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Go2Py_SIM
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x86 dockerfile updated

This commit is contained in:
Rooholla-KhorramBakht 2025-01-13 01:17:43 +00:00
parent a5749756c4
commit 9b8d845d04
1 changed files with 15 additions and 6 deletions
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.devcontainer/Dockerfile.x86
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@ -2,6 +2,7 @@ FROM ros:humble
ENV DEBIAN_FRONTEND noninteractive ENV DEBIAN_FRONTEND noninteractive
ARG CONDA_VER=latest ARG CONDA_VER=latest
ARG OS_TYPE=x86_64 ARG OS_TYPE=x86_64
SHELL ["/bin/bash", "-c"]
RUN apt-get update && apt-get install -y -qq --no-install-recommends \ RUN apt-get update && apt-get install -y -qq --no-install-recommends \
libglvnd-dev \ libglvnd-dev \
@ -30,6 +31,12 @@ RUN apt-get update && apt-get install -y -qq --no-install-recommends \
RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash
RUN apt-get install git-lfs RUN apt-get install git-lfs
RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
# Install Miniconda # Install Miniconda
RUN wget https://github.com/conda-forge/miniforge/releases/${CONDA_VER}/download/Miniforge3-Linux-${OS_TYPE}.sh -O ~/miniconda.sh \ RUN wget https://github.com/conda-forge/miniforge/releases/${CONDA_VER}/download/Miniforge3-Linux-${OS_TYPE}.sh -O ~/miniconda.sh \
&& /bin/bash ~/miniconda.sh -b -p /opt/conda \ && /bin/bash ~/miniconda.sh -b -p /opt/conda \
@ -39,20 +46,22 @@ RUN wget https://github.com/conda-forge/miniforge/releases/${CONDA_VER}/download
&& echo "conda activate base" >> ~/.bashrc && echo "conda activate base" >> ~/.bashrc
ENV PATH /opt/conda/bin:$PATH ENV PATH /opt/conda/bin:$PATH
SHELL ["conda", "run", "-n", "base", "/bin/bash", "-c"]
RUN conda create -n go2py python==3.8.10
SHELL ["conda", "run", "-n", "go2py", "/bin/bash", "-c"]
ENV CONDA_PREFIX /opt/conda ENV CONDA_PREFIX /opt/conda
# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree RUN echo "export CYCLONEDDS_HOME=/unitree_ros2/cyclonedds_ws/install/cyclonedds/" >> ~/.bashrc
# RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \ ENV CYCLONEDDS_HOME "/unitree_ros2/cyclonedds_ws/install/cyclonedds"
# git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\ RUN cd /root && git clone https://github.com/eclipse-cyclonedds/cyclonedds-python -b releases/0.10.x && cd cyclonedds-python && pip install .
# cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
# Install Python dependencies # Install Python dependencies
RUN pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118 RUN pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
RUN pip install matplotlib opencv-python proxsuite scipy isort black RUN pip install matplotlib opencv-python proxsuite scipy isort black
RUN pip install warp-lang scikit-learn casadi RUN pip install warp-lang scikit-learn casadi
RUN pip install onnx onnxruntime RUN pip install onnx onnxruntime
# RUN pip install cyclonedds pygame pynput jupyter ipykernel RUN pip install pygame pynput jupyter ipykernel
RUN pip install meshcat mujoco RUN pip install meshcat mujoco
RUN conda install -y -c conda-forge \ RUN conda install -y -c conda-forge \
pinocchio \ pinocchio \