hofee/gen_data_curobo
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update to 0.6.2

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This commit is contained in:
Balakumar Sundaralingam
2023-12-15 02:01:33 -08:00
parent d85ae41fba
commit 58958bbcce
105 changed files with 2514 additions and 934 deletions
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64
docker/isaac_sim.dockerfile
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@@ -18,6 +18,7 @@ FROM nvcr.io/nvidia/isaac-sim:${ISAAC_SIM_VERSION} AS isaac-sim
FROM nvcr.io/nvidia/cudagl:${CUDA_VERSION}-devel-${BASE_DIST}
# this does not work for 2022.2.1
#$FROM nvcr.io/nvidia/cuda:${CUDA_VERSION}-cudnn8-devel-${BASE_DIST}
@@ -171,7 +172,7 @@ RUN mkdir /pkgs && cd /pkgs && git clone https://github.com/NVlabs/curobo.git
RUN $omni_python -m pip install ninja wheel tomli
RUN cd /pkgs/curobo && $omni_python -m pip install .[dev,isaac_sim] --no-build-isolation
RUN cd /pkgs/curobo && $omni_python -m pip install .[dev] --no-build-isolation
# Optionally install nvblox:
@@ -183,17 +184,32 @@ RUN apt-get update && \
# install gflags and glog statically, instructions from: https://github.com/nvidia-isaac/nvblox/blob/public/docs/redistributable.md
RUN cd /pkgs && wget https://cmake.org/files/v3.27/cmake-3.27.1.tar.gz && \
tar -xvzf cmake-3.27.1.tar.gz && \
apt update && apt install -y build-essential checkinstall zlib1g-dev libssl-dev && \
cd cmake-3.27.1 && ./bootstrap && \
make -j8 && \
make install && rm -rf /var/lib/apt/lists/*
ENV USE_CX11_ABI=0
ENV PRE_CX11_ABI=ON
RUN cd /pkgs && git clone https://github.com/sqlite/sqlite.git -b version-3.39.4 && \
cd /pkgs/sqlite && CFLAGS=-fPIC ./configure --prefix=/pkgs/sqlite/install/ && \
make && make install
RUN cd /pkgs && git clone https://github.com/google/glog.git -b v0.4.0 && \
RUN cd /pkgs && git clone https://github.com/google/glog.git -b v0.6.0 && \
cd glog && \
mkdir build && cd build && \
cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DCMAKE_INSTALL_PREFIX=/pkgs/glog/install/ \
-DWITH_GFLAGS=OFF -DBUILD_SHARED_LIBS=OFF \
-DWITH_GFLAGS=OFF -DWITH_GTEST=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=${USE_CX11_ABI} \
&& make -j8 && make install
@@ -202,39 +218,25 @@ RUN cd /pkgs && git clone https://github.com/gflags/gflags.git -b v2.2.2 && \
mkdir build && cd build && \
cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DCMAKE_INSTALL_PREFIX=/pkgs/gflags/install/ \
-DGFLAGS_BUILD_STATIC_LIBS=ON -DGFLAGS=google \
-DGFLAGS_BUILD_STATIC_LIBS=ON -DCMAKE_CXX_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=${USE_CX11_ABI} \
&& make -j8 && make install
RUN cd /pkgs && git clone https://github.com/google/googletest.git -b v1.14.0 && \
cd googletest && mkdir build && cd build && cmake .. && make -j8 && make install
RUN cd /pkgs && git clone https://github.com/valtsblukis/nvblox.git
RUN cd /pkgs/nvblox/nvblox && mkdir build && cd build && \
cmake .. -DPRE_CXX11_ABI_LINKABLE=ON -DBUILD_REDISTRIBUTABLE=ON -DSQLITE3_BASE_PATH="/pkgs/sqlite/install/" -DGLOG_BASE_PATH="/pkgs/glog/install/" -DGFLAGS_BASE_PATH="/pkgs/gflags/install/" && \
RUN cd /pkgs && git clone https://github.com/valtsblukis/nvblox.git && cd /pkgs/nvblox/nvblox && \
mkdir build && cd build && \
cmake .. -DBUILD_REDISTRIBUTABLE=ON \
-DCMAKE_CXX_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=${USE_CX11_ABI} -DPRE_CXX11_ABI_LINKABLE=${PRE_CX11_ABI} \
-DSQLITE3_BASE_PATH="/pkgs/sqlite/install/" -DGLOG_BASE_PATH="/pkgs/glog/install/" \
-DGFLAGS_BASE_PATH="/pkgs/gflags/install/" -DCMAKE_CUDA_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=${USE_CX11_ABI} \
-DBUILD_TESTING=OFF && \
make -j32 && \
make install
# install newer cmake and glog for pytorch:
# TODO: use libgoogle from source that was compiled instead.
RUN apt-get update && \
apt-get install -y libgoogle-glog-dev && \
rm -rf /var/lib/apt/lists/*
RUN cd /pkgs && wget https://cmake.org/files/v3.19/cmake-3.19.5.tar.gz && \
tar -xvzf cmake-3.19.5.tar.gz && \
apt update && apt install -y build-essential checkinstall zlib1g-dev libssl-dev && \
cd cmake-3.19.5 && ./bootstrap && \
make -j8 && \
make install && rm -rf /var/lib/apt/lists/*
ENV cudnn_version=8.2.4.15
ENV cuda_version=cuda11.4
RUN apt update && apt-get install -y libcudnn8=${cudnn_version}-1+${cuda_version} libcudnn8-dev=${cudnn_version}-1+${cuda_version} && \
rm -rf /var/lib/apt/lists/*
# we also need libglog for pytorch:
RUN cd /pkgs/glog && \
mkdir build_isaac && cd build_isaac && \
cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DWITH_GFLAGS=OFF -DWITH_GTEST=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=${USE_CX11_ABI} \
&& make -j8 && make install
RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
cd /pkgs/nvblox_torch && \