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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved. | ||
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name: Docker - Build VLFM Docker | ||
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on: | ||
pull_request: | ||
paths: | ||
- ".github/workflows/docker.yml" | ||
- "docker/**" | ||
push: | ||
branches: | ||
- 'main' | ||
paths: | ||
- ".github/workflows/docker.yml" | ||
- "docker/**" | ||
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concurrency: | ||
group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} | ||
cancel-in-progress: true | ||
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env: | ||
# Use docker.io for Docker Hub if empty | ||
REGISTRY: ghcr.io | ||
# github.repository as <account>/<repo> | ||
IMAGE_NAME: ghcr.io/bdaiinstitute/bdaii_vlfm | ||
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jobs: | ||
build: | ||
name: docker_vlfm | ||
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runs-on: | ||
group: bdai-gh-large-runners | ||
permissions: | ||
contents: read | ||
packages: write | ||
# This is used to complete the identity challenge | ||
# with sigstore/fulcio when running outside of PRs. | ||
id-token: write | ||
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steps: | ||
- name: Checkout repository | ||
uses: actions/checkout@v3 | ||
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# Workaround: https://github.com/docker/build-push-action/issues/461 | ||
- name: Setup Docker buildx | ||
uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf | ||
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# Login against a Docker registry except on PR | ||
# https://github.com/docker/login-action | ||
- name: Log into registry ${{ env.REGISTRY }} | ||
if: github.event_name != 'pull_request' | ||
uses: docker/login-action@28218f9b04b4f3f62068d7b6ce6ca5b26e35336c | ||
with: | ||
registry: ${{ env.REGISTRY }} | ||
username: ${{ github.actor }} | ||
password: ${{ secrets.GITHUB_TOKEN }} | ||
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# Extract metadata (tags, labels) for Docker | ||
# https://github.com/docker/metadata-action | ||
- name: Extract Docker metadata | ||
id: meta | ||
uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38 | ||
with: | ||
images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }} | ||
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# Build and push Docker image with Buildx (don't push on PR) | ||
# https://github.com/docker/build-push-action | ||
- name: Build and push Docker image | ||
id: build-and-push | ||
uses: docker/build-push-action@ac9327eae2b366085ac7f6a2d02df8aa8ead720a | ||
with: | ||
context: ./docker | ||
file: ./docker/Dockerfile | ||
push: ${{ github.event_name != 'pull_request' }} | ||
tags: ${{ steps.meta.outputs.tags }} | ||
labels: ${{ steps.meta.outputs.labels }} | ||
cache-from: type=gha | ||
cache-to: type=gha,mode=max |
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FROM ubuntu:22.04 | ||
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ENV DEBIAN_FRONTEND=noninteractive | ||
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RUN apt-get update \ | ||
&& apt-get install --no-install-recommends -qy curl apt-transport-https gnupg \ | ||
sudo ca-certificates git software-properties-common \ | ||
build-essential \ | ||
libgl1-mesa-dev libjpeg-dev libglm-dev libgl1-mesa-glx \ | ||
libegl1-mesa-dev mesa-utils xorg-dev freeglut3-dev \ | ||
&& rm -rf /var/lib/apt/lists/* \ | ||
&& apt-get clean all | ||
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RUN add-apt-repository ppa:deadsnakes/ppa -y \ | ||
&& apt-get update \ | ||
&& apt-get install --no-install-recommends -qy python3.9-dev \ | ||
python3-pip python-is-python3 \ | ||
&& rm -rf /var/lib/apt/lists/* \ | ||
&& apt-get clean all | ||
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# Set Python and C_INCLUDE_PATH environment variables | ||
ENV PYTHON=/usr/bin/python3.9 | ||
ENV C_INCLUDE_PATH=/usr/include/python3.9 | ||
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# Install the required Python packages | ||
RUN pip install torch>=1.10.1 \ | ||
numpy>=1.22.4 \ | ||
flask>=2.3.2 \ | ||
seaborn>=0.12.2 \ | ||
open3d>=0.17.0 \ | ||
transformers==4.26.0 \ | ||
salesforce-lavis>=1.0.2 \ | ||
git+https://github.com/naokiyokoyama/frontier_exploration.git \ | ||
git+https://github.com/ChaoningZhang/MobileSAM.git \ | ||
git+https://github.com/naokiyokoyama/depth_camera_filtering \ | ||
pre-commit>=3.1.1 \ | ||
pytest>=7.2.1 \ | ||
pytest-cov>=4.0.0 \ | ||
git+https://github.com/facebookresearch/[email protected] \ | ||
habitat-baselines==0.2.420230405 \ | ||
habitat-lab==0.2.420230405 \ | ||
git+https://github.com/naokiyokoyama/bd_spot_wrapper.git \ | ||
bosdyn-client>=3.3.2 \ | ||
bosdyn-api>=3.3.2 \ | ||
six>=1.16.0 |