Add docker folder with Dockerfile and readme

Finalize docker container for the deepbots

Removing the white space at the end of the files

Author: NikosKokkinis

docker/Dockerfile

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+FROM nvidia/cudagl:11.0-devel-ubuntu20.04
+ARG DEBIAN_FRONTEND=noninteractive
+
+ARG PYTHON_VERSION=3.8
+
+ARG branch
+
+# Install ubuntu libaries
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends build-essential cmake pkg-config \
+        libfreetype6-dev git nano wget curl vim ca-certificates unzip libjpeg-dev \
+        libpng-dev libosmesa6-dev software-properties-common xvfb gpg-agent
+
+# Install miniconda
+RUN curl -o ~/miniconda.sh -O  https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh  && \
+     chmod +x ~/miniconda.sh && \
+     ~/miniconda.sh -b -p /opt/conda && \
+     rm ~/miniconda.sh && \
+     /opt/conda/bin/conda update -n base -c defaults conda && \
+     /opt/conda/bin/conda install -y python=$PYTHON_VERSION setuptools patchelf && \
+     /opt/conda/bin/conda clean -ya
+ENV PATH /opt/conda/bin:$PATH
+
+
+# Env vars for the nvidia-container-runtime.
+ENV PATH /usr/local/cuda/bin/:$PATH
+ENV LD_LIBRARY_PATH /usr/local/cuda/lib:/usr/local/cuda/lib64
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES compute,utility
+LABEL com.nvidia.volumes.needed="nvidia_driver"
+
+# Install weebots
+RUN wget -qO- https://cyberbotics.com/Cyberbotics.asc | apt-key add -
+RUN apt-add-repository 'deb https://cyberbotics.com/debian/ binary-amd64/' && \
+    apt-get update &&  apt-get install -y webots
+
+# Save enviroment libraries
+ENV WEBOTS_HOME /usr/local/webots
+ENV LD_LIBRARY_PATH $WEBOTS_HOME/lib/controller:$LD_LIBRARY_PATH
+
+
+ADD requirements.txt .
+# Install python dependencies
+RUN pip install -r requirements.txt
+
+RUN if [ $branch = "dev" ]; then pip install -i https://test.pypi.org/simple/ deepbots ; else pip install deepbots ; fi
+
+RUN pip install 'ray[tune]' 'ray[rllib]'
+
+# Fix the error of the custome enviroment on Ray
+ADD preprocessors.py .
+RUN cp -r preprocessors.py opt/conda/lib/python3.8/site-packages/ray/rllib/models/
+RUN rm preprocessors.py
+
+
+WORKDIR /workspace
+RUN chmod -R a+w /workspace

docker/README.md

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+# Use the Docker of the deepbots
+
+## In case you would like to add other functionalities/libraries on the docker:
+
+* Edit the Dockerfile
+* Build the docker image using below commands
+* Building argument ```branch``` specify the ```dev``` or the ```master``` branch of deepbots.
+
+### Building and tagging a Docker image:
+```bash
+$ docker build -t yourusername/repository-name --build-arg branch=dev .
+```
+
+## Pull the existing image from DockerHub
+
+```bash
+$ docker pull nickok/deepbots-dev
+```
+
+## For the use of Cuda on your docker container
+
+You should install NVIDIA Container Toolkit on your ```host``` machine.
+
+1) Setup the stable repository and the GPG key:
+``` bash
+$ distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
+   && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \
+   && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
+```
+2) Install the nvidia-docker2 package (and dependencies) after updating the package listing:
+
+``` bash
+$ sudo apt-get update
+```
+
+``` bash
+$ sudo apt-get install -y nvidia-docker2
+```
+
+Restart the Docker daemon to complete the installation after setting the default runtime:
+``` bash
+$ sudo sudo systemctl restart docker
+```
+
+
+
+## Run docker
+
+### Use docker with ```cpu```
+Mount Webots project and run it on interactive Docker container:
+```bash
+$ docker run -it -v /absolute/path/to/webots/project:/workspace/name-of-project nickok/deepbots-dev
+```
+
+### Use docker with ```cuda``` (GPU)
+``` bash
+$ docker run --rm --gpus all run -it -v /absolute/path/to/webots/project:/workspace/name-of-project nickok/deepbots
+```
+
+After starting the docker container you can start Webots headlessly using xvfb:
+```bash
+$ xvfb-run webots --stdout --stderr --batch --no-sandbox --mode=fast /path/to/your/world/file
+
+```
+
+Start Webots headlessly using xvfb and save the output at out.txt:
+```bash
+$ xvfb-run webots --stdout --stderr --batch --no-sandbox --mode=fast /path/to/your/world/file &> out.txt &
+```