Dockerfile.converter

# Copyright (C) 2025, Raffaello Bonghi <raffaello@rnext.it>
# All rights reserved
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# 1. Redistributions of source code must retain the above copyright 
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in the
#    documentation and/or other materials provided with the distribution.
# 3. Neither the name of the copyright holder nor the names of its 
#    contributors may be used to endorse or promote products derived 
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 
# CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, 
# BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
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# HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
# OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
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# EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

# Converter from sdf to usd based from gz-usd
# https://github.com/gazebosim/gz-usd

FROM ubuntu:24.04

RUN apt-get update && apt-get install -y \
    build-essential \
    git \
    wget \
    curl \
    unzip \
    libpyside2-dev \
    python3-opengl \
    cmake \
    libglu1-mesa-dev \
    freeglut3-dev \
    mesa-common-dev \
    && rm -rf /var/lib/apt/lists/*

# Install CMake 3.22.1
RUN wget https://github.com/Kitware/CMake/releases/download/v3.22.1/cmake-3.22.1-linux-x86_64.sh \
    && chmod +x cmake-3.22.1-linux-x86_64.sh \
    && ./cmake-3.22.1-linux-x86_64.sh --skip-license --prefix=/usr/local \
    && rm cmake-3.22.1-linux-x86_64.sh

RUN git clone --depth 1 -b v24.08 https://github.com/PixarAnimationStudios/OpenUSD.git /opt/OpenUSD

ENV USD_PATH=/opt/install
RUN mkdir -p ${USD_PATH}

WORKDIR /opt/OpenUSD

# Build USD
RUN python3 build_scripts/build_usd.py --build-variant release --no-tests --no-examples --no-imaging --onetbb --no-tutorials --no-docs --no-python ${USD_PATH}

ENV PATH=$USD_PATH/bin:$PATH
ENV LD_LIBRARY_PATH=$USD_PATH/lib
ENV CMAKE_PREFIX_PATH=$USD_PATH

RUN apt-get update && apt-get install -y \
    lsb-release \
    gnupg \
    && rm -rf /var/lib/apt/lists/*

RUN curl -sSL https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
    && apt-get update \
    && DEBIAN_FRONTEND=noninteractive apt-get install -y ignition-fortress

RUN apt-get update && apt-get install -y \
    libgz-cmake4-dev libgz-common6-dev libgz-utils3-dev libsdformat15-dev libsdformat15 \
    && rm -rf /var/lib/apt/lists/*

ARG GZ_VERSION=fortress
ENV GZ_VERSION=${GZ_VERSION}

RUN git clone https://github.com/gazebosim/gz-usd /opt/gz-usd

WORKDIR /opt/gz-usd
RUN mkdir build && cd build \
    && cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local \
    && make \
    && make install

ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

# Waiting reply from https://github.com/gazebosim/gz-usd/pull/10
# how to use:
# docker build -t nanosaur/simulation:converter -f Dockerfile.converter .
# docker run -it --rm -v nanosaur_simulation:/simulation nanosaur/simulation:converter bash
# SDF_PATH="models" IGN_FILE_PATH="models" sdf2usd worlds/lab.sdf lab.usd