singularity-base.def

Bootstrap: localimage
From: airl_env_pytorch_d9e929da.sif

%labels Author lg4615@ic.ac.uk
	# adapted from Antoine Cully
    Version v0.0.1

%files
    ./resources/setup.sh /git/sferes2
    ./resources/fix_build.py /git/sferes2
    ./resources/get_last_gen_file.py /git/sferes2

%post
    export LD_LIBRARY_PATH="/workspace/lib:$LD_LIBRARY_PATH"
    cd /git/sferes2

    # Install Useful libraries
    apt-get update
    apt-get upgrade -y # REMOVED because installs cuda-10.2 and gives linker issues
    export DEBIAN_FRONTEND=noninteractive
    apt-get install -y  python3-matplotlib python3-numpy python3-dev python3-opencv python3-pip python3-tk graphviz xdg-utils
    apt-get install -y ffmpeg  # For saving videos with robot_dart

    # Update sferes2
    cd /git/sferes2
    if [ ! -z "${CI_JOB_TOKEN}" ] # this enables the automated build in the CI environment
    then
      git remote add resume-upstream https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.doc.ic.ac.uk/AIRL/research_projects/manon_flageat/sferes2_resume.git

    elif [ ! -z "${PERSONAL_TOKEN}" ]
    then
      git remote add resume-upstream https://oauth:${PERSONAL_TOKEN}@gitlab.doc.ic.ac.uk/AIRL/research_projects/manon_flageat/sferes2_resume.git
    else
      git remote add resume-upstream https://gitlab.doc.ic.ac.uk/AIRL/research_projects/manon_flageat/sferes2_resume.git
    fi

    git fetch resume-upstream
    git merge resume-upstream/develop  # from develop branch

    # Install Box2d
   cd /git
   git clone https://github.com/erincatto/box2d.git ./box2d
   cd ./box2d
   git checkout 8815e0963d2c042309ab302fadcea47034f352cb
   sed -i 's/STATIC/SHARED'/g ./src/CMakeLists.txt
   # little hack to have ball bouncing against walls
   sed -i 's/#define b2_velocityThreshold\t\t1.0f/#define b2_velocityThreshold\t\t0.0f/' ./include/box2d/b2_settings.h
   mkdir build
   cd build
   cmake -DBOX2D_BUILD_UNIT_TESTS=OFF -DBOX2D_BUILD_TESTBED=OFF -DCMAKE_INSTALL_PREFIX:PATH=/workspace ../
   cmake --build .
   mv src/libbox2d.so /workspace/lib/
   cp -r ../include/box2d /workspace/include
   
   # Installing robox2d
   cd /git

    git clone https://github.com/adaptive-intelligent-robotics/RoBox2D ./robox2d

   cd ./robox2d
   git checkout adapt-api-as-robot-dart  # in adapt-api-as-robot-dart
   ./waf configure --prefix /workspace --shared --magnum_install_dir  /workspace  --magnum_integration_install_dir /workspace --magnum_plugins_install_dir /workspace --corrade_install_dir /workspace
   ./waf
   ./waf install


    # Install nn2 from original Repository, and libfastsim from custom repo
    apt-get install -y libsdl1.2-dev # First install SDL1.2 for libfastsim

    cd /git/sferes2/modules/

     git clone --branch QD_nn https://github.com/sferes2/nn2.git nn2/

     git clone https://github.com/Lookatator/libfastsim libfastsim/

     # Install FastSim Library in /workspace/ directory
     cd /git/sferes2/modules/libfastsim
     ./waf configure --prefix=/workspace
     ./waf build
     ./waf install

    # Add library names to configuration file of spheres
    cd /git/sferes2/
    echo 'libfastsim' >> modules.conf
    echo 'nn2' >> modules.conf

    apt-get install -y  gdb

    # alias pip="/usr/local/anaconda/bin/pip"
    pip3 install Cython
    pip3 install numpy matplotlib plotly scipy
    pip3 install opencv-python==4.1.2.30
    pip3 install seaborn pandas python-gitlab graphviz imageio natsort tabulate

    pip3 install Jinja2
    pip3 install sklearn  # For using k-means in Maze positions to select which behaviours to show in report
    pip3 install imageio  # for creating GIFs
    pip3 install tabulate  # for converting pandas df to markdown

   cd /git/sferes2/exp/
   mkdir aurora/

%help
    To Complete