feat(env): Add docker file. (#30)

2025-08-02 12:50:09 +08:00 · 2025-08-02 12:50:09 +08:00 · a375fa46b5
commit a375fa46b5
parent c258ff8666
8 changed files with 139 additions and 52 deletions
--- a/README.md
+++ b/README.md
@ -37,6 +37,20 @@ conda activate embodiedgen
 bash install.sh basic
 ```

+### ✅ Starting from Docker
+
+We provide a pre-built Docker image on [Docker Hub](https://hub.docker.com/repository/docker/wangxinjie/embodiedgen) with a configured environment for your convenience. For more details, please refer to [Docker documentation](https://github.com/HorizonRobotics/EmbodiedGen/docker/README.md).
+
+> **Note:** Model checkpoints are not included in the image, they will be automatically downloaded on first run. You still need to set up the GPT Agent manually.
+
+```sh
+IMAGE=wangxinjie/embodiedgen:env_v0.1.x
+CONTAINER=EmbodiedGen-docker-${USER}
+docker pull ${IMAGE}
+docker run -itd --shm-size="64g" --gpus all --cap-add=SYS_PTRACE --security-opt seccomp=unconfined --privileged --net=host --name ${CONTAINER} ${IMAGE}
+docker exec -it ${CONTAINER} bash
+```
+
 ### ✅ Setup GPT Agent

 Update the API key in file: `embodied_gen/utils/gpt_config.yaml`.
@ -52,7 +66,7 @@ You can choose between two backends for the GPT agent:
 <h2 id="image-to-3d">🖼️ Image-to-3D</h2>

 [![🤗 Hugging Face](https://img.shields.io/badge/🤗-Image_to_3D_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Image-to-3D) Generate physically plausible 3D asset URDF from single input image, offering high-quality support for digital twin systems.
-
+(HF space is a simplified demonstration. For the full functionality, please refer to `img3d-cli`.)
 <img src="apps/assets/image_to_3d.jpg" alt="Image to 3D" width="900">

 ### ☁️ Service
@ -79,7 +93,7 @@ img3d-cli --image_path apps/assets/example_image/sample_04.jpg apps/assets/examp

 <h2 id="text-to-3d">📝 Text-to-3D</h2>

-[![🤗 Hugging Face](https://img.shields.io/badge/🤗-Text_to_3D_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Text-to-3D) Create 3D assets from text descriptions for a wide range of geometry and styles.
+[![🤗 Hugging Face](https://img.shields.io/badge/🤗-Text_to_3D_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Text-to-3D) Create 3D assets from text descriptions for a wide range of geometry and styles. (HF space is a simplified demonstration. For the full functionality, please refer to `text3d-cli`.)

 <img src="apps/assets/text_to_3d.jpg" alt="Text to 3D" width="900">

--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@ -0,0 +1,38 @@
+FROM pytorch/pytorch:2.4.0-cuda11.8-cudnn9-devel
+LABEL maintainer="Horizon Robotics <xinjie.wang@horizon.auto>" \
+    version="0.1.2" \
+    description="Docker image for EmbodiedGen"
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    git \
+    bash \
+    build-essential \
+    ninja-build \
+    libgl1-mesa-glx \
+    libglib2.0-0 \
+    libsm6 \
+    libxext6 \
+    libxrender1 \
+    && rm -rf /var/lib/apt/lists/*
+
+# TORCH_CUDA_ARCH_LIST="8.0;8.9;9.0" -> A100/4090/H100
+ENV CUDA_HOME=/usr/local/cuda-11.8 \
+    PATH=/usr/local/cuda-11.8/bin:$PATH \
+    LD_LIBRARY_PATH=/usr/local/cuda-11.8/lib64:$LD_LIBRARY_PATH \
+    DEBIAN_FRONTEND=noninteractive \
+    TORCH_CUDA_ARCH_LIST="8.0;8.9;9.0" \
+    TCNN_CUDA_ARCHITECTURES=80,89,90
+
+RUN useradd -m -s /bin/bash e_user
+WORKDIR /EmbodiedGen
+COPY . .
+RUN chown -R e_user:e_user /EmbodiedGen
+USER e_user
+
+RUN conda create -n embodiedgen python=3.10.13 -y && \
+    conda run -n embodiedgen bash install.sh
+
+RUN /opt/conda/bin/conda init bash && \
+    echo "conda activate embodiedgen" >> /home/e_user/.bashrc
+
+CMD ["bash", "--login"]
--- a/docker/README.md
+++ b/docker/README.md
@ -0,0 +1,32 @@
+# Docker
+
+## Getting Started with Our Pre-built Docker Image
+
+We provide pre-built Docker image on [Docker Hub](https://hub.docker.com/repository/docker/wangxinjie/embodiedgen) that includes a configured environment for your convenience.
+
+```sh
+IMAGE=wangxinjie/embodiedgen:env_v0.1.x
+CONTAINER=EmbodiedGen-docker-${USER}
+docker pull ${IMAGE}
+docker run -itd --shm-size="64g" --gpus all --cap-add=SYS_PTRACE --security-opt seccomp=unconfined --privileged --net=host --name ${CONTAINER} ${IMAGE}
+docker exec -it ${CONTAINER} bash
+# ref `EmbodiedGen/README.md` to get start.
+```
+
+> **Note**: Model checkpoints are not included in the default image, they will be automatically downloaded on first run. Also, you still need to configure the GPT agent manually. See the [Setup GPT Agent](https://github.com/HorizonRobotics/EmbodiedGen?tab=readme-ov-file#-setup-gpt-agent) section for detailed instructions.
+
+If you prefer an image with all model checkpoints, you can use `wangxinjie/embodiedgen:v0.1.x`. However, please note that this image is significantly larger. We recommend using the lighter image and allowing the models to download on demand.
+
+
+## Getting Started with Building from the Dockerfile
+You can also build your customized docker based on our Dockerfile.
+
+```sh
+git clone https://github.com/HorizonRobotics/EmbodiedGen.git
+cd EmbodiedGen
+TAG=v0.1.2 # Change to the latest stable version.
+git checkout $TAG
+git submodule update --init --recursive --progress
+
+docker build -t embodiedgen:$TAG -f docker/Dockerfile .
+```
--- a/embodied_gen/validators/quality_checkers.py
+++ b/embodied_gen/validators/quality_checkers.py
@ -476,9 +476,9 @@ class PanoHeightEstimator(object):
        )
        try:
            result = float(result.strip())
-        except ValueError:
+        except Exception as e:
            logger.error(
-                f"Parser error: failed convert {result} to float, use default value {self.default_value}."
+                f"Parser error: failed convert {result} to float, {e}, use default value {self.default_value}."
            )
            result = self.default_value

--- a/install.sh
+++ b/install.sh
@ -8,12 +8,6 @@ SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)

 source "$SCRIPT_DIR/install/_utils.sh"
 git config --global http.postBuffer 524288000
-# Patch submodule .gitignore to ignore __pycache__, only if submodule exists
-PANO2ROOM_PATH="$SCRIPT_DIR/thirdparty/pano2room"
-if [ -d "$PANO2ROOM_PATH" ]; then
-    echo "__pycache__/" > "$PANO2ROOM_PATH/.gitignore"
-    log_info "Added .gitignore to ignore __pycache__ in $PANO2ROOM_PATH"
-fi

 log_info "===== Starting installation stage: $STAGE ====="

@ -22,6 +16,13 @@ if [[ "$STAGE" == "basic" || "$STAGE" == "all" ]]; then
 fi

 if [[ "$STAGE" == "extra" || "$STAGE" == "all" ]]; then
+    # Patch submodule .gitignore to ignore __pycache__, if submodule exists
+    PANO2ROOM_PATH="$SCRIPT_DIR/thirdparty/pano2room"
+    if [ -d "$PANO2ROOM_PATH" ]; then
+        echo "__pycache__/" > "$PANO2ROOM_PATH/.gitignore"
+        log_info "Added .gitignore to ignore __pycache__ in $PANO2ROOM_PATH"
+    fi
+
    bash "$SCRIPT_DIR/install/install_extra.sh"
 fi

--- a/install/install_basic.sh
+++ b/install/install_basic.sh
@ -3,21 +3,26 @@ set -e
 SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
 source "$SCRIPT_DIR/_utils.sh"

-try_install "Installing flash-attn..." \
-    "pip install flash-attn==2.7.0.post2 --no-build-isolation" \
-    "flash-attn installation failed."
+PIP_INSTALL_PACKAGES=(
+    "pip==22.3.1"
+    "torch==2.4.0+cu118 torchvision==0.19.0+cu118 --index-url https://download.pytorch.org/whl/cu118"
+    "xformers==0.0.27.post2 --index-url https://download.pytorch.org/whl/cu118"
+    "flash-attn==2.7.0.post2 --no-build-isolation"
+    "-r requirements.txt --use-deprecated=legacy-resolver"
+    "utils3d@git+https://github.com/EasternJournalist/utils3d.git#egg=9a4eb15"
+    "clip@git+https://github.com/openai/CLIP.git"
+    "segment-anything@git+https://github.com/facebookresearch/segment-anything.git#egg=dca509f"
+    "nvdiffrast@git+https://github.com/NVlabs/nvdiffrast.git#egg=729261d"
+    "kolors@git+https://github.com/HochCC/Kolors.git"
+    "kaolin@git+https://github.com/NVIDIAGameWorks/kaolin.git@v0.16.0"
+    "git+https://github.com/nerfstudio-project/gsplat.git@v1.5.3"
+)

-try_install "Installing requirements.txt..." \
-    "pip install -r requirements.txt --use-deprecated=legacy-resolver --default-timeout=60" \
-    "requirements installation failed."
-
-try_install "Installing kolors..." \
-    "pip install kolors@git+https://github.com/HochCC/Kolors.git" \
-    "kolors installation failed."
-
-try_install "Installing kaolin..." \
-    "pip install kaolin@git+https://github.com/NVIDIAGameWorks/kaolin.git@v0.16.0" \
-    "kaolin installation failed."
+for pkg in "${PIP_INSTALL_PACKAGES[@]}"; do
+    try_install "Installing $pkg..." \
+        "pip install $pkg" \
+        "$pkg installation failed."
+done

 log_info "Installing diff-gaussian-rasterization..."
 TMP_DIR="/tmp/mip-splatting"
@ -26,10 +31,6 @@ git clone --recursive https://github.com/autonomousvision/mip-splatting.git "$TM
 pip install "$TMP_DIR/submodules/diff-gaussian-rasterization"
 rm -rf "$TMP_DIR"

-try_install "Installing gsplat..." \
-    "pip install git+https://github.com/nerfstudio-project/gsplat.git@v1.5.3" \
-    "gsplat installation failed."
-
 try_install "Installing EmbodiedGen..." \
    "pip install triton==2.1.0 --no-deps && pip install -e ." \
    "EmbodiedGen installation failed."
--- a/install/install_extra.sh
+++ b/install/install_extra.sh
@ -4,24 +4,23 @@ SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
 source "$SCRIPT_DIR/_utils.sh"

 PYTHON_PACKAGES_NODEPS=(
-    timm
-    txt2panoimg@git+https://github.com/HochCC/SD-T2I-360PanoImage
-    kornia
-    kornia_rs
+    "timm"
+    "txt2panoimg@git+https://github.com/HochCC/SD-T2I-360PanoImage"
 )

 PYTHON_PACKAGES=(
-    fused-ssim@git+https://github.com/rahul-goel/fused-ssim#egg=328dc98
-    git+https://github.com/NVlabs/tiny-cuda-nn/#subdirectory=bindings/torch
-    git+https://github.com/facebookresearch/pytorch3d.git@v0.7.7
-    h5py
-    albumentations==0.5.2
-    webdataset
-    icecream
-    open3d
-    pyequilib
-    numpy==1.26.4
-    triton==2.1.0
+    "fused-ssim@git+https://github.com/rahul-goel/fused-ssim#egg=328dc98"
+    "git+https://github.com/NVlabs/tiny-cuda-nn/#subdirectory=bindings/torch"
+    "git+https://github.com/facebookresearch/pytorch3d.git@stable"
+    "kornia"
+    "h5py"
+    "albumentations==0.5.2"
+    "webdataset"
+    "icecream"
+    "open3d"
+    "pyequilib"
+    "numpy==1.26.4"
+    "triton==2.1.0"
 )

 for pkg in "${PYTHON_PACKAGES_NODEPS[@]}"; do
@ -30,6 +29,8 @@ for pkg in "${PYTHON_PACKAGES_NODEPS[@]}"; do
        "$pkg installation failed."
 done

-try_install "Installing other Python dependencies..." \
-    "pip install ${PYTHON_PACKAGES[*]}" \
-    "Python dependencies installation failed."
+for pkg in "${PYTHON_PACKAGES[@]}"; do
+    try_install "pip install $pkg..." \
+        "pip install $pkg" \
+        "$pkg installation failed."
+done
--- a/requirements.txt
+++ b/requirements.txt
@ -1,5 +1,5 @@
-torch==2.4.0+cu118
-torchvision==0.19.0+cu118
+torch==2.4.0
+torchvision==0.19.0
 xformers==0.0.27.post2
 pytorch-lightning==2.4.0
 spconv-cu120==2.3.6
@ -35,7 +35,7 @@ json-repair
 scikit-learn
 omegaconf
 tyro
-utils3d@git+https://github.com/EasternJournalist/utils3d.git#egg=9a4eb15
-clip@git+https://github.com/openai/CLIP.git
-segment-anything@git+https://github.com/facebookresearch/segment-anything.git#egg=dca509f
-nvdiffrast@git+https://github.com/NVlabs/nvdiffrast.git#egg=729261d
+pyquaternion
+shapely
+sapien==3.0.0b1
+typing_extensions==4.14.1