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Code Issues Packages Projects Releases Wiki Activity

Add dockerfile, docker training script (#38)

Browse Source 
* Add td3, td3fd reacher training scripts

* Add sacfd reacher.v2 training script

* Change sac hyperparameter to be equal to sacfd

* Adjust black formatting

* Modify dockerfile

* Changed install branch master to kinetic-devel

* Added dockerignore

* Update docker related files

* Modify shell script

* Add pip installation

* Fix pip issue

* tmp commit

* Modify docker related files

* Remove unused conditions

* Remove python3 scripts

* Remove unused files

* Recover sac parameter
This commit is contained in:
Whi Kwon
2019-03-30 14:58:01 +09:00
committed by Seungjae Ryan Lee
parent 35f5524cd7
commit a130293f8b
3 changed files with 57 additions and 21 deletions
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.dockerignore
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**
Dockerfile
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FROM ubuntu:16.04
ENV HOME /root
FROM nvidia/cuda:9.0-cudnn7-devel-ubuntu16.04
ENV ROS_DISTRO kinetic
ENV HOME=/root
ENV CATKIN_WS=/root/catkin_ws
SHELL ["/bin/bash", "-c"]
RUN apt-get update && apt-get -y upgrade && apt-get -y install git wget vim
@@ -7,34 +10,52 @@ RUN apt-get update && apt-get -y upgrade && apt-get -y install git wget vim
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
RUN apt-get update -y && apt-get upgrade -y
RUN apt-get install -y ros-kinetic-desktop-full ros-kinetic-rqt-*
RUN rosdep init
RUN rosdep update
RUN apt-get install -y ros-${ROS_DISTRO}-desktop-full ros-${ROS_DISTRO}-rqt-*
RUN rosdep init && rosdep update
RUN apt install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
RUN apt-get install -y ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-industrial-core
RUN apt-get install -y ros-${ROS_DISTRO}-ros-controllers ros-${ROS_DISTRO}-gazebo* ros-${ROS_DISTRO}-moveit* ros-${ROS_DISTRO}-industrial-core
RUN rm -rf /var/lib/apt/lists/*
# ROS setting
RUN mkdir -p $HOME/catkin_ws/src
WORKDIR $HOME/catkin_ws/
RUN echo "source /opt/ros/kinetic/setup.bash" >> $HOME/.bashrc
RUN echo "export PYTHONPATH=/opt/ros/kinetic/lib/python2.7/dist-packages" >> $HOME/.bashrc
RUN echo "source $HOME/catkin_ws/devel/setup.bash" >> $HOME/.bashrc
RUN mkdir -p $CATKIN_WS/src
WORKDIR $CATKIN_WS
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> $HOME/.bashrc
RUN echo "export PYTHONPATH=/opt/ros/${ROS_DISTRO}/lib/python2.7/dist-packages" >> $HOME/.bashrc
RUN echo "source $CATKIN_WS/devel/setup.bash" >> $HOME/.bashrc
RUN echo "export ROS_MASTER_URI=http://localhost:11311" >> $HOME/.bashrc
RUN echo "export ROS_HOSTNAME=localhost" >> $HOME/.bashrc
RUN source $HOME/.bashrc
# clone ROS packages
RUN cd src/ && \
git clone https://github.com/kairproject/DynamixelSDK.git && \
git clone https://github.com/kairproject/dynamixel-workbench.git && \
git clone https://github.com/kairproject/dynamixel-workbench-msgs.git && \
git clone https://github.com/kairproject/open_manipulator.git && \
git clone https://github.com/kairproject/open_manipulator_msgs.git && \
git clone https://github.com/kairproject/open_manipulator_simulations.git && \
git clone https://github.com/kairproject/robotis_manipulator.git
git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/DynamixelSDK.git && \
git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/dynamixel-workbench.git && \
git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/dynamixel-workbench-msgs.git && \
git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/open_manipulator.git && \
git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/open_manipulator_msgs.git && \
git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/open_manipulator_simulations.git && \
git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/robotis_manipulator.git && \
git clone https://github.com/kairproject/kair_algorithms_draft.git
RUN cd $HOME/catkin_ws/src/DynamixelSDK/python && python setup.py install
RUN cd src/DynamixelSDK/python && python setup.py install
# install pip
RUN wget https://bootstrap.pypa.io/get-pip.py
RUN python2.7 get-pip.py
# gym requirements
RUN apt-get update && apt-get install -y python3-opengl zlib1g-dev libjpeg-dev patchelf \
cmake swig libboost-all-dev libsdl2-dev libosmesa6-dev xvfb ffmpeg
# install repository requirements
RUN apt-get remove -y python-psutil
RUN cd src/kair_algorithms_draft/scripts && python2.7 -m pip install -r requirements.txt
RUN python2.7 -m pip install gym['Box2d']
# permission setting
COPY ./modud_kair_control $HOME/catkin_ws/src/modud_kair_control
RUN chmod -R +x $HOME/catkin_ws/src/modud_kair_control/
RUN chmod +x -R src/kair_algorithms_draft
# catkin_make
RUN source /opt/ros/${ROS_DISTRO}/setup.bash && catkin_make
ENTRYPOINT ["/root/catkin_ws/src/kair_algorithms_draft/docker_train.sh"]
docker_train.sh
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#!/bin/bash
ROS_DISTRO=kinetic
CATKIN_WS=/root/catkin_ws
KAIR=$CATKIN_WS/src/kair_algorithms_draft
if [ "$1" == "lunarlander" ]; then
cd $KAIR/scripts; \
python run_lunarlander_continuous.py --algo $2 --off-render
elif [ "$1" == "openmanipulator" ]; then
echo "Working"
else
echo "Unknown parameter"
fi