From f3bf74a545de69b9e8350d3b6970362d9693a20c Mon Sep 17 00:00:00 2001
From: Nathan Brooks <nathanbrooks@picknik.ai>
Date: Mon, 2 Sep 2024 16:25:22 -0600
Subject: [PATCH] Add Chance's Dockerfile changes to include Nvidia container
 toolkit to test Mujoco rendering performance with Nvidia GPU inside Docker
 container

---
 Dockerfile | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/Dockerfile b/Dockerfile
index 24e4e2a5..c578936b 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -49,6 +49,25 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
       /home/${USERNAME}/.ros && \
     chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
 
+ENV DEBIAN_FRONTEND=noninteractive
+# Add wget
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get install --no-install-recommends -y software-properties-common wget
+
+# Add cuda toolkit
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    wget -q https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-ubuntu2204.pin && \
+    mv cuda-ubuntu2204.pin /etc/apt/preferences.d/cuda-repository-pin-600 && \
+    wget -q https://developer.download.nvidia.com/compute/cuda/12.5.1/local_installers/cuda-repo-ubuntu2204-12-5-local_12.5.1-555.42.06-1_amd64.deb && \
+    dpkg -i cuda-repo-ubuntu2204-12-5-local_12.5.1-555.42.06-1_amd64.deb && \
+    cp /var/cuda-repo-ubuntu2204-12-5-local/cuda-*-keyring.gpg /usr/share/keyrings/ && \
+    apt-get update && \
+    apt-get --no-install-recommends -y install cuda-toolkit-12-5
+
 # Install additional dependencies
 # You can also add any necessary apt-get install, pip install, etc. commands at this point.
 # NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.