121 lines
3.6 KiB
Docker
121 lines
3.6 KiB
Docker
##
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## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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##
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## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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## property and proprietary rights in and to this material, related
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## documentation and any modifications thereto. Any use, reproduction,
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## disclosure or distribution of this material and related documentation
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## without an express license agreement from NVIDIA CORPORATION or
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## its affiliates is strictly prohibited.
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##
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FROM nvcr.io/nvidia/pytorch:23.08-py3 AS torch_cuda_base
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LABEL maintainer "User Name"
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# Deal with getting tons of debconf messages
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# See: https://github.com/phusion/baseimage-docker/issues/58
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RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
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# add GL:
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RUN apt-get update && apt-get install -y --no-install-recommends \
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pkg-config \
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libglvnd-dev \
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libgl1-mesa-dev \
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libegl1-mesa-dev \
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libgles2-mesa-dev && \
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rm -rf /var/lib/apt/lists/*
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ENV NVIDIA_VISIBLE_DEVICES all
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ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
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# Set timezone info
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RUN apt-get update && apt-get install -y \
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tzdata \
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software-properties-common \
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&& rm -rf /var/lib/apt/lists/* \
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&& ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
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&& echo "America/Los_Angeles" > /etc/timezone \
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&& dpkg-reconfigure -f noninteractive tzdata \
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&& add-apt-repository -y ppa:git-core/ppa \
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&& apt-get update && apt-get install -y \
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curl \
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lsb-core \
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wget \
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build-essential \
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cmake \
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git \
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git-lfs \
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iputils-ping \
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make \
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openssh-server \
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openssh-client \
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libeigen3-dev \
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libssl-dev \
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python3-pip \
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python3-ipdb \
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python3-tk \
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python3-wstool \
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sudo git bash unattended-upgrades \
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apt-utils \
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terminator \
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glmark2 \
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&& rm -rf /var/lib/apt/lists/*
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# push defaults to bashrc:
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RUN apt-get update && apt-get install --reinstall -y \
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libmpich-dev \
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hwloc-nox libmpich12 mpich \
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&& rm -rf /var/lib/apt/lists/*
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# This is required to enable mpi lib access:
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ENV PATH="${PATH}:/opt/hpcx/ompi/bin"
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ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/hpcx/ompi/lib"
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ENV TORCH_CUDA_ARCH_LIST "7.0+PTX"
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ENV LD_LIBRARY_PATH="/usr/local/lib:${LD_LIBRARY_PATH}"
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RUN pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
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# if you want to use a different version of curobo, create folder as docker/pkgs and put your
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# version of curobo there. Then uncomment below line and comment the next line that clones from
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# github
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# COPY pkgs /pkgs
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RUN mkdir /pkgs && cd /pkgs && git clone https://github.com/NVlabs/curobo.git
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RUN cd /pkgs/curobo && pip3 install .[dev,usd] --no-build-isolation
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WORKDIR /pkgs/curobo
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# Optionally install nvblox:
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# we require this environment variable to render images in unit test curobo/tests/nvblox_test.py
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ENV PYOPENGL_PLATFORM=egl
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# add this file to enable EGL for rendering
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RUN echo '{"file_format_version": "1.0.0", "ICD": {"library_path": "libEGL_nvidia.so.0"}}' >> /usr/share/glvnd/egl_vendor.d/10_nvidia.json
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RUN apt-get update && \
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apt-get install -y libgoogle-glog-dev libgtest-dev curl libsqlite3-dev && \
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cd /usr/src/googletest && cmake . && cmake --build . --target install && \
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rm -rf /var/lib/apt/lists/*
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RUN cd /pkgs && git clone https://github.com/valtsblukis/nvblox.git && \
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cd nvblox && cd nvblox && mkdir build && cd build && \
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cmake .. -DPRE_CXX11_ABI_LINKABLE=ON && \
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make -j32 && \
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make install
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RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
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cd nvblox_torch && \
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sh install.sh
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RUN python -m pip install pyrealsense2 opencv-python transforms3d
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