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add isaac sim 2023 support and dockerfiles

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This commit is contained in:
Balakumar Sundaralingam
2023-11-04 09:32:30 -07:00
parent f2eb5f937a
commit 102c5d6ab2
41 changed files with 1284 additions and 622 deletions
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59
docker/x86.dockerfile
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@@ -12,6 +12,11 @@ FROM nvcr.io/nvidia/pytorch:23.08-py3 AS torch_cuda_base
LABEL maintainer "User Name"
# Deal with getting tons of debconf messages
# See: https://github.com/phusion/baseimage-docker/issues/58
RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
# add GL:
RUN apt-get update && apt-get install -y --no-install-recommends \
pkg-config \
@@ -24,16 +29,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
RUN apt-get update &&\
apt-get install -y sudo git bash unattended-upgrades glmark2 &&\
rm -rf /var/lib/apt/lists/*
# Deal with getting tons of debconf messages
# See: https://github.com/phusion/baseimage-docker/issues/58
RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
# Set timezone info
RUN apt-get update && apt-get install -y \
tzdata \
@@ -42,9 +37,8 @@ RUN apt-get update && apt-get install -y \
&& ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
&& echo "America/Los_Angeles" > /etc/timezone \
&& dpkg-reconfigure -f noninteractive tzdata \
&& add-apt-repository -y ppa:git-core/ppa
RUN apt-get update && apt-get install -y \
&& add-apt-repository -y ppa:git-core/ppa \
&& apt-get update && apt-get install -y \
curl \
lsb-core \
wget \
@@ -65,6 +59,7 @@ RUN apt-get update && apt-get install -y \
sudo git bash unattended-upgrades \
apt-utils \
terminator \
glmark2 \
&& rm -rf /var/lib/apt/lists/*
# push defaults to bashrc:
@@ -83,11 +78,43 @@ ENV TORCH_CUDA_ARCH_LIST "7.0+PTX"
ENV LD_LIBRARY_PATH="/usr/local/lib:${LD_LIBRARY_PATH}"
# copy pkgs directory: clone curobo into docker/pkgs folder.
COPY pkgs /pkgs
RUN pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
# if you want to use a different version of curobo, create folder as docker/pkgs and put your
# version of curobo there. Then uncomment below line and comment the next line that clones from
# github
# COPY pkgs /pkgs
RUN mkdir /pkgs && cd /pkgs && git clone https://github.com/NVlabs/curobo.git
RUN cd /pkgs/curobo && pip3 install .[dev,usd] --no-build-isolation
WORKDIR /pkgs/curobo
# Optionally install nvblox:
# we require this environment variable to render images in unit test curobo/tests/nvblox_test.py
ENV PYOPENGL_PLATFORM=egl
# add this file to enable EGL for rendering
RUN echo '{"file_format_version": "1.0.0", "ICD": {"library_path": "libEGL_nvidia.so.0"}}' >> /usr/share/glvnd/egl_vendor.d/10_nvidia.json
RUN apt-get update && \
apt-get install -y libgoogle-glog-dev libgtest-dev curl libsqlite3-dev && \
cd /usr/src/googletest && cmake . && cmake --build . --target install && \
rm -rf /var/lib/apt/lists/*
RUN cd /pkgs && git clone https://github.com/valtsblukis/nvblox.git && \
cd nvblox && cd nvblox && mkdir build && cd build && \
cmake .. -DPRE_CXX11_ABI_LINKABLE=ON && \
make -j32 && \
make install
RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
cd nvblox_torch && \
sh install.sh
RUN python -m pip install pyrealsense2 opencv-python transforms3d