diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d7d7306b0e775e149bccb25b53f81f567777893
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,3 @@
+{
+ "ros.distro": "noetic"
+}
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index b59b614b6032fa2bb5dc2cf66ee21a3f9644d530..bf37c5952aaf36d155d705c1ec974f9de3b1f66b 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,51 +1,88 @@
FROM tensorflow/tensorflow:latest-gpu
-ENV ROS_DISTRO=${ROS_DISTRO}
+ENV ROS_DISTRO=noetic
+SHELL ["/bin/bash", "-c"]
# install essentials
RUN apt update && apt install -q -y \
build-essential git swig sudo libcppunit-dev curl wget
- # python-future
-# install ros
-## setup sources.list
+# INSTALLATION ROS
RUN echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > \
/etc/apt/sources.list.d/ros-latest.list
-
+## setup key
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-
-# install bootstrap tools
+## downdload and install ------------------ takes long!!
RUN apt update && apt install -y \
- python3-rosdep \
- python3-rosinstall \
- python3-wstool \
- python3-rosinstall-generator \
- python3-vcstools \
- python3-catkin-tools \
+ ros-${ROS_DISTRO}-desktop-full \
&& rm -rf /var/lib/apt/lists/*
+## source in bashrc
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
+RUN source ~/.bashrc
+
+# INSTALLATION PYTHON PACKAGES
+RUN apt update && apt install -y \
+ python3-rosdep python3-rosinstall \
+ python3-rosinstall-generator python3-wstool
-RUN rosdep init \
- && rosdep update
+RUN pip install --upgrade pip
+RUN pip install --upgrade numpy numpy-quaternion==2020.5.11.13.33.35 wstool
+RUN pip install future panda-robot pynput numba scipy gym tensorflow-probability
+RUN apt-get update && apt-get upgrade -y
+# INSTALLATION ROS PACKAGES
RUN apt update && apt install -y \
- ros-noetic-desktop-full \
- && rm -rf /var/lib/apt/lists/*
+ ros-${ROS_DISTRO}-libfranka ros-${ROS_DISTRO}-franka-ros \
+ ros-${ROS_DISTRO}-gazebo-ros-control \
+ ros-${ROS_DISTRO}-rospy-message-converter \
+ ros-${ROS_DISTRO}-effort-controllers \
+ ros-${ROS_DISTRO}-joint-state-controller \
+ python3-catkin-tools \
+ ros-${ROS_DISTRO}-ros-control \
+ ros-${ROS_DISTRO}-ros-controllers \
+ gazebo11\
+ libgazebo11-dev \
+ ros-${ROS_DISTRO}-combined-robot-hw
+
+
+# MAKE + SOURCE CATKIN WORKSPACE + ROS DEP INIT
+RUN mkdir -p home/panda_ws/src
+WORKDIR "/home/panda_ws"
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && catkin build && source devel/setup.bash"
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && rosdep init && rosdep update && rosdep fix-permissions && rosdep update"
+
+## SET UP SSH KEY FOR GIT
+ARG ssh_prv_key
+ARG ssh_pub_key
+# authorize SSH Host
+RUN mkdir -p /root/.ssh && \
+ chmod 700 /root/.ssh && \
+ ssh-keyscan gitlab.bht-berlin.de > /root/.ssh/known_hosts
+# add the keys and set permissions
+RUN echo "$ssh_prv_key" > /root/.ssh/id_rsa && \
+ echo "$ssh_pub_key" > /root/.ssh/id_rsa.pub && \
+ chmod 600 /root/.ssh/id_rsa && \
+ chmod 600 /root/.ssh/id_rsa.pub
+
+
+
+arg adfsasdd
+
+
+## CLONE ROS PACKAGES
+RUN cd src && git clone git@gitlab.bht-berlin.de:bachelor_ws/panda_control.git
+RUN cd src && git clone git@gitlab.bht-berlin.de:bachelor_ws/panda_openai.git
+RUN cd src && git clone git@gitlab.bht-berlin.de:bachelor_ws/panda_simulator.git
+RUN cd src && git clone https://bitbucket.org/theconstructcore/theconstruct_msgs.git
+# next clones are in build_ws.sh
+# RUN cd src && git clone git@gitlab.bht-berlin.de:bachelor_ws/franka_panda_description.git
+# RUN cd src && git clone https://github.com/JustaGist/franka_ros_interface --branch v0.7.1-dev
+# RUN cd src && git clone https://github.com/orocos/orocos_kinematics_dynamics
+
+# script which ros depend and builds
+RUN cd src/panda_simulator && ./build_ws.sh
-# RUN sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-# RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-# RUN apt-get install ros-noetic-desktop-full
-# RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
-# RUN source ~/.bashrc
-#
-## install ros packages
-#RUN apt-get update && apt-get install -y \
-# ros-$ROS_DISTRO-libfranka ros-$ROS_DISTRO-franka-ros \
-# python-catkin-tools ros-$ROS_DISTRO-gazebo-ros-control \
-# ros-${ROS_DISTRO}-rospy-message-converter ros-${ROS_DISTRO}-effort-controllers \
-# ros-${ROS_DISTRO}-joint-state-controller python-pip
-#
-## install python packages
-#RUN pip install --upgrade pip
-#RUN pip install --upgrade numpy numpy-quaternion==2020.5.11.13.33.35
-#RUN apt-get update && apt-get upgrade -y
+## run simulation through script
+COPY start_docker.sh start_docker.sh
+CMD ./start_docker.sh
diff --git a/start_docker.sh b/start_docker.sh
new file mode 100755
index 0000000000000000000000000000000000000000..4c741dab95340f000fbe590368673f5c9493e7ac
--- /dev/null
+++ b/start_docker.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+
+# Start the primary process and put it in the background
+source devel/setup.bash
+roslaunch panda_control panda_world.launch &
+
+sleep 5
+
+# Start the helper process
+rosrun panda_control panda_control.py &
+
+sleep 5
+
+rosrun panda_openai agent_pg.py
+
+# the my_helper_process might need to know how to wait on the
+# primary process to start before it does its work and returns
+
+