Feature/genesis sim

Dockerfile

@@ -1,23 +1,52 @@
 ARG ROS_DISTRO=humble
+ARG GENESIS_VER="0.2.1"
 
-FROM docker.io/osrf/ros:${ROS_DISTRO}-desktop
-
+# --------------------------------------------------------------------------- #
+FROM docker.io/osrf/ros:${ROS_DISTRO}-desktop as base
 WORKDIR /ws
 
-RUN apt-get update && \
-    apt-get install -y \
+RUN apt update \
+    && apt install -y \
         zsh \
-        ros-dev-tools && \
+        ros-dev-tools \
     # Setup workspace
-    git clone -b humble-devel https://github.com/AGH-CEAI/aegis_ros.git src/aegis_ros && \
-    vcs import src < src/aegis_ros/aegis/aegis.repos && \
+    && git clone -b humble-devel https://github.com/AGH-CEAI/aegis_ros.git src/aegis_ros \
+    && vcs import src < src/aegis_ros/aegis/aegis.repos \
     # Install dependencies
-    rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install --from-paths src -y -i && \
+    && rosdep update --rosdistro ${ROS_DISTRO} \
+    && rosdep install --from-paths src -y -i \
     # Size optimalization
-    export SUDO_FORCE_REMOVE=yes && \
-    apt-get autoremove -y && \
-    apt-get clean && \
-    rm -rf /var/lib/apt/lists/*
+    && export SUDO_FORCE_REMOVE=yes \
+    && apt autoremove -y \
+    && apt clean \
+    && rm -rf /var/lib/apt/lists/*
 
 CMD ["/bin/bash"]
+
+# --------------------------------------------------------------------------- #
+FROM base as learning
+WORKDIR /ws
+
+RUN apt update \
+    && apt install -y \
+        python3-pip \
+    && export SUDO_FORCE_REMOVE=yes \
+    && apt autoremove -y \
+    && apt clean \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN pip3 install \
+        torch==2.7.1+cu128 \
+	    torchvision==0.22.1+cu128\
+	    torchaudio==2.7.1+cu128 \
+	    --index-url https://download.pytorch.org/whl/cu128
+
+# --------------------------------------------------------------------------- #
+FROM learning AS genesis-sim
+ARG GENESIS_VER
+WORKDIR /ws
+
+RUN pip3 install \
+        genesis-world==${GENESIS_VER} \
+        # Downgrade libigl from a breaking change
+        "libigl==2.5.1"

README.md

@@ -19,8 +19,16 @@ Toolbox ([toolbx](https://containertoolbx.org/)) is a development tool to mitiga
 To enable GPU support in toolbx containers on Ubuntu 22/24 host [some manual updates](./docs/ubuntu_gpu_toolbx.md) are necessary.
 
 **Building**:
+Build and tag all 3 stages or build whole stack at once:
 ```bash
 podman build . -t ceai/aegis_dev:latest
+# OR
+./build.sh
+
+```
+then proceed to toolbox creation:
+
+```bash
 toolbox create --image localhost/ceai/aegis_dev:latest
 # Check available images
 toolbox list
@@ -30,3 +38,24 @@ toolbox list
 ```bash
 toolbox enter aegis_dev-latest
 ```
+
+#### Forwarding the X-session
+Podman does almost everything, there could be a problem with the magic cookie:
+```bash
+# 0. Setup proper display session inside the container
+# in host
+echo $DISPLAY
+# in toolbx
+export DISPLAY=<PASTE HERE>
+```
+If it doesn't work
+```bash
+# 0. Check /etc/hosts if there is a link for toolbx
+sudo echo "127.0.0.1    toolbx" >> /etc/hosts
+# 1. Check the MIT cookie for unix:10
+xauth list
+# 2. Duplicate the cookie for the toolbox
+xauth add toolbx/unix:10 MIT-MAGIC-COOKIE-1 <PASTE_HERE>
+# 3. You can now access the toolbx's X-session on a remote machine
+ssh -X remote-host
+```

build.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+podman build . --target base -t ceai/aegis_dev:base
+podman build . --target learning -t ceai/aegis_dev:learning
+podman build . --target genesis-sim -t ceai/aegis_dev:genesis-sim
+podman build . -t ceai/aegis_dev:latest
+