human-robot-gym/Dockerfile.build at mirror · TUMcps/human-robot-gym · GitHub

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FROM continuumio/miniconda3

# Avoid warnings by switching to noninteractive
ENV DEBIAN_FRONTEND=noninteractive
# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8
## Install apt packages

RUN apt-get update --allow-insecure-repositories && \
      apt-get install -y --no-install-recommends --allow-unauthenticated \
        ca-certificates \
        tzdata \
        dirmngr \
        gnupg2 \
        psmisc \
        python3-pip \
        python-is-python3 \
        mpich \
        python3-tk \
        python3-dev \
        libosmesa6-dev \
        libgl1-mesa-glx \
        libglfw3 \
        apt-utils \
        git \
        iproute2 \
        procps \
        lsb-release \
        nano \
        libopenmpi-dev \
        swig \
        wget \
        ca-certificates \
        curl \
        bzip2 \
        sudo \
        cmake \
        build-essential \
        tar \
        unzip \
        g++ \
        gcc \
        clang \
        libgtest-dev \
        libgmock-dev \
        patchelf \
        ssh \
        liboctomap-dev \
        python3-sphinx && \
    rm -rf /var/lib/apt/lists/* && \
    apt-get clean

# Create the environment:
COPY environment.yml .
RUN conda env create -f environment.yml

# Clean up
RUN apt-get autoremove -y \
    && apt-get autoremove \
    && apt-get clean -y \
    && rm -rf /var/lib/apt/lists/*

# Switch back to dialog for any ad-hoc use of apt-get
ENV DEBIAN_FRONTEND=dialog

COPY .bashrc_docker /root/.bashrc
RUN echo "conda activate hrgym" >> /root/.bashrc

# Get Eigen3.4
RUN mkdir /usr/include/eigen3/
WORKDIR /usr/include/eigen3/
RUN curl -LJO https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.bz2
RUN tar -xvf eigen-3.4.0.tar.bz2
RUN rm eigen-3.4.0.tar.bz2
RUN echo export CMAKE_PREFIX_PATH="/usr/include/eigen3/eigen-3.4.0" >> /root/.bashrc
RUN echo export EIGEN3_INCLUDE_DIR="/usr/include/eigen3/eigen-3.4.0" >> /root/.bashrc
WORKDIR /usr/include/eigen3/eigen-3.4.0/
RUN mkdir build
WORKDIR /usr/include/eigen3/eigen-3.4.0/build
RUN cmake .. && make install
WORKDIR /