4.0.0 main mdx

.dockerignore

@@ -25,4 +25,4 @@ Dockerfile
 .vscode/
 
 results/*
-uploads/*
+

.gitignore

@@ -16,7 +16,6 @@ __pycache__
 **/*_cache
 
 results/*
-uploads/*
 .DS_Store
 
 src/ansible/roles/isaac/files/autorun.sh

Dockerfile

@@ -20,7 +20,9 @@ RUN apt-get update && apt-get install -qy \
     curl \
     wget \
     gpg \
-    jq
+    jq \
+    vim \
+    nano
 
 # hashicorp sources
 RUN wget -O- https://apt.releases.hashicorp.com/gpg | \
@@ -94,4 +96,5 @@ WORKDIR /app
 
 ENTRYPOINT [ "/bin/sh", "-c" ]
 
+
 ENV VERSION="v3.0.0"

README.md

@@ -6,6 +6,10 @@ Isaac Automator allows a quick deployment of Isaac Sim and Isaac Sim-based appli
 
 The result is a fully configured remote-desktop cloud workstation, which can be used for development and testing of the robotic applications within minutes and on a budget. Isaac Automator supports varierty of GPU instances and stop-start functionality to save on cloud costs, provides tools to aid the workflow (uploading and downloading data, autorun, deployment management, etc).
 
+Isaac Sim Automator allows for quick deployment of Isaac Sim and Isaac Sim-based applications (like Orbit and Omniverse Isaac Gym Environments), onto the public clouds (AWS, GCP, Azure, and Alibaba Cloud are currently supported).
+
+The result is a fully configured remote desktod cloud workstation, which can be used for development and testing of the robotic applications within minutes and on a budget. Isaac Sim Automator supports varierty of GPU instances and stop-start functionality to save on cloud costs and a varierty of tools to aid the workflow (like uploading and downloading data, autorun, deployment management, etc).
+
 - [Installation](#installation)
   - [Installing Docker](#installing-docker)
   - [Obtaining NGC API Key](#obtaining-ngc-api-key)
@@ -136,13 +140,19 @@ docker run --platform linux/x86_64 -it --rm -v .:/app isa bash
   You will need _AWS Access Key_ and _AWS Secret Key_ for an existing account. You can obtain those in <a href="https://console.aws.amazon.com/iamv2/home#/home">Identity and Access Management (IAM) Section</a> in the AWS console.
 </details>
 
-If yoou have completed the above steps or already have your permissions and credentials set up, run the following command in the project root directory:
+If you have completed the above steps or already have your permissions and credentials set up, run the following command in the project root directory:
 
 ```sh
 # enter the automator container
 ./run
 # inside container:
 ./deploy-aws
+
+## To run with user filled values ##
+# Please make sure fill details inside file "sdg-deploy.txt"
+## update file under folder "uploads/" "credentials" with aws access and secret key to be passed to IsaacSIM container for the new data upload to S3 
+
+cat sdg-deploy.txt | xargs ./deploy-aws
 ```
 
 Tip: Run `./deploy-aws --help` to see more options.

sdg-deploy.txt

@@ -0,0 +1,14 @@
+--deployment-name=<deploy-name> 
+--region '<aws-region-name>' 
+--isaac 
+--isaac-instance-type 'g5.12xlarge' 
+--isaac-image 'nvcr.io/nvidia/isaac-sim:4.0.0' 
+--oige 'no' 
+--orbit 'no'
+--isaaclab 'no'
+--ngc-api-key '<ngc-api-key>' 
+--ngc-api-key-check 
+--aws-access-key-id '<aws-access-key>' 
+--aws-secret-access-key '<aws-secret-key>' 
+--no-ovami 
+--existing 'ask'

src/ansible/roles/isaac/templates/isaacsim.sh

@@ -142,6 +142,7 @@ docker run \
   \
   -v "${OUT_DIR}":/results \
   -v "${UPLOADS_DIR}":/uploads \
+  -v "${UPLOADS_DIR}/credentials":/root/.aws/credentials \
   -v "${WORKSPACE_DIR}":/workspace \
   \
   -v "/tmp/.X11-unix:/tmp/.X11-unix" \

uploads/autorun.sh

@@ -6,5 +6,8 @@
 
 # replace with your own command
 # for example:
-#  ~/isaacsim.sh --cmd="/isaac-sim/kit/kit /isaac-sim/apps/omni.isaac.sim.kit --allow-root"
-~/isaacsim.sh
+
+#  ~ubuntu/Desktop/isaacsim.sh --cmd="/isaac-sim/kit/kit /isaac-sim/apps/omni.isaac.sim.kit --allow-root"
+~/isaacsim.sh --cmd="bash /uploads/pass-creds-to-container.sh ; apt-get update && apt-get install -y vim ffmpeg && /isaac-sim/kit/kit /isaac-sim/apps/omni.isaac.sim.kit --ext-folder /isaac-sim/apps --allow-root"
+
+

uploads/create_image_metadata.py

@@ -0,0 +1,49 @@
+'''
+Script for generating image metadatafile 'image.json' from calibration file.
+
+The image.json file generated follows the schema required by the rtls app.
+'''
+
+import json
+import os
+import argparse
+
+image_metadata_file_name = "imageMetadata.json"
+metadata_dict = {"images": [{"place": "", "view": "plan-view", "fileName": "Top.png"}]}
+
+def generate_image_metadata(calibration_file_path, output_folder_path = None):
+    calibration_json = None
+    with open(calibration_file_path) as calibration_json_file:
+        calibration_json = json.load(calibration_json_file)
+
+    location_string = '/'.join(["{}={}".format(item['name'], item['value']) for item in calibration_json["sensors"][0]['place']])
+
+    if not location_string:
+        print("Could not construct {} file from calibration file {}.".format(image_metadata_file_name, calibration_file_path))
+        return
+
+    metadata_dict["images"][0]["place"] = location_string
+
+    # Write output to file
+    if output_folder_path:
+        output_file_path = os.path.join(output_folder_path, image_metadata_file_name)
+    else:
+        curr_dir = os.getcwd()
+        output_file_path = os.path.join(curr_dir, image_metadata_file_name)
+
+    with open(output_file_path, "w") as outfile: 
+        json.dump(metadata_dict, outfile)
+
+def get_args():
+    parser = argparse.ArgumentParser("Image Metadata Parser")
+    parser.add_argument('-c', '--calibration_file_path', required=True, help='Path of calibration file to read metadata information from.')
+    parser.add_argument('-d', '--destination_folder', required=False, help='Destination folder to write to.')
+    args = parser.parse_args()
+    return args
+
+def main():
+    args = get_args()
+    generate_image_metadata(args.calibration_file_path, args.destination_folder)
+
+if __name__ == "__main__":
+    main()

uploads/credentials

@@ -0,0 +1,3 @@
+[default]
+aws_access_key_id = <replace_content_with_your_value_for_aws_access_key>
+aws_secret_access_key = <replace_content_with_your_value_for_aws_secret_key>

uploads/install-aws-cli.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: LicenseRef-NvidiaProprietary
+#
+# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+# property and proprietary rights in and to this material, related
+# documentation and any modifications thereto. Any use, reproduction,
+# disclosure or distribution of this material and related documentation
+# without an express license agreement from NVIDIA CORPORATION or
+# its affiliates is strictly prohibited.
+
+if ! hash aws 2>/dev/null; then
+    echo "Installing awscli"
+    {
+      rm -f /tmp/awscliv2.zip
+      curl --silent "https://awscli.amazonaws.com/awscli-exe-linux-x86_64.zip" -o /tmp/awscliv2.zip
+      rm -rf /tmp/aws
+      if ! hash unzip 2>/dev/null; then
+        apt-get -y update && apt-get -y install unzip
+      fi
+      unzip /tmp/awscliv2.zip -d /tmp
+      /tmp/aws/install
+    } > /dev/null
+fi

uploads/pass-creds-to-container.sh

@@ -0,0 +1,3 @@
+echo 'export AWS_CONFIG_FILE=/uploads/credentials' >> $HOME/.bashrc
+
+echo 'export AWS_SHARED_CREDENTIALS_FILE=/uploads/credentials' >> $HOME/.bashrc

uploads/post_processing.py

@@ -0,0 +1,133 @@
+import logging
+import boto3
+from botocore.exceptions import ClientError
+import os
+import argparse
+import glob
+import sys
+from subprocess import PIPE, STDOUT, Popen
+from pathlib import Path
+logging.basicConfig(stream=sys.stdout, level=logging.INFO)
+
+
+def upload_file(file_name, bucket, object_name=None):
+    """Upload a file to an S3 bucket
+
+    :param file_name: File to upload
+    :param bucket: Bucket to upload to
+    :param object_name: S3 object name. If not specified then file_name is used
+    :return: True if file was uploaded, else False
+    """
+
+    # If S3 object_name was not specified, use file_name
+    if not object_name:
+        object_name = os.path.basename(file_name)
+
+    # Upload the file
+    s3_client = boto3.client('s3')
+    try:
+        response = s3_client.upload_file(file_name, bucket, object_name)
+    except ClientError as e:
+        logging.error(e)
+        return False
+    return True
+
+
+def build_videos(source_directory):
+    """Builds video from source_directory. Source directory must be parent folder of ground truth generated using ORA extension.
+
+    :param source_directory: Source directory containing ground truth generated using ORA extension.
+    :return: None
+    """
+    if os.path.isdir(source_directory):
+        # Grab all the rgb folders in the source directory
+        rgb_folders = glob.glob("{}/*/rgb/".format(source_directory))
+        build_process_list = []
+        curr_dir = os.getcwd()
+        logging.info("Creating videos from images in source_directory - {}. This might take a while based on the length of video to be generated. Logs for video creation are at {}.".format(source_directory, os.path.join(curr_dir, "video_creation_logs")))
+        try:
+            for folder in rgb_folders:
+                # Get parent folder name
+                rgb_path = Path(folder)
+                camera_folder_name = os.path.basename(rgb_path.parent.absolute())
+
+                # Split till the second occurence of '_' and use the last portion of string. That is, go from World_Cameras_Camera_01 to Camera_01
+                camera_folder_name = camera_folder_name.split('_', 2)[-1]
+
+                # Create log folder and log files for video generation
+                log_file_path = os.path.join(curr_dir, "video_creation_logs", "{}.log".format(camera_folder_name))
+                os.makedirs(os.path.dirname(log_file_path), exist_ok=True)
+                log_file = open(log_file_path, "w") 
+
+                # Run ffmpeg command for creating videos
+                build_process = Popen(
+                    "ffmpeg -nostdin -r 30 -f image2 -s 1920x1080 -start_number 0 -y -i {}/%d.jpeg -vcodec libx264 -crf 23 -x264opts 'bframes=0:keyint=30' -pix_fmt yuv420p {}/{}.mp4".format(
+                        folder, folder, camera_folder_name
+                    ),
+                    shell=True,stdout=log_file, stderr=log_file
+                )
+                build_process_list.append(build_process)
+
+            # Wait for all ffmpeg processes to finish
+            for process in build_process_list:
+                process.wait()
+            logging.info("Finished creating videos from images.")
+        except Exception as e:
+            logging.error("Could not run ffmpeg command due to error - {}. \n Note, this operation requires ffmpeg to be installed".format(e))
+    else:
+        logging.error("Invalid source_directory passed.")
+
+
+def get_args():
+    parser = argparse.ArgumentParser("SDG Utils")
+    parser.add_argument('-sd', '--source_directory', required=False, help='Path to source folder to copy.')
+    parser.add_argument('-bu', '--build', required=False, action='store_true', help='Build videos in source foler.')
+    parser.add_argument('-f', '--format_to_copy', required=False, help='Format of files to match and upload, can be left empty for a single file.')
+    parser.add_argument('-dd', '--destination_directory', required=False, help='Destination folder in S3 folder.')
+    parser.add_argument('-sf', '--source_file', required=False, help='Path to source file to copy.')
+    parser.add_argument('-df', '--destination_file', required=False, help='Destination file in S3 folder')
+    parser.add_argument('-b', '--bucket', required=False, help='S3 bucket to copy data to.')
+    args = parser.parse_args()
+    return args
+
+def main():
+    args = get_args()
+    source_directory = args.source_directory
+    destination_directory = args.destination_directory
+    format_to_copy = args.format_to_copy
+    source_file = args.source_file
+    destination_file = args.destination_file
+    bucket = args.bucket
+    build = args.build
+
+    # Build videos from images present in source directory
+    if build:
+        build_videos(source_directory)
+
+    # If S3 bucket is provided, upload content to S3 bucket.
+    if bucket:
+        # Upload multiple files matching a specific format from a directory.
+        if source_directory:
+            if os.path.isdir(source_directory):
+                files = glob.glob("{}/**/*.{}".format(source_directory, format_to_copy),recursive=True)
+                logging.info("Total files to copy - {}".format(len(files)))
+                for file in files:
+                    logging.info("Copying file {}".format(file))
+                    file_name = os.path.basename(file)
+                    destination_object = None
+                    if destination_directory:
+                        destination_object = destination_directory + "/" + file_name
+                    upload_file(file, bucket, destination_object)
+            else:
+                logging.error("Invalid source_directory passed.")
+        # Upload a single file to the s3 bucket.
+        if source_file:
+            if os.path.isfile(source_file):
+                logging.info("Copying file {}".format(source_file))
+                upload_file(source_file, bucket, destination_file)
+            else:
+                logging.error("Invalid source_file passed.")
+
+
+if __name__ == "__main__":
+    main()