[FEATURE] remote policy with server/client

docker/Dockerfile.gr00t_server

@@ -0,0 +1,40 @@
+FROM nvcr.io/nvidia/pytorch:24.07-py3
+
+ARG WORKDIR="/workspace"
+ARG GROOT_DEPS_GROUP="base"
+ENV WORKDIR=${WORKDIR}
+ENV GROOT_DEPS_GROUP=${GROOT_DEPS_GROUP}
+WORKDIR "${WORKDIR}"
+
+RUN apt-get update && apt-get install -y \
+    git \
+    git-lfs \
+    cmake \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN pip install --upgrade pip
+
+COPY ./submodules/Isaac-GR00T ${WORKDIR}/submodules/Isaac-GR00T
+
+COPY docker/setup/install_gr00t_deps.sh /tmp/install_gr00t_deps.sh
+RUN chmod +x /tmp/install_gr00t_deps.sh && \
+    /tmp/install_gr00t_deps.sh --server && \
+    rm -f /tmp/install_gr00t_deps.sh
+
+RUN pip install -e ${WORKDIR}/submodules/Isaac-GR00T
+
+RUN pip uninstall -y \
+      opencv-python opencv-python-headless \
+      opencv-contrib-python opencv-contrib-python-headless \
+      || true && \
+    pip install --no-cache-dir "opencv-python-headless==4.8.0.74"
+
+COPY isaaclab_arena/remote_policy ${WORKDIR}/isaaclab_arena/remote_policy
+COPY isaaclab_arena_gr00t ${WORKDIR}/isaaclab_arena_gr00t
+COPY isaaclab_arena_g1 ${WORKDIR}/isaaclab_arena_g1
+
+RUN pip install --no-cache-dir pyzmq msgpack
+
+ENV PYTHONPATH=${WORKDIR}
+
+ENTRYPOINT ["python", "-u", "-m", "isaaclab_arena.remote_policy.remote_policy_server_runner"]

docker/run_gr00t_server.sh

@@ -0,0 +1,203 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# -------------------------
+# User-configurable defaults
+# -------------------------
+
+# Default mount directories on the host machine
+DATASETS_DIR="${DATASETS_DIR:-$HOME/datasets}"
+MODELS_DIR="${MODELS_DIR:-$HOME/models}"
+EVAL_DIR="${EVAL_DIR:-$HOME/eval}"
+
+# Docker image name and tag for the GR00T policy server
+DOCKER_IMAGE_NAME="${DOCKER_IMAGE_NAME:-gr00t_policy_server}"
+DOCKER_VERSION_TAG="${DOCKER_VERSION_TAG:-latest}"
+
+# Rebuild controls
+FORCE_REBUILD="${FORCE_REBUILD:-false}"
+NO_CACHE=""
+
+# Server parameters (can also be overridden via environment variables)
+HOST="${HOST:-0.0.0.0}"
+PORT="${PORT:-5555}"
+API_TOKEN="${API_TOKEN:-}"
+TIMEOUT_MS="${TIMEOUT_MS:-5000}"
+POLICY_TYPE="${POLICY_TYPE:-gr00t_closedloop}"
+POLICY_CONFIG_YAML_PATH="${POLICY_CONFIG_YAML_PATH:-/workspace/isaaclab_arena_gr00t/gr1_manip_gr00t_closedloop_config.yaml}"
+
+# -------------------------
+# Help message
+# -------------------------
+usage() {
+  script_name=$(basename "$0")
+  cat <<EOF
+Helper script to build and run the GR00T policy server Docker environment.
+
+Usage:
+  $script_name [options] [-- server-args...]
+
+Options (Docker / paths; env vars with the same name take precedence):
+  -v                      Verbose output (set -x).
+  -d <datasets directory> Path to datasets on the host. Default: "$DATASETS_DIR".
+  -m <models directory>   Path to models on the host. Default: "$MODELS_DIR".
+  -e <eval directory>     Path to evaluation data on the host. Default: "$EVAL_DIR".
+  -n <docker name>        Docker image name. Default: "$DOCKER_IMAGE_NAME".
+  -r                      Force rebuilding of the Docker image.
+  -R                      Force rebuilding of the Docker image, without cache.
+
+Server-specific options (passed through to the policy server entrypoint):
+  --host HOST
+  --port PORT
+  --api_token TOKEN
+  --timeout_ms MS
+  --policy_type TYPE
+  --policy_config_yaml_path PATH
+
+Examples:
+  # Minimal: use defaults, just build & run server
+  bash $script_name
+
+  # Custom models directory and port
+  bash $script_name -m /data/models --port 6000 --api_token MY_TOKEN
+
+  # Custom image name, force rebuild, and datasets/eval mounts
+  bash $script_name -n gr00t_server -r \\
+    -d /data/datasets -m /data/models -e /data/eval \\
+    --policy_type isaaclab_arena_gr00t.policy.gr00t_remote_policy.Gr00tRemoteServerSidePolicy \\
+    --policy_config_yaml_path isaaclab_arena_gr00t/policy/config/gr1_manip_gr00t_closedloop_config.yaml
+EOF
+}
+
+# -------------------------
+# Parse docker/path options (short flags, like run_docker.sh)
+# -------------------------
+DOCKER_ARGS_DONE=false
+SERVER_ARGS=()
+
+while [[ $# -gt 0 ]]; do
+  if [ "$DOCKER_ARGS_DONE" = false ]; then
+    case "$1" in
+      -v)
+        set -x
+        shift 1
+        ;;
+      -d)
+        DATASETS_DIR="$2"
+        shift 2
+        ;;
+      -m)
+        MODELS_DIR="$2"
+        shift 2
+        ;;
+      -e)
+        EVAL_DIR="$2"
+        shift 2
+        ;;
+      -n)
+        DOCKER_IMAGE_NAME="$2"
+        shift 2
+        ;;
+      -r)
+        FORCE_REBUILD="true"
+        shift 1
+        ;;
+      -R)
+        FORCE_REBUILD="true"
+        NO_CACHE="--no-cache"
+        shift 1
+        ;;
+      -h|--help)
+        usage
+        exit 0
+        ;;
+      --host|--port|--api_token|--timeout_ms|--policy_type|--policy_config_yaml_path)
+        # From here on, treat everything as server args and stop parsing docker flags
+        DOCKER_ARGS_DONE=true
+        SERVER_ARGS+=("$1")
+        shift 1
+        ;;
+      --*)
+        # Unknown long option at docker level -> treat as server arg
+        DOCKER_ARGS_DONE=true
+        SERVER_ARGS+=("$1")
+        shift 1
+        ;;
+      *)
+        # Anything else -> treat as server arg
+        DOCKER_ARGS_DONE=true
+        SERVER_ARGS+=("$1")
+        shift 1
+        ;;
+    esac
+  else
+    SERVER_ARGS+=("$1")
+    shift 1
+  fi
+done
+
+# If no server args were passed, use defaults
+if [ ${#SERVER_ARGS[@]} -eq 0 ]; then
+  SERVER_ARGS=(
+    --host "${HOST}"
+    --port "${PORT}"
+    --api_token "${API_TOKEN}"
+    --timeout_ms "${TIMEOUT_MS}"
+    --policy_type "${POLICY_TYPE}"
+    --policy_config_yaml_path "${POLICY_CONFIG_YAML_PATH}"
+  )
+fi
+
+echo "Host paths:"
+echo "  DATASETS_DIR = ${DATASETS_DIR}"
+echo "  MODELS_DIR   = ${MODELS_DIR}"
+echo "  EVAL_DIR     = ${EVAL_DIR}"
+echo "Docker image:"
+echo "  ${DOCKER_IMAGE_NAME}:${DOCKER_VERSION_TAG}"
+echo "Rebuild:"
+echo "  FORCE_REBUILD = ${FORCE_REBUILD}, NO_CACHE = '${NO_CACHE}'"
+echo "Server args:"
+printf '  %q ' "${SERVER_ARGS[@]}"; echo
+
+# -------------------------
+# 1) Build the Docker image
+# -------------------------
+
+IMAGE_TAG_FULL="${DOCKER_IMAGE_NAME}:${DOCKER_VERSION_TAG}"
+
+if docker images -q "${IMAGE_TAG_FULL}" > /dev/null 2>&1 && [ "${FORCE_REBUILD}" != "true" ]; then
+  echo "Docker image ${IMAGE_TAG_FULL} already exists. Skipping rebuild."
+  echo "Use -r or -R to force rebuilding the image."
+else
+  echo "Building Docker image ${IMAGE_TAG_FULL}..."
+  docker build --pull \
+    ${NO_CACHE} \
+    -f docker/Dockerfile.gr00t_server \
+    -t "${IMAGE_TAG_FULL}" \
+    .
+fi
+
+# -------------------------
+# 2) Run the container
+# -------------------------
+
+DOCKER_RUN_ARGS=(
+  --rm
+  --gpus all
+  --net host
+  --name gr00t_policy_server_container
+  -v "${MODELS_DIR}":/models
+)
+
+# Only mount datasets / eval if the directories exist on host
+if [ -d "${DATASETS_DIR}" ]; then
+  DOCKER_RUN_ARGS+=(-v "${DATASETS_DIR}":/datasets)
+fi
+
+if [ -d "${EVAL_DIR}" ]; then
+  DOCKER_RUN_ARGS+=(-v "${EVAL_DIR}":/eval)
+fi
+
+docker run "${DOCKER_RUN_ARGS[@]}" \
+  "${IMAGE_TAG_FULL}" \
+  "${SERVER_ARGS[@]}"

docker/setup/install_gr00t_deps.sh

@@ -1,41 +1,80 @@
 #!/bin/bash
 set -euo pipefail
 
-# Script to install GR00T policy dependencies
-# This script is called from the Dockerfile when INSTALL_GROOT is true
+PYTHON_CMD=/isaac-sim/python.sh
+USE_SERVER_ENV=0
+if [[ "${1:-}" == "--server" ]]; then
+  USE_SERVER_ENV=1
+  PYTHON_CMD=python
+  shift
+fi
+
+: "${GROOT_DEPS_GROUP:=base}"
+: "${WORKDIR:=/workspace}"
+
+if [ "$(id -u)" -eq 0 ]; then
+  SUDO=""
+else
+  SUDO="sudo"
+fi
 
 echo "Installing GR00T with dependency group: $GROOT_DEPS_GROUP"
 
-# Set CUDA environment variables for GR00T installation
-export CUDA_HOME=/usr/local/cuda-12.8
-export PATH=/usr/local/cuda-12.8/bin:${PATH}
-export LD_LIBRARY_PATH=/usr/local/cuda-12.8/lib64:${LD_LIBRARY_PATH:-}
-export TORCH_CUDA_ARCH_LIST=8.0+PTX
+if [[ "$USE_SERVER_ENV" -eq 1 ]]; then
+  # Script to install GR00T policy dependencies
+  # This script is called from the GR00T server Dockerfile
+
+  # CUDA environment variables for GR00T installation.
+  # In the PyTorch base image, CUDA is already configured, so we only
+  # set variables if CUDA_HOME exists.
+  if [ -d "/usr/local/cuda" ]; then
+      export CUDA_HOME=${CUDA_HOME:-/usr/local/cuda}
+      export PATH=${CUDA_HOME}/bin:${PATH}
+      export LD_LIBRARY_PATH=${CUDA_HOME}/lib64:${LD_LIBRARY_PATH:-}
+  fi
+
+  echo "CUDA environment variables:"
+  echo "CUDA_HOME=${CUDA_HOME:-unset}"
+  echo "PATH=$PATH"
+  echo "LD_LIBRARY_PATH=${LD_LIBRARY_PATH:-unset}"
+else
+  # Script to install GR00T policy dependencies
+  # This script is called from the Dockerfile when INSTALL_GROOT is true
+
+  # Set CUDA environment variables for GR00T installation
+  export CUDA_HOME=/usr/local/cuda-12.8
+  export PATH=/usr/local/cuda-12.8/bin:${PATH}
+  export LD_LIBRARY_PATH=/usr/local/cuda-12.8/lib64:${LD_LIBRARY_PATH:-}
+  export TORCH_CUDA_ARCH_LIST=8.0+PTX
 
-echo "CUDA environment variables set:"
-echo "CUDA_HOME=$CUDA_HOME"
-echo "PATH=$PATH"
-echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH"
-echo "TORCH_CUDA_ARCH_LIST=$TORCH_CUDA_ARCH_LIST"
+  echo "CUDA environment variables set:"
+  echo "CUDA_HOME=$CUDA_HOME"
+  echo "PATH=$PATH"
+  echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH"
+  echo "TORCH_CUDA_ARCH_LIST=$TORCH_CUDA_ARCH_LIST"
+fi
 
-# Installing dependencies for system-level media libraries
 echo "Installing system-level media libraries..."
-sudo apt-get update && sudo apt-get install -y ffmpeg && rm -rf /var/lib/apt/lists/*
+$SUDO apt-get update && $SUDO apt-get install -y ffmpeg && rm -rf /var/lib/apt/lists/*
 
-# Upgrade packaging tools to avoid setuptools issues
 echo "Upgrading packaging tools..."
-/isaac-sim/python.sh -m pip install --upgrade setuptools packaging wheel
+$PYTHON_CMD -m pip install --upgrade setuptools packaging wheel
 
-# Install GR00T with the specified dependency group
 echo "Installing Isaac-GR00T with dependency group: $GROOT_DEPS_GROUP"
-/isaac-sim/python.sh -m pip install --no-build-isolation --use-pep517 -e ${WORKDIR}/submodules/Isaac-GR00T/[$GROOT_DEPS_GROUP]
+$PYTHON_CMD -m pip install --no-build-isolation --use-pep517 \
+  -e ${WORKDIR}/submodules/Isaac-GR00T/[$GROOT_DEPS_GROUP]
 
-# Install flash-attn (specific version for compatibility)
 echo "Installing flash-attn..."
-/isaac-sim/python.sh -m pip install --no-build-isolation --use-pep517 flash-attn==2.7.1.post4
+if [[ "$USE_SERVER_ENV" -eq 1 ]]; then
+  $PYTHON_CMD -m pip install --no-build-isolation --use-pep517 flash-attn==2.7.1.post4 || \
+    echo "flash-attn install failed, continue without it"
+else
+  $PYTHON_CMD -m pip install --no-build-isolation --use-pep517 flash-attn==2.7.1.post4
+fi
 
-# Ensure pytorch torchrun script is in PATH
-echo "Ensuring pytorch torchrun script is in PATH..."
-echo "export PATH=/isaac-sim/kit/python/bin:\$PATH" >> /etc/bash.bashrc
+if [[ "$USE_SERVER_ENV" -eq 0 ]]; then
+  echo "Ensuring pytorch torchrun script is in PATH..."
+  echo "export PATH=/isaac-sim/kit/python/bin:\$PATH" >> /etc/bash.bashrc
+fi
 
 echo "GR00T dependencies installation completed successfully"

docs/index.rst

@@ -217,6 +217,8 @@ TABLE OF CONTENTS
    pages/concepts/concept_assets_design
    pages/concepts/concept_affordances_design
    pages/concepts/concept_policy_design
+   pages/concepts/concept_remote_policies_design
+
 
 .. toctree::
    :maxdepth: 1