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Add planning to grasp API

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This commit is contained in:
Balakumar Sundaralingam
2024-11-22 14:15:18 -08:00
parent 18e9ebd35f
commit 36ea382dab
38 changed files with 939 additions and 535 deletions
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69
docker/ros1_x86.dockerfile
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##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
FROM nvcr.io/nvidia/pytorch:23.02-py3
RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
RUN apt-get update && apt-get install -y \
tzdata \
&& rm -rf /var/lib/apt/lists/* \
&& ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
&& echo "America/Los_Angeles" > /etc/timezone \
&& dpkg-reconfigure -f noninteractive tzdata
RUN apt-get update &&\
apt-get install -y sudo git bash software-properties-common graphviz &&\
rm -rf /var/lib/apt/lists/*
RUN python -m pip install --upgrade pip && python3 -m pip install graphviz
# Install ROS noetic
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list' \
&& apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
&& apt-get update && apt-get install -y \
ros-noetic-desktop-full git build-essential python3-rosdep \
&& rm -rf /var/lib/apt/lists/*
# install realsense and azure kinect
# Install the RealSense library (https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages)
#RUN sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
#RUN sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
#RUN apt-get update && apt-get install -y \
# librealsense2-dkms \
# software-properties-common \
# librealsense2-utils \
# && rm -rf /var/lib/apt/lists/*
# install moveit from source for all algos:
ARG ROS_DISTRO=noetic
RUN apt-get update && apt-get install -y \
ros-$ROS_DISTRO-apriltag-ros \
ros-$ROS_DISTRO-realsense2-camera \
ros-$ROS_DISTRO-ros-numpy \
ros-$ROS_DISTRO-vision-msgs \
ros-$ROS_DISTRO-franka-ros \
ros-$ROS_DISTRO-moveit-resources \
ros-$ROS_DISTRO-rosparam-shortcuts \
libglfw3-dev \
ros-$ROS_DISTRO-collada-urdf \
ros-$ROS_DISTRO-ur-msgs \
swig \
&& rm -rf /var/lib/apt/lists/*
RUN apt-get update && rosdep init && rosdep update && apt-get install -y ros-noetic-moveit-ros-visualization && rm -rf /var/lib/apt/lists/*
RUN pip3 install netifaces

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docker/start_docker_arm64.sh
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##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
docker run --rm -it \
--runtime nvidia \
--mount type=bind,src=/home/$USER/code,target=/home/$USER/code \
--hostname ros1-docker \
--add-host ros1-docker:127.0.0.1 \
--network host \
--gpus all \
--env ROS_HOSTNAME=localhost \
--env DISPLAY=$DISPLAY \
--volume /tmp/.X11-unix:/tmp/.X11-unix \
--volume /dev/input:/dev/input \
curobo_user_docker:latest

24
docker/start_docker_x86_robot.sh
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##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
docker run --rm -it \
--privileged --mount type=bind,src=/home/$USER/code,target=/home/$USER/code \
-e NVIDIA_DISABLE_REQUIRE=1 \
-e NVIDIA_DRIVER_CAPABILITIES=all --device /dev/dri \
--hostname ros1-docker \
--add-host ros1-docker:127.0.0.1 \
--gpus all \
--network host \
--env ROS_MASTER_URI=http://127.0.0.1:11311 \
--env ROS_IP=127.0.0.1 \
--env DISPLAY=unix$DISPLAY \
--volume /tmp/.X11-unix:/tmp/.X11-unix \
--volume /dev/input:/dev/input \
curobo_user_docker:latest