Add docker files for dartpy pub

dartsim · Mar 13, 2024 · 6c4ec76 · 6c4ec76
1 parent 21887e2
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diff --git a/docker/dev/v6.14/Dockerfile.archlinux b/docker/dev/v6.14/Dockerfile.archlinux
@@ -1,5 +1,5 @@
 ARG TARGETPLATFORM=linux/amd64
-FROM --platform=$TARGETPLATFORM jslee02/dart-dev:archlinux-min-v7.0
+FROM --platform=$TARGETPLATFORM jslee02/dart-dev:archlinux-min-v6.14
 
 USER builder
 

diff --git a/docker/dev/v6.14/Dockerfile.manylinux2014_aarch64 b/docker/dev/v6.14/Dockerfile.manylinux2014_aarch64
@@ -0,0 +1,19 @@
+ARG BASE_IMAGE=jslee02/dart-dev:manylinux2014_aarch64-min-v6.14
+FROM $BASE_IMAGE
+
+ARG NUM_CORES=14
+
+# Missing optional dependencies:
+#   ipopt
+#   nlopt
+#   spdlog
+
+# openscenegraph
+RUN git clone https://github.com/openscenegraph/OpenSceneGraph.git \
+    && mkdir -p OpenSceneGraph/build \
+    && cmake OpenSceneGraph -B OpenSceneGraph/build \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DBUILD_OSG_APPLICATIONS=OFF \
+    -DBUILD_OSG_DEPRECATED_SERIALIZERS=OFF \
+    && cmake --build OpenSceneGraph/build --target install -j${NUM_CORES} \
+    && rm -rf OpenSceneGraph
diff --git a/docker/dev/v6.14/Dockerfile.manylinux2014_aarch64-min b/docker/dev/v6.14/Dockerfile.manylinux2014_aarch64-min
@@ -0,0 +1,109 @@
+ARG BASE_IMAGE=quay.io/pypa/manylinux2014_aarch64
+FROM $BASE_IMAGE
+
+ARG NUM_CORES=14
+
+# Missing optional dependencies:
+#   ipopt
+#   nlopt
+#   spdlog
+
+RUN yum install -y glew-devel boost-devel python3-devel
+
+# fmt
+RUN git clone https://github.com/fmtlib/fmt.git -b 9.1.0 \
+    && mkdir -p fmt/build \
+    && cmake fmt -B fmt/build -DCMAKE_BUILD_TYPE=Release -DFMT_TEST=OFF \
+    && cmake --build fmt/build --target install -j${NUM_CORES} \
+    && rm -rf fmt
+
+# assimp
+RUN git clone https://github.com/assimp/assimp.git -b 'v5.2.5' \
+    && mkdir -p assimp/build \
+    && cmake assimp -B assimp/build -DCMAKE_BUILD_TYPE=Release -DASSIMP_BUILD_TESTS=OFF -DASSIMP_WARNINGS_AS_ERRORS=OFF \
+    && cmake --build assimp/build --target install -j${NUM_CORES} \
+    && rm -rf assimp
+
+# eigen
+RUN git clone https://gitlab.com/libeigen/eigen.git -b '3.4.0' \
+    && mkdir -p eigen/build \
+    && cmake eigen -B eigen/build -DCMAKE_BUILD_TYPE=Release -DEIGEN_BUILD_TESTING=OFF -DEIGEN_BUILD_DOC=OFF \
+    && cmake --build eigen/build --target install -j${NUM_CORES} \
+    && rm -rf eigen
+
+# octomap
+RUN git clone https://github.com/OctoMap/octomap.git -b 'v1.9.6' \
+    && mkdir -p octomap/build \
+    && cmake octomap -B octomap/build -DCMAKE_BUILD_TYPE=Release -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_DYNAMICETD3D_SUBPROJECT=OFF -DBUILD_TESTING=OFF \
+    && cmake --build octomap/build --target install -j${NUM_CORES} \
+    && rm -rf octomap
+
+# libccd
+RUN git clone https://github.com/danfis/libccd.git -b 'v2.1' \
+    && mkdir -p libccd/build \
+    && cmake libccd -B libccd/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build libccd/build --target install -j${NUM_CORES} \
+    && rm -rf libccd
+
+# fcl
+RUN git clone https://github.com/flexible-collision-library/fcl.git -b '0.7.0' \
+    && mkdir -p fcl/build \
+    && cmake fcl -B fcl/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build fcl/build --target install -j${NUM_CORES} \
+    && rm -rf fcl
+
+# Bullet
+RUN git clone https://github.com/bulletphysics/bullet3.git -b 3.25 \
+    && mkdir -p bullet3/build \
+    && cmake bullet3 -B bullet3/build -DCMAKE_BUILD_TYPE=Release -DBUILD_UNIT_TESTS=OFF -DBUILD_CPU_DEMOS=OFF \
+    && cmake --build bullet3/build --target install -j${NUM_CORES} \
+    && rm -rf bullet3
+
+# tinyxml
+# RUN wget https://sourceforge.net/projects/tinyxml/files/tinyxml/2.6.2/tinyxml_2_6_2.tar.gz \
+#     && tar -xzf tinyxml_2_6_2.tar.gz \
+#     && cd tinyxml \
+#     && make \
+#     && make install \
+#     && cd .. \
+#     && rm -rf tinyxml
+RUN git clone https://github.com/jslee02/tinyxml.git \
+    && mkdir -p tinyxml/build \
+    && cmake tinyxml -B tinyxml/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build tinyxml/build --target install -j${NUM_CORES} \
+    && rm -rf tinyxml
+
+# tinyxml2
+RUN git clone https://github.com/leethomason/tinyxml2.git -b '9.0.0' \
+    && mkdir -p tinyxml2/build \
+    && cmake tinyxml2 -B tinyxml2/build -DCMAKE_BUILD_TYPE=Release -Dtinyxml2_BUILD_TESTING=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+    && cmake --build tinyxml2/build --target install -j${NUM_CORES} \
+    && rm -rf tinyxml2
+
+# console_bridge
+RUN git clone https://github.com/ros/console_bridge.git -b 1.0.2 \
+    && mkdir -p console_bridge/build \
+    && cmake console_bridge -B console_bridge/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build console_bridge/build --target install -j${NUM_CORES} \
+    && rm -rf console_bridge
+
+# urdfdom_headers
+RUN git clone https://github.com/ros/urdfdom_headers.git -b 1.0.5 \
+    && mkdir -p urdfdom_headers/build \
+    && cmake urdfdom_headers -B urdfdom_headers/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build urdfdom_headers/build --target install -j${NUM_CORES} \
+    && rm -rf urdfdom_headers
+
+# urdfdom
+RUN git clone https://github.com/ros/urdfdom.git -b 3.0.0 \
+    && mkdir -p urdfdom/build \
+    && cmake urdfdom -B urdfdom/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build urdfdom/build --target install -j${NUM_CORES} \
+    && rm -rf urdfdom
+
+# pybind11
+RUN git clone https://github.com/pybind/pybind11.git -b 'v2.10.3' \
+    && mkdir -p pybind11/build \
+    && cmake pybind11 -B pybind11/build -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF \
+    && cmake --build pybind11/build --target install -j${NUM_CORES} \
+    && rm -rf pybind11
diff --git a/docker/dev/v6.14/Dockerfile.manylinux2014_ppc64le b/docker/dev/v6.14/Dockerfile.manylinux2014_ppc64le
@@ -0,0 +1,19 @@
+ARG BASE_IMAGE=jslee02/dart-dev:manylinux2014_ppc64le-min-v6.14
+FROM $BASE_IMAGE
+
+ARG NUM_CORES=14
+
+# Missing optional dependencies:
+#   ipopt
+#   nlopt
+#   spdlog
+
+# openscenegraph
+RUN git clone https://github.com/openscenegraph/OpenSceneGraph.git \
+    && mkdir -p OpenSceneGraph/build \
+    && cmake OpenSceneGraph -B OpenSceneGraph/build \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DBUILD_OSG_APPLICATIONS=OFF \
+    -DBUILD_OSG_DEPRECATED_SERIALIZERS=OFF \
+    && cmake --build OpenSceneGraph/build --target install -j${NUM_CORES} \
+    && rm -rf OpenSceneGraph
diff --git a/docker/dev/v6.14/Dockerfile.manylinux2014_ppc64le-min b/docker/dev/v6.14/Dockerfile.manylinux2014_ppc64le-min
@@ -0,0 +1,102 @@
+ARG BASE_IMAGE=quay.io/pypa/manylinux2014_ppc64le
+FROM $BASE_IMAGE
+
+ARG NUM_CORES=14
+
+# Missing optional dependencies:
+#   ipopt
+#   nlopt
+#   spdlog
+
+RUN yum install -y glew-devel boost-devel python3-devel
+
+# fmt
+RUN git clone https://github.com/fmtlib/fmt.git -b 9.1.0 \
+    && mkdir -p fmt/build \
+    && cmake fmt -B fmt/build -DCMAKE_BUILD_TYPE=Release -DFMT_TEST=OFF \
+    && cmake --build fmt/build --target install -j${NUM_CORES} \
+    && rm -rf fmt
+
+# assimp
+RUN git clone https://github.com/assimp/assimp.git -b 'v5.2.5' \
+    && mkdir -p assimp/build \
+    && cmake assimp -B assimp/build -DCMAKE_BUILD_TYPE=Release -DASSIMP_BUILD_TESTS=OFF -DASSIMP_WARNINGS_AS_ERRORS=OFF \
+    && cmake --build assimp/build --target install -j${NUM_CORES} \
+    && rm -rf assimp
+
+# eigen
+RUN git clone https://gitlab.com/libeigen/eigen.git -b '3.4.0' \
+    && mkdir -p eigen/build \
+    && cmake eigen -B eigen/build -DCMAKE_BUILD_TYPE=Release -DEIGEN_BUILD_TESTING=OFF -DEIGEN_BUILD_DOC=OFF \
+    && cmake --build eigen/build --target install -j${NUM_CORES} \
+    && rm -rf eigen
+
+# octomap
+RUN git clone https://github.com/OctoMap/octomap.git -b 'v1.9.6' \
+    && mkdir -p octomap/build \
+    && cmake octomap -B octomap/build -DCMAKE_BUILD_TYPE=Release -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_DYNAMICETD3D_SUBPROJECT=OFF -DBUILD_TESTING=OFF \
+    && cmake --build octomap/build --target install -j${NUM_CORES} \
+    && rm -rf octomap
+
+# libccd
+RUN git clone https://github.com/danfis/libccd.git -b 'v2.1' \
+    && mkdir -p libccd/build \
+    && cmake libccd -B libccd/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build libccd/build --target install -j${NUM_CORES} \
+    && rm -rf libccd
+
+# fcl
+RUN git clone https://github.com/flexible-collision-library/fcl.git -b '0.7.0' \
+    && mkdir -p fcl/build \
+    && cmake fcl -B fcl/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build fcl/build --target install -j${NUM_CORES} \
+    && rm -rf fcl
+
+# Bullet
+RUN git clone https://github.com/bulletphysics/bullet3.git -b 3.25 \
+    && mkdir -p bullet3/build \
+    && cmake bullet3 -B bullet3/build -DCMAKE_BUILD_TYPE=Release -DBUILD_UNIT_TESTS=OFF -DBUILD_CPU_DEMOS=OFF \
+    && cmake --build bullet3/build --target install -j${NUM_CORES} \
+    && rm -rf bullet3
+
+# tinyxml
+RUN git clone https://github.com/jslee02/tinyxml.git \
+    && mkdir -p tinyxml/build \
+    && cmake tinyxml -B tinyxml/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build tinyxml/build --target install -j${NUM_CORES} \
+    && rm -rf tinyxml
+
+# tinyxml2
+RUN git clone https://github.com/leethomason/tinyxml2.git -b '9.0.0' \
+    && mkdir -p tinyxml2/build \
+    && cmake tinyxml2 -B tinyxml2/build -DCMAKE_BUILD_TYPE=Release -Dtinyxml2_BUILD_TESTING=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+    && cmake --build tinyxml2/build --target install -j${NUM_CORES} \
+    && rm -rf tinyxml2
+
+# console_bridge
+RUN git clone https://github.com/ros/console_bridge.git -b 1.0.2 \
+    && mkdir -p console_bridge/build \
+    && cmake console_bridge -B console_bridge/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build console_bridge/build --target install -j${NUM_CORES} \
+    && rm -rf console_bridge
+
+# urdfdom_headers
+RUN git clone https://github.com/ros/urdfdom_headers.git -b 1.0.5 \
+    && mkdir -p urdfdom_headers/build \
+    && cmake urdfdom_headers -B urdfdom_headers/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build urdfdom_headers/build --target install -j${NUM_CORES} \
+    && rm -rf urdfdom_headers
+
+# urdfdom
+RUN git clone https://github.com/ros/urdfdom.git -b 3.0.0 \
+    && mkdir -p urdfdom/build \
+    && cmake urdfdom -B urdfdom/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build urdfdom/build --target install -j${NUM_CORES} \
+    && rm -rf urdfdom
+
+# pybind11
+RUN git clone https://github.com/pybind/pybind11.git -b 'v2.10.3' \
+    && mkdir -p pybind11/build \
+    && cmake pybind11 -B pybind11/build -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF \
+    && cmake --build pybind11/build --target install -j${NUM_CORES} \
+    && rm -rf pybind11
diff --git a/docker/dev/v6.14/Dockerfile.manylinux2014_s390x b/docker/dev/v6.14/Dockerfile.manylinux2014_s390x
@@ -0,0 +1,17 @@
+ARG BASE_IMAGE=jslee02/dart-dev:manylinux2014_s390x-min-v6.14
+FROM $BASE_IMAGE
+
+ARG NUM_CORES=14
+
+# Missing optional dependencies:
+#   ipopt
+
+# openscenegraph
+RUN git clone https://github.com/openscenegraph/OpenSceneGraph.git \
+    && mkdir -p OpenSceneGraph/build \
+    && cmake OpenSceneGraph -B OpenSceneGraph/build \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DBUILD_OSG_APPLICATIONS=OFF \
+    -DBUILD_OSG_DEPRECATED_SERIALIZERS=OFF \
+    && cmake --build OpenSceneGraph/build --target install -j${NUM_CORES} \
+    && rm -rf OpenSceneGraph
diff --git a/docker/dev/v6.14/Dockerfile.manylinux2014_s390x-min b/docker/dev/v6.14/Dockerfile.manylinux2014_s390x-min
@@ -0,0 +1,79 @@
+ARG BASE_IMAGE=quay.io/pypa/manylinux2014_s390x
+FROM $BASE_IMAGE
+
+ARG NUM_CORES=14
+
+# Missing optional dependencies:
+#   ipopt
+
+RUN yum install -y glew-devel libccd-devel boost-devel bullet-devel nlopt-devel spdlog-devel tinyxml-devel python3-devel
+
+# fmt
+RUN git clone https://github.com/fmtlib/fmt.git -b 9.1.0 \
+    && mkdir -p fmt/build \
+    && cmake fmt -B fmt/build -DCMAKE_BUILD_TYPE=Release -DFMT_TEST=OFF \
+    && cmake --build fmt/build --target install -j${NUM_CORES} \
+    && rm -rf fmt
+
+# assimp
+RUN git clone https://github.com/assimp/assimp.git -b 'v5.2.5' \
+    && mkdir -p assimp/build \
+    && cmake assimp -B assimp/build -DCMAKE_BUILD_TYPE=Release -DASSIMP_BUILD_TESTS=OFF -DASSIMP_WARNINGS_AS_ERRORS=OFF \
+    && cmake --build assimp/build --target install -j${NUM_CORES} \
+    && rm -rf assimp
+
+# eigen
+RUN git clone https://gitlab.com/libeigen/eigen.git -b '3.4.0' \
+    && mkdir -p eigen/build \
+    && cmake eigen -B eigen/build -DCMAKE_BUILD_TYPE=Release -DEIGEN_BUILD_TESTING=OFF -DEIGEN_BUILD_DOC=OFF \
+    && cmake --build eigen/build --target install -j${NUM_CORES} \
+    && rm -rf eigen
+
+# octomap
+RUN git clone https://github.com/OctoMap/octomap.git -b 'v1.9.6' \
+    && mkdir -p octomap/build \
+    && cmake octomap -B octomap/build -DCMAKE_BUILD_TYPE=Release -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_DYNAMICETD3D_SUBPROJECT=OFF -DBUILD_TESTING=OFF \
+    && cmake --build octomap/build --target install -j${NUM_CORES} \
+    && rm -rf octomap
+
+# fcl
+RUN git clone https://github.com/flexible-collision-library/fcl.git -b '0.7.0' \
+    && mkdir -p fcl/build \
+    && cmake fcl -B fcl/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build fcl/build --target install -j${NUM_CORES} \
+    && rm -rf fcl
+
+# tinyxml2
+RUN git clone https://github.com/leethomason/tinyxml2.git -b '9.0.0' \
+    && mkdir -p tinyxml2/build \
+    && cmake tinyxml2 -B tinyxml2/build -DCMAKE_BUILD_TYPE=Release -Dtinyxml2_BUILD_TESTING=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+    && cmake --build tinyxml2/build --target install -j${NUM_CORES} \
+    && rm -rf tinyxml2
+
+# console_bridge
+RUN git clone https://github.com/ros/console_bridge.git -b 1.0.2 \
+    && mkdir -p console_bridge/build \
+    && cmake console_bridge -B console_bridge/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build console_bridge/build --target install -j${NUM_CORES} \
+    && rm -rf console_bridge
+
+# urdfdom_headers
+RUN git clone https://github.com/ros/urdfdom_headers.git -b 1.0.5 \
+    && mkdir -p urdfdom_headers/build \
+    && cmake urdfdom_headers -B urdfdom_headers/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build urdfdom_headers/build --target install -j${NUM_CORES} \
+    && rm -rf urdfdom_headers
+
+# urdfdom
+RUN git clone https://github.com/ros/urdfdom.git -b 3.0.0 \
+    && mkdir -p urdfdom/build \
+    && cmake urdfdom -B urdfdom/build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && cmake --build urdfdom/build --target install -j${NUM_CORES} \
+    && rm -rf urdfdom
+
+# pybind11
+RUN git clone https://github.com/pybind/pybind11.git -b 'v2.10.3' \
+    && mkdir -p pybind11/build \
+    && cmake pybind11 -B pybind11/build -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF \
+    && cmake --build pybind11/build --target install -j${NUM_CORES} \
+    && rm -rf pybind11