content: ##
  ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
  ##
  ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
  ## property and proprietary rights in and to this material, related
  ## documentation and any modifications thereto. Any use, reproduction,
  ## disclosure or distribution of this material and related documentation
  ## without an express license agreement from NVIDIA CORPORATION or
  ## its affiliates is strictly prohibited.
  ##
  FROM nvcr.io/nvidia/pytorch:23.02-py3
  
  
  RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
  
  RUN apt-get update && apt-get install -y \
    tzdata \
    && rm -rf /var/lib/apt/lists/* \
    && ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
    && echo "America/Los_Angeles" > /etc/timezone \
    && dpkg-reconfigure -f noninteractive tzdata
  
  RUN apt-get update &&\
      apt-get install -y sudo git bash software-properties-common graphviz &&\
      rm -rf /var/lib/apt/lists/*
  
  
  
  RUN python -m pip install --upgrade pip && python3 -m pip install graphviz
  
  # Install ROS noetic
  RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list' \
  && apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
  && apt-get update && apt-get install -y \
    ros-noetic-desktop-full git build-essential python3-rosdep \
    && rm -rf /var/lib/apt/lists/*
  
  
  # install realsense and azure kinect
  # Install the RealSense library (https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages)
  #RUN sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
  #RUN sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
  #RUN apt-get update && apt-get install -y \
  #  librealsense2-dkms \
  #  software-properties-common \
  #  librealsense2-utils \
  #  && rm -rf /var/lib/apt/lists/*
  
  
  # install moveit from source for all algos:
  ARG ROS_DISTRO=noetic
  RUN apt-get update && apt-get install -y \
    ros-$ROS_DISTRO-apriltag-ros \
    ros-$ROS_DISTRO-realsense2-camera \
    ros-$ROS_DISTRO-ros-numpy \
    ros-$ROS_DISTRO-vision-msgs \
    ros-$ROS_DISTRO-franka-ros \
    ros-$ROS_DISTRO-moveit-resources \
    ros-$ROS_DISTRO-rosparam-shortcuts \
    libglfw3-dev \
    ros-$ROS_DISTRO-collada-urdf \
    ros-$ROS_DISTRO-ur-msgs \
    swig \
    && rm -rf /var/lib/apt/lists/*
  
  
  RUN apt-get update && rosdep init && rosdep update && apt-get install -y ros-noetic-moveit-ros-visualization && rm -rf /var/lib/apt/lists/*
  RUN pip3 install netifaces
  
  