Add docker environment

Author: shaoanlu

Dockerfile

@@ -0,0 +1,26 @@
+# Use an official Python image with version 3.6+
+FROM python:3.10-slim
+
+# Set the working directory inside the container
+WORKDIR /app
+
+# Copy the application code into the container
+COPY . /app
+
+# Install required dependencies
+RUN apt-get update && apt-get install -y \
+    fontconfig \
+    fonts-dejavu-core \
+    x11-apps \
+    libx11-6 \
+    libxext6 \
+    libsm6 \
+    libxrender1 \
+    && rm -rf /var/lib/apt/lists/*
+RUN pip install --no-cache-dir numpy==1.26.4 scipy==1.13.1 osqp==0.6.7 pygame==2.6.1
+
+# Expose any required ports (if needed by pygame or other services)
+EXPOSE 8000
+
+# Set the default command to run the demo
+CMD ["python3", "demo.py"]

README.md

@@ -10,15 +10,28 @@ This Python program demonstrates the use of control barrier functions (CBFs) for
 
 ## Dependencies
 The program was developed and tested in the following environment.
-- Python 3.6+
+- Python 3.9+
 - `torch==1.8.1+cpu` (optional)
-- `osqp==0.6.2.post8`
-- `pygame==2.3.0`
-- `numpy==1.16.6`
-- `scipy==1.1.0`
+- `osqp==0.6.7`
+- `pygame==2.6.1`
+- `numpy==1.26.4`
+- `scipy==1.13.1`
 
 ## Usage
-### Execution
+### Execution in docker container (recommended)
+First, install Docker and Docker Compose using the [official install guide](https://docs.docker.com/engine/install/ubuntu/).
+
+Then, clone this repository and go into the project folder
+```bash
+git clone https://github.com/shaoanlu/CBF_QP_safety_filter.git
+cd CBF_QP_safety_filter
+```
+To run the application, build the docker image and launch the container
+```bash
+docker compose up --build
+```
+
+### Execution in local environment
 Run `demo.py` to start the simulation. A simple version w/ code generation is provided as `demo_codegen_osqp.py`.
 ```bash
 python demo.py  # a PyGame window will be spawn

docker-compose.yaml

@@ -0,0 +1,17 @@
+version: "3.8"
+services:
+  cbf_qp_playground:
+    build:
+      context: .
+      dockerfile: Dockerfile
+    container_name: cbf_qp_playground
+    ports:
+      - "8000:8000" # Adjust if any other port mapping is necessary
+    volumes:
+      - .:/app
+      - /tmp/.X11-unix:/tmp/.X11-unix # Share the X11 socket for GUI rendering
+    environment:
+      - DISPLAY=${DISPLAY} # Pass the host's display to the container
+      - SDL_VIDEODRIVER=x11 # Use X11 for PyGame
+    stdin_open: true
+    tty: true