Orientation/atk.yml at master · WisconsinAutonomous/Orientation · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
project: art
default_containers:
  - dev
  - vnc
custom_cli_arguments:
  gpus:
    argparse:
      action: 'store_true'
    all:
      docker:
        deploy:
          resources:
            reservations:
              devices:
                - driver: nvidia
                  capabilities: [gpu]
      singularity:
        nv: true
  devices:
    argparse:
      action: 'store_true'
    all:
      devices:
        - /dev/video0
        - /dev/ttyACM0
        - /dev/ttyUSB0
  optix:
    argparse:
      required: true
    chrono-conda:
      volumes:
        - "@{optix}:/opt/optix-7.2"
  singularity:
    argparse:
      action: 'store_true'
    all:
      singularity:
        sudo_override: False
        network:
          enable: true
          allocate_ip: false
          mode: "bridge"
        start:
          options:
            - contain
            - writable
        build:
          options:
            - force
            - sandbox
external:
  db:
    files:
      - name: "ATK-02-25-2022-04-30-30"
        id: "1rmO5F8yrIP61W409IxPI-ETzInRyV3rR"
        output: "@{project_root}/demos/bags/ATK-02-25-2022-04-30-30"
      - name: "ATK-02-25-2022-03-19-00"
        id: "1bHY8xFsCbtEuF2PTdwS7qdTPV0z479hZ"
        output: "@{project_root}/demos/bags/ATK-02-25-2022-03-19-00"
      - name: "pytorch-aarch64"
        id: "1XEvtAMeOAJQx9kQoRhVNdZt07L4y1d-D"
        output: "@{project_root}/containers/nx/scripts/pytorch/torch-1.9.0-python3.8-aarch64"
services:
  dev: &dev_service
    image: "atk/@{project}:dev"
    hostname: "@{project}-dev"
    container_name: "@{project}-dev"
    build: &dev_build
      context: "./"
      dockerfile: "./containers/dev/dev.dockerfile"
      network: "host"
      args: &dev_build_args
        PROJECT: "@{project}"
        USER_UID: "@{uid}"
        USER_GID: "@{gid}"
        APT_DEPENDENCIES: "bash zsh vim git git-lfs python3-pip python3-tk python3-opencv"
        PIP_REQUIREMENTS: "wa_simulator pandas matplotlib numpy>=1.19 opencv-python tornado black Pillow torch torchvision pyserial"
        USER_GROUPS: "dialout video"
    environment:
      DISPLAY: vnc:0.0
      NVIDIA_VISIBLE_DEVICES: "all"
      NVIDIA_DRIVER_CAPABILITIES: "all"
    volumes:
     - "@{project_root}:/home/@{container_username}/@{project}"
    tty: true
    working_dir: "/home/@{container_username}/@{project}/workspace"
  nx:
    <<: *dev_service
    image: "atk/@{project}:nx"
    hostname: "@{project}-nx"
    container_name: "@{project}-nx"
    build:
      <<: *dev_build
      args:
        <<: *dev_build_args
        CONTAINERNAME: "nx"
  vnc:
    image: "atk/@{project}:vnc"
    hostname: "@{project}-vnc"
    container_name: "@{project}-vnc"
    build:
      context: "./containers/vnc"
      dockerfile: "./vnc.dockerfile"
      network: "host"
      args:
        VNC_PASSWORD: "@{project}"
        RUN_XTERM: "yes"
        RUN_FLUXBOX: "yes"
    environment:
      RUN_XTERM: no
      RUN_FLUXBOX: yes
    ports:
      - "8080:8080"
      - "5900:5900"
  chrono:
    image: "atk/@{project}:chrono"
    hostname: "@{project}-chrono"
    container_name: "@{project}-chrono"
    build:
      context: ./containers/chrono
      dockerfile: ./chrono.dockerfile
      network: "host"
      args:
        USERNAME: "@{project}"
        USERHOME: "/home/@{container_username}"
        USERSHELL: "bash"
        USERSHELLPATH: "/bin/bash"
        USERSHELLPROFILE: "/home/@{container_username}/.bashrc"
        APT_DEPENDENCIES: "libirrlicht-dev libnvidia-gl-495"
        CONDA_CHANNELS: "aryoung5 anaconda conda-forge"
        CONDA_DEPENDENCIES: "python=3.8.12 pip pychrono cudatoolkit anaconda-client conda-build"
        PIP_DEPENDENCIES: ""
    environment:
      USER_UID: "@{uid}"
      USER_GID: "@{gid}"
      NVIDIA_VISIBLE_DEVICES: "all"
      NVIDIA_DRIVER_CAPABILITIES: "all"
    ports:
      - "50000:50000"
    working_dir: "/home/@{container_username}/@{project}/sim"
    volumes:
      - "@{project_root}:/home/@{container_username}/@{project}"
    tty: true
  chrono-conda:
    image: "atk/@{project}:chrono-conda"
    build:
      context: ./containers/chrono-conda
      dockerfile: ./chrono-conda.dockerfile
      network: "host"
      args:
        APT_DEPENDENCIES: "libirrlicht-dev vim ccache libeigen3-dev xorg xauth libxxf86vm-dev freeglut3-dev openbox libglfw3-dev"
        CONDA_CHANNELS: "anaconda conda-forge"
        CONDA_DEPENDENCIES: "python=3.8.12 pip pychrono cudatoolkit anaconda-client conda-build"
        PIP_DEPENDENCIES: ""
networks:
  default:
    name: "@{project}"