191 lines
6.3 KiB
Docker
191 lines
6.3 KiB
Docker
# syntax=docker/dockerfile:experimental
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FROM nvcr.io/nvidia/l4t-pytorch:r32.6.1-pth1.9-py3
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#ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
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#ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
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# add new sudo user
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ENV USERNAME improbable
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ENV HOME /home/$USERNAME
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RUN useradd -m $USERNAME && \
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echo "$USERNAME:$USERNAME" | chpasswd && \
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usermod --shell /bin/bash $USERNAME && \
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usermod -aG sudo $USERNAME && \
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mkdir /etc/sudoers.d && \
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echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
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chmod 0440 /etc/sudoers.d/$USERNAME && \
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# Replace 1000 with your user/group id
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usermod --uid 1000 $USERNAME && \
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groupmod --gid 1000 $USERNAME
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# install package
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ENV DEBIAN_FRONTEND=noninteractive
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RUN apt-get update && apt-get install -y --no-install-recommends \
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build-essential \
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curl \
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sudo \
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less \
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emacs \
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apt-utils \
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tzdata \
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git \
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tmux \
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bash-completion \
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command-not-found \
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libglib2.0-0 \
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gstreamer1.0-plugins-* \
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libgstreamer1.0-* \
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libgstreamer-plugins-*1.0-* \
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&& \
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apt-get clean && \
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rm -rf /var/lib/apt/lists/*
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RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
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#COPY config/nvidia_icd.json /usr/share/vulkan/icd.d/
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USER root
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#RUN apt-get update && apt-get install -y python3-pip && pip3 install torch==1.9.0+cu111 torchvision==0.10.0+cu111 torchaudio==0.9.0 -f https://download.pytorch.org/whl/torch_stable.html
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# ==================================================================
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# Useful Libraries for Development
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# ------------------------------------------------------------------
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#RUN apt update && apt install -y apt-transport-https ca-certificates curl software-properties-common
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#RUN curl -fsSL https://download.sublimetext.com/sublimehq-pub.gpg | apt-key add - && add-apt-repository "deb https://download.sublimetext.com/ apt/stable/" && apt update && apt install sublime-text
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# ==================================================================
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# Python dependencies defined in requirements.txt
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# ------------------------------------------------------------------
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#RUN pip3 install --upgrade pip
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# copy local requirements file for pip install python deps
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#COPY ./requirements.txt /home/$USERNAME
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#WORKDIR /home/$USERNAME
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#RUN pip3 install -r requirements.txt
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# LCM
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RUN apt-get -y update && apt-get install -y make gcc-8 g++-8
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RUN cd /home/$USERNAME && git clone https://github.com/lcm-proj/lcm.git && cd lcm && mkdir build && cd build && cmake .. && make -j && make install
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RUN cd /home/$USERNAME/lcm/lcm-python && pip3 install -e .
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RUN apt-get install -y vim
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#RUN pip3 install pandas
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# ROS
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# ENV ROS_DISTRO melodic
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RUN apt-get install -y gnupg
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# COPY install_scripts/install_ros.sh /tmp/install_ros.sh
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# RUN chmod +x /tmp/install_ros.sh
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# RUN /tmp/install_ros.sh
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# # bootstrap rosdep
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# RUN rosdep init \
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# && rosdep update
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# # create catkin workspace
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# ENV CATKIN_WS=/root/catkin_ws
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# RUN bash /opt/ros/melodic/setup.bash
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# RUN mkdir -p $CATKIN_WS/src
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# WORKDIR ${CATKIN_WS}
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# RUN catkin init
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# RUN catkin config --extend /opt/ros/$ROS_DISTRO \
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# --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
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# WORKDIR $CATKIN_WS/src
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RUN apt-get update && apt-get install -y freeglut3-dev libudev-dev
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#COPY ./install_scripts/install_vision_opencv.sh /tmp/install_vision_opencv.sh
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#RUN chmod +x /tmp/install_vision_opencv.sh
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#RUN /tmp/install_vision_opencv.sh
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RUN apt-get install -y libgl1-mesa-dev libudev1 libudev-dev
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#RUN apt-get install unzip
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#
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#RUN cd ~ && \
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# wget -O opencv.zip https://github.com/opencv/opencv/archive/4.5.1.zip && \
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# wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.5.1.zip && \
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# unzip opencv.zip && \
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# unzip opencv_contrib.zip && \
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# mv opencv-4.5.1 opencv && \
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# mv opencv_contrib-4.5.1 opencv_contrib && \
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# rm opencv.zip && \
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# rm opencv_contrib.zip
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#
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#RUN cd ~/opencv && \
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# mkdir build && \
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# cd build && \
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# cmake -D CMAKE_BUILD_TYPE=RELEASE \
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# -D CMAKE_INSTALL_PREFIX=/usr \
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# -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib/modules \
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# -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \
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# -D WITH_OPENCL=OFF \
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# -D WITH_CUDA=OFF \
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# -D CUDA_ARCH_BIN=5.3 \
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# -D CUDA_ARCH_PTX="" \
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# -D WITH_CUDNN=OFF \
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# -D WITH_CUBLAS=OFF \
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# -D ENABLE_FAST_MATH=ON \
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# -D CUDA_FAST_MATH=OFF \
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# -D OPENCV_DNN_CUDA=OFF \
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# -D ENABLE_NEON=ON \
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# -D WITH_QT=OFF \
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# -D WITH_OPENMP=ON \
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# -D WITH_OPENGL=ON \
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# -D BUILD_TIFF=ON \
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# -D WITH_FFMPEG=ON \
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# -D WITH_GSTREAMER=ON \
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# -D WITH_TBB=ON \
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# -D BUILD_TBB=ON \
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# -D BUILD_TESTS=OFF \
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# -D WITH_EIGEN=ON \
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# -D WITH_V4L=ON \
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# -D WITH_LIBV4L=ON \
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# -D OPENCV_ENABLE_NONFREE=ON \
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# -D INSTALL_C_EXAMPLES=OFF \
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# -D INSTALL_PYTHON_EXAMPLES=OFF \
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# -D BUILD_NEW_PYTHON_SUPPORT=ON \
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# -D BUILD_opencv_python3=TRUE \
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# -D OPENCV_GENERATE_PKGCONFIG=ON \
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# -D BUILD_EXAMPLES=OFF .. && \
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# make -j4 && cd ~ && \
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# # sudo rm -r /usr/include/opencv4/opencv2 && \
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# cd ~/opencv/build && \
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# sudo make install && \
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# sudo ldconfig && \
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# make clean && \
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# sudo apt-get update
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RUN apt-get install -y libgtk2.0-dev pkg-config
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RUN pip3 install opencv-python opencv-contrib-python
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####################################################################################
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###### START HERE -- Install whatever dependencies you need specific to this project!
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####################################################################################
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#COPY ./rsc/IsaacGym_Preview_2_Package.tar.gz /home/$USERNAME/
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#RUN cd /home/$USERNAME && tar -xvzf IsaacGym_Preview_2_Package.tar.gz
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#COPY ./rsc/learning_to_walk_in_minutes.zip /home/$USERNAME/
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#RUN apt-get install unzip && cd /home/$USERNAME/ && unzip learning_to_walk_in_minutes.zip && cd ./code/rl-pytorch && pip3 install -e .
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#RUN cd /home/$USERNAME/isaacgym/python && pip3 install -e .
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#RUN cd /home/$USERNAME/code/isaacgym_anymal && pip3 install -e .
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#COPY ./src/isaacgym_anymal/ /home/$USERNAME/code/isaacgym_anymal/
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# setup entrypoint
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COPY entrypoint.sh /
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ENTRYPOINT ["/entrypoint.sh"]
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CMD ["bash"]
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