cpu docker fix v1

docker-entrypoint.sh

@@ -7,8 +7,8 @@ fi
 
 export CUDA_VISIBLE_DEVICES=-1
 export NVIDIA_VISIBLE_DEVICES=void
-export SAPIEN_RENDER_DEVICE=cpu
 unset NVIDIA_DRIVER_CAPABILITIES
+unset SAPIEN_RENDER_DEVICE
 unset MUJOCO_GL
 if [ -z "${VK_ICD_FILENAMES:-}" ] && [ -f /usr/share/vulkan/icd.d/lvp_icd.x86_64.json ]; then
     export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/lvp_icd.x86_64.json
@@ -18,6 +18,6 @@ echo "[entrypoint] Starting RoboMME Gradio app in CPU-only mode"
 echo "[entrypoint] OMP_NUM_THREADS=$OMP_NUM_THREADS"
 echo "[entrypoint] CUDA_VISIBLE_DEVICES=$CUDA_VISIBLE_DEVICES"
 echo "[entrypoint] NVIDIA_VISIBLE_DEVICES=$NVIDIA_VISIBLE_DEVICES"
-echo "[entrypoint] SAPIEN_RENDER_DEVICE=$SAPIEN_RENDER_DEVICE"
+echo "[entrypoint] SAPIEN_RENDER_DEVICE=${SAPIEN_RENDER_DEVICE:-<unset>}"
 echo "[entrypoint] VK_ICD_FILENAMES=${VK_ICD_FILENAMES:-<unset>}"
 exec "$@"

gradio-web/main.py

@@ -19,10 +19,10 @@ DEFAULT_LLVMPipe_ICD = Path("/usr/share/vulkan/icd.d/lvp_icd.x86_64.json")
 CPU_ONLY_ENV_OVERRIDES = {
     "CUDA_VISIBLE_DEVICES": "-1",
     "NVIDIA_VISIBLE_DEVICES": "void",
-    "SAPIEN_RENDER_DEVICE": "cpu",
 }
 CPU_ONLY_ENV_CLEAR_KEYS = (
     "NVIDIA_DRIVER_CAPABILITIES",
+    "SAPIEN_RENDER_DEVICE",
     "MUJOCO_GL",
 )
 

gradio-web/minimal_robomme_env_cpu_step.py

@@ -26,8 +26,8 @@ if str(SRC_DIR) not in sys.path:
 def configure_cpu_only_runtime() -> None:
     os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
     os.environ["NVIDIA_VISIBLE_DEVICES"] = "void"
-    os.environ["SAPIEN_RENDER_DEVICE"] = "cpu"
     os.environ.pop("NVIDIA_DRIVER_CAPABILITIES", None)
+    os.environ.pop("SAPIEN_RENDER_DEVICE", None)
     os.environ.pop("MUJOCO_GL", None)
     if "VK_ICD_FILENAMES" not in os.environ:
         lvp_icd = Path("/usr/share/vulkan/icd.d/lvp_icd.x86_64.json")

gradio-web/test/test_main_launch_config.py

@@ -54,9 +54,9 @@ def test_main_launch_passes_ui_css_and_forces_cpu_runtime(monkeypatch, reload_mo
     assert fake_demo.launch_kwargs["head"] == fake_demo.head
     assert os.environ["CUDA_VISIBLE_DEVICES"] == "-1"
     assert os.environ["NVIDIA_VISIBLE_DEVICES"] == "void"
-    assert os.environ["SAPIEN_RENDER_DEVICE"] == "cpu"
     assert os.environ["VK_ICD_FILENAMES"] == "/tmp/another_nvidia_icd.json"
     assert "NVIDIA_DRIVER_CAPABILITIES" not in os.environ
+    assert "SAPIEN_RENDER_DEVICE" not in os.environ
     assert "MUJOCO_GL" not in os.environ
 
 
@@ -83,9 +83,9 @@ def test_configure_cpu_only_runtime_autosets_llvmpipe_icd(monkeypatch, reload_mo
 
     assert os.environ["CUDA_VISIBLE_DEVICES"] == "-1"
     assert os.environ["NVIDIA_VISIBLE_DEVICES"] == "void"
-    assert os.environ["SAPIEN_RENDER_DEVICE"] == "cpu"
     assert os.environ["VK_ICD_FILENAMES"] == DEFAULT_LLVMPipe_ICD
     assert "NVIDIA_DRIVER_CAPABILITIES" not in os.environ
+    assert "SAPIEN_RENDER_DEVICE" not in os.environ
     assert "MUJOCO_GL" not in os.environ
 
 
@@ -109,7 +109,22 @@ def test_configure_cpu_only_runtime_preserves_existing_vk_icd(monkeypatch, reloa
 
     assert os.environ["CUDA_VISIBLE_DEVICES"] == "-1"
     assert os.environ["NVIDIA_VISIBLE_DEVICES"] == "void"
-    assert os.environ["SAPIEN_RENDER_DEVICE"] == "cpu"
     assert os.environ["VK_ICD_FILENAMES"] == "/tmp/preserved_icd.json"
     assert "NVIDIA_DRIVER_CAPABILITIES" not in os.environ
+    assert "SAPIEN_RENDER_DEVICE" not in os.environ
     assert "MUJOCO_GL" not in os.environ
+
+
+def test_configure_cpu_only_runtime_clears_stale_sapien_render_device(monkeypatch, reload_module):
+    monkeypatch.setenv("SAPIEN_RENDER_DEVICE", "cpu")
+    monkeypatch.setenv("CUDA_VISIBLE_DEVICES", "7")
+    monkeypatch.setenv("NVIDIA_VISIBLE_DEVICES", "all")
+
+    main = reload_module("main")
+    monkeypatch.setenv("SAPIEN_RENDER_DEVICE", "cuda:0")
+
+    main.configure_cpu_only_runtime()
+
+    assert os.environ["CUDA_VISIBLE_DEVICES"] == "-1"
+    assert os.environ["NVIDIA_VISIBLE_DEVICES"] == "void"
+    assert "SAPIEN_RENDER_DEVICE" not in os.environ

human_readme.md

@@ -155,7 +155,7 @@ A2: This Docker image is configured for CPU-only execution and should not rely o
 ```python
 os.environ['CUDA_VISIBLE_DEVICES'] = '-1'
 os.environ['NVIDIA_VISIBLE_DEVICES'] = 'void'
-os.environ['SAPIEN_RENDER_DEVICE'] = 'cpu'
+os.environ.pop('SAPIEN_RENDER_DEVICE', None)
 os.environ.pop('NVIDIA_DRIVER_CAPABILITIES', None)
 os.environ.pop('MUJOCO_GL', None)
 os.environ.setdefault('VK_ICD_FILENAMES', '/usr/share/vulkan/icd.d/lvp_icd.x86_64.json')