Dockerfile.dev

# Pass MODE=user or =root for user or root mode
# We use the if else method as described here: https://stackoverflow.com/a/60820156/13397059
ARG MODE=user
#-------------------------------------------------------------------------------------------------------------
# Copyright (c) Microsoft Corporation. All rights reserved.
# Licensed under the MIT License. See https://go.microsoft.com/fwlink/?linkid=2090316 for license information.
#-------------------------------------------------------------------------------------------------------------
FROM nvidia/cuda:11.6.2-runtime-ubuntu20.04 AS base
#-------------------------------------------------------------------------------------------------------------
# FROM continuumio/miniconda3 
# https://github.com/ContinuumIO/docker-images/blob/master/miniconda3/debian/Dockerfile
#-------------------------------------------------------------------------------------------------------------
RUN apt-get update -q && \
    apt-get install -q -y --no-install-recommends \
        bzip2 \
        ca-certificates \
        git \
        libglib2.0-0 \
        libsm6 \
        libxext6 \
        libxrender1 \
        mercurial \
        openssh-client \
        procps \
        subversion \
        wget \
        ssh \
        software-properties-common \
    && apt-get clean \
    && rm -rf /var/lib/apt/lists/*

ENV PATH /opt/conda/bin:$PATH

# Leave these args here to better use the Docker build cache
ARG CONDA_VERSION=py39_4.11.0

RUN set -x && \
    UNAME_M="$(uname -m)" && \
    if [ "${UNAME_M}" = "x86_64" ]; then \
        MINICONDA_URL="https://repo.anaconda.com/miniconda/Miniconda3-${CONDA_VERSION}-Linux-x86_64.sh"; \
        SHA256SUM="4ee9c3aa53329cd7a63b49877c0babb49b19b7e5af29807b793a76bdb1d362b4"; \
    elif [ "${UNAME_M}" = "s390x" ]; then \
        MINICONDA_URL="https://repo.anaconda.com/miniconda/Miniconda3-${CONDA_VERSION}-Linux-s390x.sh"; \
        SHA256SUM="e5e5e89cdcef9332fe632cd25d318cf71f681eef029a24495c713b18e66a8018"; \
    elif [ "${UNAME_M}" = "aarch64" ]; then \
        MINICONDA_URL="https://repo.anaconda.com/miniconda/Miniconda3-${CONDA_VERSION}-Linux-aarch64.sh"; \
        SHA256SUM="00c7127a8a8d3f4b9c2ab3391c661239d5b9a88eafe895fd0f3f2a8d9c0f4556"; \
    elif [ "${UNAME_M}" = "ppc64le" ]; then \
        MINICONDA_URL="https://repo.anaconda.com/miniconda/Miniconda3-${CONDA_VERSION}-Linux-ppc64le.sh"; \
        SHA256SUM="8ee1f8d17ef7c8cb08a85f7d858b1cb55866c06fcf7545b98c3b82e4d0277e66"; \
    fi && \
    wget "${MINICONDA_URL}" -O miniconda.sh -q && \
    echo "${SHA256SUM} miniconda.sh" > shasum && \
    if [ "${CONDA_VERSION}" != "latest" ]; then sha256sum --check --status shasum; fi && \
    mkdir -p /opt && \
    sh miniconda.sh -b -p /opt/conda && \
    rm miniconda.sh shasum && \
    ln -s /opt/conda/etc/profile.d/conda.sh /etc/profile.d/conda.sh && \
    echo ". /opt/conda/etc/profile.d/conda.sh" >> ~/.bashrc && \
    echo "conda activate base" >> ~/.bashrc && \
    find /opt/conda/ -follow -type f -name '*.a' -delete && \
    find /opt/conda/ -follow -type f -name '*.js.map' -delete && \
    /opt/conda/bin/conda clean -afy

# Avoid warnings by switching to noninteractive
ENV DEBIAN_FRONTEND=noninteractive
# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES \
    ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

## Install apt packages
RUN add-apt-repository ppa:ubuntu-toolchain-r/test -y
RUN apt-get update --fix-missing \
  && apt-get install --no-install-recommends -y \
    tzdata \
    dirmngr \
    gnupg2 \
    psmisc \
    python3.6 \
    python3-pip \
    python-is-python3 \
    mpich \
    python3-tk \
    python3-dev \
    libosmesa6-dev \
    libgl1-mesa-glx \
    libglfw3 \
    apt-utils dialog 2>&1 \
    git \
    iproute2 \
    procps \
    lsb-release \
    nano \
    libopenmpi-dev \
    swig \
    wget \
    ca-certificates \
    curl \
    git \
    bzip2 \
    sudo \
    cmake \
    build-essential \
    tar \
    unzip \
    curl \
    g++ \
    gcc \
    clang-10 \
    libgtest-dev \
    libgmock-dev \
    patchelf \
    liboctomap-dev \
    python3-sphinx

RUN apt-get upgrade libstdc++6 -y
RUN apt-get dist-upgrade
## conda docker
# 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

# Entrypoint: Install safety_shield_py and human_robot_gym
COPY ./ /tmp/human-robot-gym/
COPY entrypoint.sh ./
RUN chmod +x entrypoint.sh
ENTRYPOINT ["./entrypoint.sh"]
CMD ["/bin/bash"]

#-------------------------------------------------------------------------------------------------------------
# Root docker
#-------------------------------------------------------------------------------------------------------------
FROM base AS branch-root
# Adjust .bashrc
COPY .bashrc_docker ~/.bashrc
RUN echo ". /opt/conda/etc/profile.d/conda.sh" >> ~/.bashrc
RUN echo "conda activate hrgym" >> ~/.bashrc

# Get Eigen3.4
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="$CMAKE_PREFIX_PATH:$(pwd)/eigen-3.4.0" >> ~/.bashrc
RUN echo export EIGEN3_INCLUDE_DIR="$(pwd)/eigen-3.4.0" >> ~/.bashrc
WORKDIR eigen-3.4.0/
RUN mkdir build
WORKDIR eigen-3.4.0/build
RUN cmake .. && make install
WORKDIR /
#-------------------------------------------------------------------------------------------------------------
# User docker
#-------------------------------------------------------------------------------------------------------------
FROM base AS branch-user
# Args to provide in user mode
ARG USERNAME=robot
ARG USER_UID=1000
ARG USER_GID=$USER_UID
## User settings
# Create a non-root user to use if preferred - see https://aka.ms/vscode-remote/containers/non-root-user.
RUN groupadd --gid $USER_GID $USERNAME \
    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
    && echo "$USERNAME:$USERNAME" | chpasswd \
    && usermod --shell /bin/bash $USERNAME \
    && usermod -aG sudo $USERNAME \
    # [Optional] Add sudo support for the non-root user
    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
    && chmod 0440 /etc/sudoers.d/$USERNAME
# Create alternate global install location that both uses have rights to access
RUN mkdir -p /usr/local/share/pip-global \
    && chown ${USERNAME}:root /usr/local/share/pip-global
# Adjust .bashrc
COPY .bashrc_docker /home/$USERNAME/.bashrc
RUN echo ". /opt/conda/etc/profile.d/conda.sh" >> /home/$USERNAME/.bashrc
RUN echo "conda activate hrgym" >> /home/$USERNAME/.bashrc

# Get Eigen3.4
WORKDIR /home/$USERNAME/
RUN curl -LJO https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.bz2
RUN tar -xvf eigen-3.4.0.tar.bz2
RUN rm eigen-3.4.0.tar.bz2
RUN echo export CMAKE_PREFIX_PATH="$CMAKE_PREFIX_PATH:$(pwd)/eigen-3.4.0" >> /home/$USERNAME/.bashrc
RUN echo export EIGEN3_INCLUDE_DIR="/home/$USERNAME/eigen-3.4.0" >> /home/$USERNAME/.bashrc
WORKDIR /home/$USERNAME/eigen-3.4.0/
RUN mkdir /home/$USERNAME/eigen-3.4.0/build
WORKDIR /home/$USERNAME/eigen-3.4.0/build
RUN cmake .. && make install
WORKDIR /home/$USERNAME/
#-------------------------------------------------------------------------------------------------------------
# Final docker
#-------------------------------------------------------------------------------------------------------------
FROM branch-${MODE} AS final
RUN echo "Image build"