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whikwonseungjaeryanlee
whikwon
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seungjaeryanlee
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Add dockerfile, docker training script (#38)
* 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
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‎.dockerignore

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**

‎Dockerfile

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FROM ubuntu:16.04
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ENV HOME /root
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FROM nvidia/cuda:9.0-cudnn7-devel-ubuntu16.04
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ENV ROS_DISTRO kinetic
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ENV HOME=/root
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ENV CATKIN_WS=/root/catkin_ws
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SHELL ["/bin/bash", "-c"]
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RUN apt-get update && apt-get -y upgrade && apt-get -y install git wget vim
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# install ROS
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RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'
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RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
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RUN apt-get update -y && apt-get upgrade -y
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RUN apt-get install -y ros-kinetic-desktop-full ros-kinetic-rqt-*
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RUN rosdep init
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RUN rosdep update
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RUN apt-get install -y ros-${ROS_DISTRO}-desktop-full ros-${ROS_DISTRO}-rqt-*
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RUN rosdep init && rosdep update
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RUN apt install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
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RUN apt-get install -y ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-industrial-core
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RUN apt-get install -y ros-${ROS_DISTRO}-ros-controllers ros-${ROS_DISTRO}-gazebo* ros-${ROS_DISTRO}-moveit* ros-${ROS_DISTRO}-industrial-core
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RUN rm -rf /var/lib/apt/lists/*
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# ROS setting
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RUN mkdir -p $HOME/catkin_ws/src
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WORKDIR $HOME/catkin_ws/
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RUN echo "source /opt/ros/kinetic/setup.bash" >> $HOME/.bashrc
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RUN echo "export PYTHONPATH=/opt/ros/kinetic/lib/python2.7/dist-packages" >> $HOME/.bashrc
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RUN echo "source $HOME/catkin_ws/devel/setup.bash" >> $HOME/.bashrc
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RUN mkdir -p $CATKIN_WS/src
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WORKDIR $CATKIN_WS
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RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> $HOME/.bashrc
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RUN echo "export PYTHONPATH=/opt/ros/${ROS_DISTRO}/lib/python2.7/dist-packages" >> $HOME/.bashrc
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RUN echo "source $CATKIN_WS/devel/setup.bash" >> $HOME/.bashrc
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RUN echo "export ROS_MASTER_URI=http://localhost:11311" >> $HOME/.bashrc
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RUN echo "export ROS_HOSTNAME=localhost" >> $HOME/.bashrc
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RUN source $HOME/.bashrc
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# clone ROS packages
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RUN cd src/ && \
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git clone https://github.com/kairproject/DynamixelSDK.git && \
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git clone https://github.com/kairproject/dynamixel-workbench.git && \
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git clone https://github.com/kairproject/dynamixel-workbench-msgs.git && \
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git clone https://github.com/kairproject/open_manipulator.git && \
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git clone https://github.com/kairproject/open_manipulator_msgs.git && \
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git clone https://github.com/kairproject/open_manipulator_simulations.git && \
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git clone https://github.com/kairproject/robotis_manipulator.git
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git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/DynamixelSDK.git && \
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git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/dynamixel-workbench.git && \
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git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/dynamixel-workbench-msgs.git && \
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git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/open_manipulator.git && \
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git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/open_manipulator_msgs.git && \
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git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/open_manipulator_simulations.git && \
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git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/robotis_manipulator.git && \
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git clone https://github.com/kairproject/kair_algorithms_draft.git
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RUN cd src/DynamixelSDK/python && python setup.py install
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# install pip
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RUN wget https://bootstrap.pypa.io/get-pip.py
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RUN python2.7 get-pip.py
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RUN cd $HOME/catkin_ws/src/DynamixelSDK/python && python setup.py install
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# gym requirements
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RUN apt-get update && apt-get install -y python3-opengl zlib1g-dev libjpeg-dev patchelf \
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cmake swig libboost-all-dev libsdl2-dev libosmesa6-dev xvfb ffmpeg
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# install repository requirements
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RUN apt-get remove -y python-psutil
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RUN cd src/kair_algorithms_draft/scripts && python2.7 -m pip install -r requirements.txt
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RUN python2.7 -m pip install gym['Box2d']
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# permission setting
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COPY ./modud_kair_control $HOME/catkin_ws/src/modud_kair_control
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RUN chmod -R +x $HOME/catkin_ws/src/modud_kair_control/
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RUN chmod +x -R src/kair_algorithms_draft
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# catkin_make
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RUN source /opt/ros/${ROS_DISTRO}/setup.bash && catkin_make
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ENTRYPOINT ["/root/catkin_ws/src/kair_algorithms_draft/docker_train.sh"]

‎docker_train.sh

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#!/bin/bash
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ROS_DISTRO=kinetic
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CATKIN_WS=/root/catkin_ws
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KAIR=$CATKIN_WS/src/kair_algorithms_draft
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if [ "$1" == "lunarlander" ]; then
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cd $KAIR/scripts; \
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python run_lunarlander_continuous.py --algo $2 --off-render
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elif [ "$1" == "openmanipulator" ]; then
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echo "Working"
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else
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echo "Unknown parameter"
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fi

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