Dockerfile

FROM ubuntu:jammy

LABEL org.opencontainers.image.authors="marko.guberina@control.lth.se"

# install python3-tk without questions
ARG DEBIAN_FRONTEND=noninteractive
ENV TZ=Europe/Stockholm

RUN apt-get update && apt-get install -y --no-install-recommends \
        python3  \
        python3-pip \
        python3-tk \
        ipython3 \
        git \
        sudo \
        man-db \
        manpages-posix \
        iputils-ping \
        arp-scan \
        # nice to have
#        python3-opencv \
        vim \
        vim-addon-manager \
        vim-youcompleteme \
        vim-python-jedi \
        zsh \
        zsh-syntax-highlighting \
        libarchive-tools \
        python3-python-qt-binding 
        
# qt-binding is a really unnecessary 300MB, but i don't want
# to do more matplotlib hacks

RUN sed -i 's:^path-exclude=/usr/share/man:#path-exclude=/usr/share/man:' \
        /etc/dpkg/dpkg.cfg.d/excludes
RUN yes | unminimize 

# make the environment more usable
# create user
RUN useradd -m -s /bin/zsh -G sudo -u 1000 student

WORKDIR /home/student/
RUN passwd -d student
USER student
# copy repo to workdir
RUN mkdir SimpleManipulatorControl
COPY --chown=student . ./SimpleManipulatorControl
RUN mkdir -p .cache/zsh/
COPY --chown=student /dot_files_for_docker/.vimrc /home/student/
COPY --chown=student /dot_files_for_docker/.zshrc /home/student/
COPY --chown=student /dot_files_for_docker/global_extra_conf.py /home/student/

RUN vam install python-jedi && vam install youcompleteme

# sh does not have sourcing 
# and some packages (conda) want shell environment variables 
# (which i can say a lot about, but can't do anything about)
# ((the only reason to even use conda is to not have to compile pinocchio))
SHELL ["/bin/bash", "--login", "-c"]
#SHELL ["/bin/bash"]

# this is enough to run clik
WORKDIR /home/student/
USER student
# TODO: install casadi and pinochio 3.0+
# TODO: verify this stuff below works
# --> this can be done with conda
RUN mkdir -p ~/miniconda3
RUN wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O /home/student/miniconda3/miniconda.sh
RUN bash /home/student/miniconda3/miniconda.sh -b -u -p ~/miniconda3
RUN rm /home/student/miniconda3/miniconda.sh
ENV PATH=/home/student/miniconda3/bin:$PATH
RUN source /home/student/miniconda3/bin/activate
RUN pip install -e ./SimpleManipulatorControl/python/
RUN conda config --add channels conda-forge 
#RUN conda install --solver=classic conda-forge::conda-libmamba-solver conda-forge::libmamba conda-forge::libmambapy conda-forge::libarchive
RUN conda install -y casadi opencv
RUN conda install --solver=classic -y pinocchio -c conda-forge
RUN pip install matplotlib meshcat ur_rtde \
                qpsolvers ecos example_robot_data meshcat_shapes