initial commit for open source v1.0.0

.dockerignore

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+./data
+./resources

.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# Other auto-generated files
+*.~undo-tree~
+
+
+
+/data/
+/resources/unity/

Dockerfile

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+FROM nvidia/cudagl:11.3.1-devel-ubuntu20.04
+
+ENV VIRTUALGL_VERSION 2.5.2
+ARG NUM_BUILD_CORES
+
+# Install all apt dependencies
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata
+RUN apt-get update && apt-get install -y software-properties-common
+# Add ppa for python3.8 install
+RUN apt-add-repository -y ppa:deadsnakes/ppa
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
+    curl ca-certificates cmake git python3.8 python3.8-dev \
+    xvfb libxv1 libxrender1 libxrender-dev gcc-10 g++-10 libgeos-dev \
+    libboost-all-dev libcgal-dev ffmpeg python3.8-tk \
+    texlive texlive-latex-extra dvipng cm-super \
+    libeigen3-dev ninja-build wget
+
+
+# Install VirtualGL
+RUN curl -sSL https://downloads.sourceforge.net/project/virtualgl/"${VIRTUALGL_VERSION}"/virtualgl_"${VIRTUALGL_VERSION}"_amd64.deb -o virtualgl_"${VIRTUALGL_VERSION}"_amd64.deb && \
+	dpkg -i virtualgl_*_amd64.deb && \
+	/opt/VirtualGL/bin/vglserver_config -config +s +f -t && \
+	rm virtualgl_*_amd64.deb
+
+
+# Install python dependencies
+RUN curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py && python3 get-pip.py && rm get-pip.py
+COPY modules/requirements.txt requirements.txt
+RUN pip3 install -r requirements.txt
+RUN pip3 install torch==2.0.0+cu118 torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
+RUN pip install torch_geometric -f https://data.pyg.org/whl/torch-2.0.0+cu118.html
+RUN pip3 install captum
+
+# Needed for using matplotlib without a screen
+RUN echo "backend: TkAgg" > matplotlibrc
+
+# Use gcc-10 and g++-10
+RUN update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-10 10 && \
+	update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-10 10
+
+# Build GTSAM && Build vertexnav_accel
+RUN git clone https://github.com/borglab/gtsam.git && \
+	cd gtsam && git checkout tags/4.1.1 && \
+	mkdir build && cd build && \
+	cmake .. && make -j${NUM_BUILD_CORES} install
+COPY modules/vertexnav_accel modules/vertexnav_accel
+RUN pip3 install modules/vertexnav_accel
+
+
+# Copy and install the remaining code
+COPY modules/conftest.py modules/conftest.py
+COPY modules/setup.cfg modules/setup.cfg
+
+COPY modules/lsp_accel modules/lsp_accel
+RUN pip3 install modules/lsp_accel
+
+COPY modules/common modules/common
+RUN pip3 install modules/common
+COPY modules/example modules/example
+RUN pip3 install modules/example
+COPY modules/learning modules/learning
+RUN pip3 install modules/learning
+COPY modules/gridmap modules/gridmap
+RUN pip3 install modules/gridmap
+COPY modules/unitybridge modules/unitybridge
+RUN pip3 install modules/unitybridge
+COPY modules/environments modules/environments
+RUN pip3 install modules/environments
+COPY modules/vertexnav modules/vertexnav
+RUN pip3 install modules/vertexnav
+COPY modules/lsp modules/lsp
+RUN pip3 install modules/lsp
+COPY modules/lsp_xai modules/lsp_xai
+RUN pip3 install modules/lsp_xai
+COPY modules/lsp_gnn modules/lsp_gnn
+RUN pip3 install modules/lsp_gnn
+COPY modules/vertexnav_lsp modules/vertexnav_lsp
+RUN pip3 install modules/vertexnav_lsp
+COPY modules/mrlsp modules/mrlsp
+RUN pip3 install modules/mrlsp
+COPY modules/mrlsp_accel modules/mrlsp_accel
+RUN pip3 install modules/mrlsp_accel
+COPY modules/lsp_select modules/lsp_select
+RUN pip3 install modules/lsp_select
+
+# Set up the starting point for running the code
+COPY entrypoint.sh /entrypoint.sh
+RUN chmod 755 /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]

LICENSE

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+MIT License
+
+Copyright (c) 2021 Gregory J. Stein
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.