From f6340245af802e15d63703e1901d6c3e0361d388 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Sat, 21 Sep 2024 19:11:53 +0200
Subject: [PATCH] dockerfile sufficess for basic functionality, now i need to
figure out how to expose meshcat ports and how to open up matplotlib windows.
---
Dockerfile | 12 ++++++++++++
TODOS_2024_09_19 | 3 ++-
docs/pinocchio.md | 6 ++++++
3 files changed, 20 insertions(+), 1 deletion(-)
diff --git a/Dockerfile b/Dockerfile
index 0581e60..022449b 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -5,7 +5,19 @@ WORKDIR /usr/local/ur_simple_control
COPY . .
RUN apt update && apt upgrade
+RUN apt install -y python3 \
+ python3-pip
+
+# this is enough to run clik
+RUN pip install -e ./python/
+RUN pip install pin matplotlib meshcat ur_rtde \
+ qpsolvers ecos
# open up meshcat ports
# make this a range
+# TODO: figure out how to actually expose meshcat,
+# this isn't enough
EXPOSE 7000
+
+# TODO: figure out what's needed to be able to open
+# matplotlib windows!
diff --git a/TODOS_2024_09_19 b/TODOS_2024_09_19
index 167f297..fb31c5e 100644
--- a/TODOS_2024_09_19
+++ b/TODOS_2024_09_19
@@ -21,7 +21,8 @@ goal 2: clean up the code
1. do all reading and updating into the local class in the step() function --> remove the rest
2. fix logging a bit (add a function which combines logs of different runs
of a 'session' or at least names all logs in a run)
-3. stop asap
+3. stop doing minor bs asap
+4. merge to main
then finish goal 2 by making the docs & tutorialss
diff --git a/docs/pinocchio.md b/docs/pinocchio.md
index ba31652..b7b26b2 100644
--- a/docs/pinocchio.md
+++ b/docs/pinocchio.md
@@ -14,3 +14,9 @@ and calculating jacobian functions, and do ther rest of the math with eigen or n
# how to learn how to use pinocchio?
follow exercises and tutorials from the pinocchio documentation webiste, play around with it in ipython3 (a nicer
shell than plain python, install with sudo apt-get install ipython3)
+
+## NOTE
+--------
+if using own compilation of pinocchio, make sure you compile with mpi
+and whatever else is needed to run algorithms in parallel.
+you won't be able to run in 500Hz otherwise
--
GitLab