Requirements

• Modern Linux distribution (Ubuntu 20.04, Fedora 36, etc.)
• RTX capable Nvidia graphics card (20 series or newer,)
• Up-to-date NVIDIA drivers

Usage

The below instructions concern the usage of OmniGibson containers with self-built images. Please see the BEHAVIOR-1K docs for instructions on how to pull and run a cloud image.

1. Set up the NVIDIA Docker Runtime and login to the NVIDIA Container Registry See here for details.

2. Build the container. From the OmniGibson root, run: ./docker/build_docker.sh

3. Run the container

• To get a shell inside a container with GUI: sudo ./docker/run_docker_gui.sh
• To get a jupyter notebook: sudo ./docker/run_docker_notebook.sh
• To get access to a shell inside a headless container sudo ./docker/run_docker.sh

Development

To push a Docker container, run: sudo ./docker/push_docker.sh