Merge pull request RobotLocomotion#1 from RobotLocomotion/dockerfiles

Added docker files

README.md

@@ -17,28 +17,39 @@ Note: The PRM and Bimanual reproductions do not yet work on Deepnote and the UAV
 
 ## Running locally
 
-### Installing Dependencies
-This code depends on [Drake](https://drake.mit.edu), specifically its Python bindings. To install Drake bindings follow the instruction on [Drake's Installation Page](https://drake.mit.edu/installation.html). Any of the installation methods listed should work.  You can check that the installation was sucessful by following the instruction [here](https://drake.mit.edu/python_bindings.html#using-the-python-bindings).
+### Option 1: Docker
+We provide a [dockerfile](docker/deepnote/Dockerfile) with a custom build of [Drake](https://drake.mit.edu) that entails sampling based planners for the comparison. Note that the docker does not include a build of Gurobi, which has been only used in the Iris region generation.
 
-We have used Mosek to solve most of the examples. To solve using Mosek, you'll need to give Drake access to a Mosek license file as described [here](https://drake.mit.edu/bazel.html#mosek). Mosek provides a personal academic license for free.
-
-You will also need to install `gcs` and its dependencies. You can do this by running
+Pull the docker:
+```sh
+docker pull wrangelvid/drake:gcs-science-robotics
 ```
-pip install -r requirements.txt
+
+Run the docker:
+```sh
+docker run -i -p 7000:7000 -p 8888:8888 -w /gcs-science-robotics -t wrangelvid/drake:gcs-science-robotics
 ```
 
-### Running Examples
-Once all the dependencies have been installed, you can run the examples with jupyter notebooks which can be launched by calling
+In another shell, copy over your mosek license:
+
+```sh
+docker cp [PATH_TO_MOSEK.lic] [container_id]:/tmp/mosek.lic
 ```
-jupyter-notebook
+
+Once the docker has been build and run, you can run the examples with jupyter notebooks:
+
+In the docker run the jupyter server:
+```sh
+jupyter notebook --ip 0.0.0.0 --no-browser --allow-root --NotebookApp.token=''
 ```
-from inside this repository.
 
-### Running the Sampling Based Comparison
-If you want to compare GCS to sampling based planners (such as PRM), you'll need to install a custom fork of drake that includes bindings for sampling based planners.  To do this run the following, including any of the proprietary solvers you have access to.
+On your machine go to http://localhost:8888/ You will find the reproduction notebooks in the reproduction folder.
+
+### Option 2: Local Installation
+If you want to compare GCS to sampling based planners (such as PRM), you'll need to install a custom fork of [Drake](https://drake.mit.edu) that includes bindings for sampling based planners.  To do this run the following, including any of the proprietary solvers you have access to. You may build it with Gurobi.
 
 ```
-git clone -b gcs_paper git@github.com:wrangelvid/drake.git
+git clone -b gcs-science-robotics git@github.com:wrangelvid/drake.git
 mkdir drake-build
 cd drake-build
 cmake -DWITH_MOSEK=ON [-DWITH_GUROBI=ON -DWITH_ROBOTLOCOMOTION_SNOPT=ON] ../drake
@@ -58,3 +69,16 @@ For macOS:
 cd drake-build
 export PYTHONPATH=${PWD}/install/lib/python3.9/site-packages:$PYTHONPATH
 ```
+
+We have used Mosek to solve most of the examples. To solve using Mosek, you'll need to give Drake access to a Mosek license file as described [here](https://drake.mit.edu/bazel.html#mosek). Mosek provides a personal academic license for free.
+
+You will also need to install `gcs-science-robotics` and its dependencies. From inside this repository, run the following:
+```
+pip install -e .
+```
+
+Once all the dependencies have been installed, you can run the examples with jupyter notebooks which can be launched by calling
+```
+jupyter-notebook
+```
+from inside this repository.

docker/deepnote/Dockerfile

@@ -0,0 +1,66 @@
+# -*- mode: dockerfile -*-
+# vi: set ft=dockerfile :
+
+# git clone -b gcs-science-robotics git@github.com:wrangelvid/drake.git
+# mkdir drake-build
+# cd drake-build
+# cmake -DWITH_MOSEK=ON ../drake
+# make -j
+# Then copy this Dockerfile into the drake-build folder
+# docker build -f Dockerfile -t wrangelvid/drake:gcs-science-robotics ./install
+#
+# docker login
+# docker push wrangelvid/drake:gcs-science-robotics
+
+FROM ubuntu:jammy
+ARG DEBIAN_FRONTEND=noninteractive
+ENV SHELL /bin/bash
+# Open ports for meshcat:
+EXPOSE 7000-7099/tcp
+EXPOSE 8888/tcp
+
+LABEL org.opencontainers.image.authors="David von Wrangel"
+LABEL org.opencontainers.image.description="Drake with sampling based planning for the gcs paper"
+LABEL org.opencontainers.image.licenses="BSD-3-Clause"
+LABEL org.opencontainers.image.source="https://github.com/wrangelvid/drake/tree/gcs-science-robotics"
+LABEL org.opencontainers.image.vendor="Massachusetts Institute of Technology"
+
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US.UTF-8
+ENV LC_ALL en_US.UTF-8
+ENV TZ=America/New_York
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+# Install curl and useful transport
+RUN apt-get update && yes "Y" \
+      | apt-get install --no-install-recommends curl apt-transport-https
+RUN apt install -y tzdata
+COPY . /opt/drake/
+
+# Install drake prereqs.
+RUN apt-get update \
+  && yes "Y" | bash /opt/drake/share/drake/setup/install_prereqs
+
+RUN apt install python3-pip -y
+RUN apt install python-is-python3
+
+# Install deepnote dependencies.
+RUN apt-get update \
+  && yes "Y" | bash /opt/drake/share/drake/setup/deepnote/install_nginx
+RUN apt-get update \
+  && yes "Y" | bash /opt/drake/share/drake/setup/deepnote/install_xvfb
+
+RUN apt-get -q update && apt-get -q install -y --no-install-recommends git nginx-light xvfb && apt-get -q clean
+RUN pip3 install lxml matplotlib networkx numpy pandas pydot scipy
+RUN pip3 install -I ipywidgets
+RUN pip3 install jupyter_server
+RUN pip3 install --upgrade notebook
+
+# Install GCS repository.
+ENV DISPLAY=:1
+ENV MOSEKLM_LICENSE_FILE="/tmp/mosek.lic"
+RUN git clone https://github.com/RobotLocomotion/gcs-science-robotics.git
+ENV PYTHONPATH=/gcs-science-robotics:${PYTHONPATH}
+
+# Source environment of Drake installed to /drake
+ENV PYTHONPATH=/opt/drake/lib/python3.10/site-packages:${PYTHONPATH}

setup.py

@@ -3,5 +3,15 @@
 setup(
     name='gcs',
     version='0.1.0',
-    packages=find_packages()
+    packages=find_packages(),
+    install_requires=[
+        'lxml',
+        'matplotlib',
+        'networkx',
+        'notebook',
+        'numpy',
+        'pandas',
+        'pydot',
+        'scipy',
+    ]
 )