test; headless=True\n" >> ${log_dir}/${task_name}_comparison.log
cat ${log_dir}/test_${task_name}_headless.log | grep 'av reward' \
  >> ${log_dir}/${task_name}_comparison.log

printf "\n == ${task_name} Test; headless=False\n" >> ${log_dir}/${task_name}_comparison.log
cat ${log_dir}/test_${task_name}_headfull.log | grep 'av reward' \
  >> ${log_dir}/${task_name}_comparison.log

printf "\n == ${task_name} Test; headless=True enable_cameras=True == \n" >> ${log_dir}/${task_name}_comparison.log
cat ${log_dir}/test_${task_name}_headless_cameras.log | grep 'av reward' \
  >> ${log_dir}/${task_name}_comparison.log