Build latest

opensim-core/opensim-cpp/dockerfile-ubuntu

@@ -1,15 +1,19 @@
-FROM stanfordnmbl/opensim-deps
+FROM stanfordnmbl/opensim-deps:latest
 
 LABEL maintainer="Ayman Habib"
 
 # Build cpp only libraries and cli for opensim-core no bindings
 RUN mkdir opensim_build \
     && cd opensim_build \
-    && cmake ../opensim-core \
+    && cmake ../opensim-core -LAH \
       -DCMAKE_INSTALL_PREFIX=$OPENSIM_INSTALL -DOPENSIM_DEPENDENCIES_DIR=$OPENSIM_DEPENDENCIES_HOME \
-      -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_TESTING=OFF \
+      -DOPENSIM_C3D_PARSER=ezc3d -DOPENSIM_WITH_TROPTER=OFF -DOPENSIM_WITH_CASADI=OFF -DBUILD_TESTING=OFF \
     && make -j8 \
     && make install \
     && rm -rf ../opensim_build
 
+# Set LD_LIBRARY_PATH so pyhton can load the shard libraries
+ENV LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$OPENSIM_DEPENDENCIES_HOME/simbody/lib:$OPENSIM_INSTALL/lib"
+ENV PATH=$PATH:"$OPENSIM_INSTALL/bin"
+
 # image stored at stanfordnmbl/opensim-cpp

opensim-core/opensim-cpp/moco-dockerfile-ubuntu

@@ -0,0 +1,19 @@
+FROM stanfordnmbl/opensim-deps:latest-with-moco
+
+LABEL maintainer="Ayman Habib"
+
+# Build cpp only libraries and cli for opensim-core no bindings
+RUN mkdir opensim_build \
+    && cd opensim_build \
+    && cmake ../opensim-core -LAH \
+      -DCMAKE_INSTALL_PREFIX=$OPENSIM_INSTALL -DOPENSIM_DEPENDENCIES_DIR=$OPENSIM_DEPENDENCIES_HOME \
+      -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_TESTING=OFF \
+    && make -j8 \
+    && make install \
+    && rm -rf ../opensim_build
+
+# Set LD_LIBRARY_PATH so pyhton can load the shard libraries
+ENV LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$OPENSIM_DEPENDENCIES_HOME/simbody/lib:$OPENSIM_INSTALL/lib"
+ENV PATH=$PATH:"$OPENSIM_INSTALL/bin"
+
+# image stored at stanfordnmbl/opensim-cpp

opensim-core/opensim-java/dockerfile-ubuntu

@@ -1,11 +1,12 @@
-FROM stanfordnmbl/opensim-deps
+FROM stanfordnmbl/opensim-deps:latest
 
 LABEL maintainer="Ayman Habib"
 
 # The following sets timezone to avoid prompt for timezone when installing packages
 ENV TZ=America/Los_Angeles
 RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
-RUN apt-get update && DEBIAN_FRONTEND=noninteractive && apt-get --yes install \
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive \
+        && apt-get --yes install \
         libpcre3 libpcre3-dev flex bison
 
 # install openjdk8
@@ -42,12 +43,15 @@ RUN mkdir opensim_build \
        && cd opensim_build \
        && cmake ../opensim-core \
         -DSWIG_DIR=~/swig/share/swig -DSWIG_EXECUTABLE=~/swig/bin/swig -DBUILD_JAVA_WRAPPING=ON -DBUILD_TESTING=OFF \
-        -DCMAKE_INSTALL_PREFIX=$OPENSIM_INSTALL -DOPENSIM_DEPENDENCIES_DIR=$OPENSIM_DEPENDENCIES_HOME \
+        -DOPENSIM_WITH_TROPTER=OFF -DOPENSIM_WITH_CASADI=OFF -DCMAKE_INSTALL_PREFIX=$OPENSIM_INSTALL -DOPENSIM_DEPENDENCIES_DIR=$OPENSIM_DEPENDENCIES_HOME \
         -DOPENSIM_C3D_PARSER=ezc3d -DSWIG_DOXYGEN=OFF \
        && make -j8 \
        && make install \
        && rm -rf ../opensim_build \
-       && rm -rf ~/opensim_dependencies_install \
-       && rm -rf $HOME/swig
+       && rm -rf $HOME/swig 
+
+# Set LD_LIBRARY_PATH so pyhton can load the shard libraries
+ENV LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$OPENSIM_DEPENDENCIES_HOME/simbody/lib:$OPENSIM_INSTALL/lib"
+ENV PATH=$PATH:"$OPENSIM_INSTALL/bin"
 
 # image stored at stanfordnmbl/opensim-java

opensim-core/opensim-python/dockerfile-ubuntu

@@ -1,4 +1,4 @@
-FROM stanfordnmbl/opensim-deps
+FROM stanfordnmbl/opensim-deps:latest
 
 LABEL maintainer="Ayman Habib"
 
@@ -34,15 +34,15 @@ RUN mkdir opensim_build \
             -DSWIG_DIR=~/swig/share/swig -DSWIG_EXECUTABLE=~/swig/bin/swig -DBUILD_PYTHON_WRAPPING=ON \
             -DCMAKE_INSTALL_PREFIX=$OPENSIM_INSTALL -DOPENSIM_DEPENDENCIES_DIR=$OPENSIM_DEPENDENCIES_HOME \
             -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_TESTING=OFF -DSWIG_DOXYGEN=OFF \
+            -DOPENSIM_WITH_TROPTER=OFF -DOPENSIM_WITH_CASADI=OFF \
             -DPYTHON_EXECUTABLE=/usr/bin/python3.8 \
             -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 \
             -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.8.so \
             -DPYTHON_NUMPY_INCLUDE_DIR=/usr/local/lib/python3.8/dist-packages/numpy/core/include \
         && make -j8 \
         && make install \
         && rm -rf ../opensim_build \
-        && rm -rf $HOME/swig \
-        && cp "$OPENSIM_DEPENDENCIES_HOME/adol-c/lib64/*.so*" "$OPENSIM_DEPENDENCIES_HOME/lib"
+        && rm -rf $HOME/swig 
 
 # Set LD_LIBRARY_PATH so pyhton can load the shard libraries
 ENV LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$OPENSIM_DEPENDENCIES_HOME/simbody/lib:$OPENSIM_INSTALL/lib"

opensim-core/opensim-python/moco-dockerfile-ubuntu

@@ -0,0 +1,55 @@
+FROM stanfordnmbl/opensim-deps:latest-with-moco
+
+LABEL maintainer="Ayman Habib"
+
+# The following sets timezone to avoid prompt for timezone when installing packages later
+ENV TZ=America/Los_Angeles
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+RUN apt-get update \
+        && DEBIAN_FRONTEND=noninteractive \
+        && apt-get --yes install \
+            software-properties-common \
+            python3.8 python3.8-dev python3.8-distutils python3.8-venv \
+            libpcre3 libpcre3-dev flex bison
+RUN wget https://bootstrap.pypa.io/get-pip.py \
+        && python3.8 get-pip.py \
+        && pip3.8 install numpy
+
+# install Swig from source then install
+RUN mkdir ~/swig-source && cd ~/swig-source \
+        && wget https://github.com/swig/swig/archive/refs/tags/rel-4.0.2.tar.gz \
+        && tar xzf rel-4.0.2.tar.gz \
+        && cd swig-rel-4.0.2 \
+        && sh autogen.sh \
+        && ./configure --prefix=$HOME/swig --disable-ccache \
+        && make \
+        && make -j4 install \
+        && rm -rf ~/swig-source 
+
+# Build and install opensim-core with python bindings
+RUN mkdir opensim_build \
+        && cd opensim_build \
+        && cmake ../opensim-core \
+            -DSWIG_DIR=~/swig/share/swig -DSWIG_EXECUTABLE=~/swig/bin/swig -DBUILD_PYTHON_WRAPPING=ON \
+            -DCMAKE_INSTALL_PREFIX=$OPENSIM_INSTALL -DOPENSIM_DEPENDENCIES_DIR=$OPENSIM_DEPENDENCIES_HOME \
+            -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_TESTING=OFF -DSWIG_DOXYGEN=OFF \
+            -DPYTHON_EXECUTABLE=/usr/bin/python3.8 \
+            -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 \
+            -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.8.so \
+            -DPYTHON_NUMPY_INCLUDE_DIR=/usr/local/lib/python3.8/dist-packages/numpy/core/include \
+        && make -j8 \
+        && make install \
+        && rm -rf ../opensim_build \
+        && rm -rf $HOME/swig 
+
+# Set LD_LIBRARY_PATH so pyhton can load the shard libraries
+ENV LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$OPENSIM_DEPENDENCIES_HOME/simbody/lib:$OPENSIM_INSTALL/lib"
+ENV PATH=$PATH:"$OPENSIM_INSTALL/bin"
+
+# Ideally we install the module but that doesn't work now, so we set PYTHONPATH instead
+ENV PYTHONPATH="$OPENSIM_INSTALL/lib/python3.8/site-packages"
+# RUN cd "$OPENSIM_INSTALL/lib/python3.8/site-packages" \
+#    && python3.8 setup.py install
+
+# image stored at stanfordnmbl/opensim-python

opensim-deps/dockerfile-ubuntu

@@ -15,14 +15,17 @@ ENV OPENSIM_INSTALL="/opensim_install"
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive && apt-get --yes --fix-missing install \
     git \
     build-essential libtool autoconf \
-    cmake cmake-curses-gui \
     wget \
     pkg-config \
     gfortran \
     freeglut3-dev \
     libxi-dev libxmu-dev liblapack-dev libopenblas-dev \
-    cmake cmake-curses-gui \
-    coinor-libipopt-dev libcolpack-dev
+    software-properties-common
+
+RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | apt-key add - \
+    && apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" \
+    && apt-get update \
+    && apt install --yes cmake cmake-curses-gui
 
 # This clones latest master, we should use tags for public releases
 RUN git clone https://github.com/opensim-org/opensim-core.git \
@@ -34,8 +37,8 @@ RUN mkdir opensim_dependencies_build \
     && cd opensim_dependencies_build \
     && cmake ../opensim-core/dependencies/ \
       -LAH -DCMAKE_INSTALL_PREFIX=$OPENSIM_DEPENDENCIES_HOME -DCMAKE_BUILD_TYPE=Release \
-      -DSUPERBUILD_ezc3d=ON -DSUPERBUILD_casadi=ON -DSUPERBUILD_adolc=ON -DSUPERBUILD_ipopt=ON \
-      -DSUPERBUILD_colpack=ON \
+      -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=OFF \
+      -DOPENSIM_WITH_CASADAI=OFF \
     && make -j8 \
     && rm -rf ../opensim_dependencies_build
 

opensim-deps/moco-dockerfile-ubuntu

@@ -0,0 +1,43 @@
+FROM ubuntu:18.04
+
+LABEL maintainer="Ayman Habib"
+
+# Prepare environment variables with paths used now and later (using absolute paths )
+
+# Set environment variable with the dependencies install directory
+ENV OPENSIM_DEPENDENCIES_HOME="/opensim_dependencies_install"
+
+# Set environment variable with the OpenSim install directory (will be used by child images)
+ENV OPENSIM_INSTALL="/opensim_install"
+
+# Set DEBIAN_FRONTEND to avoid interactive timezone prompt when installing
+# packages.
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive && apt-get --yes --fix-missing install \
+    git \
+    build-essential libtool autoconf \
+    wget \
+    pkg-config \
+    gfortran \
+    freeglut3-dev \
+    libxi-dev libxmu-dev liblapack-dev libopenblas-dev \
+    software-properties-common
+
+RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | apt-key add - \
+    && apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" \
+    && apt-get update \
+    && apt install --yes cmake cmake-curses-gui
+
+# This clones latest master, we should use tags for public releases
+RUN git clone https://github.com/opensim-org/opensim-core.git \
+    && cd /opensim-core \
+    && git checkout master \
+    && rm -rf .git
+
+RUN mkdir opensim_dependencies_build \
+    && cd opensim_dependencies_build \
+    && cmake ../opensim-core/dependencies/ \
+      -LAH -DCMAKE_INSTALL_PREFIX=$OPENSIM_DEPENDENCIES_HOME -DCMAKE_BUILD_TYPE=Release \
+      -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON -DSUPERBUILD_ezc3d=ON \
+    && make -j8 
+
+# images are stored in stanfordnmbl/opensim-deps