From dc5c68e495736b9122c9189aa9edfaa9340ee315 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Tue, 8 Aug 2023 17:53:25 +0200
Subject: [PATCH 01/57] Create moma.yml

---
 .github/workflows/moma.yml | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)
 create mode 100644 .github/workflows/moma.yml

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
new file mode 100644
index 00000000..ce5e7e70
--- /dev/null
+++ b/.github/workflows/moma.yml
@@ -0,0 +1,18 @@
+name: moma Docker
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+jobs:
+
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build the dev Docker image
+      run: docker build . --file docker/scripts/dev.Dockerfile --tag moma_dev:$(date +%s)
+      

From 569ea76d0a1a080f6e44880f8402095095d8566c Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Tue, 8 Aug 2023 17:57:45 +0200
Subject: [PATCH 02/57] Update moma.yml

---
 .github/workflows/moma.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index ce5e7e70..6af436a3 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -14,5 +14,5 @@ jobs:
     steps:
     - uses: actions/checkout@v3
     - name: Build the dev Docker image
-      run: docker build . --file docker/scripts/dev.Dockerfile --tag moma_dev:$(date +%s)
+      run: docker build . --file ./docker/scripts/dev.Dockerfile --tag moma_dev:$(date +%s)
       

From 09f653697debbbd93b8005c7c40c3a556c42cb44 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Tue, 8 Aug 2023 18:04:07 +0200
Subject: [PATCH 03/57] Still working on dockeeeer

---
 .github/workflows/moma.yml | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index 6af436a3..9b4e2980 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -13,6 +13,14 @@ jobs:
 
     steps:
     - uses: actions/checkout@v3
-    - name: Build the dev Docker image
-      run: docker build . --file ./docker/scripts/dev.Dockerfile --tag moma_dev:$(date +%s)
-      
+    -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+    -
+        name: Build and push
+        uses: docker/build-push-action@v4
+        with:
+          context: .
+          file: ./docker/scripts/dev.Dockerfile
+          push: false
+          tags: moma_dev:$(date +%s)

From 60e797b77963da76b591f0797c0ff571ace4adda Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Tue, 8 Aug 2023 18:05:06 +0200
Subject: [PATCH 04/57] Update moma.yml

---
 .github/workflows/moma.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index 9b4e2980..67bedd29 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -23,4 +23,4 @@ jobs:
           context: .
           file: ./docker/scripts/dev.Dockerfile
           push: false
-          tags: moma_dev:$(date +%s)
+          tags: moma_dev:latest

From 93f9c82eeaf3549f3ea4a04a527166ac3f6c641d Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Tue, 8 Aug 2023 18:06:53 +0200
Subject: [PATCH 05/57] aaah

---
 .github/workflows/moma.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index 67bedd29..e9caea35 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -20,7 +20,7 @@ jobs:
         name: Build and push
         uses: docker/build-push-action@v4
         with:
-          context: .
+          context: ./docker/scripts/
           file: ./docker/scripts/dev.Dockerfile
           push: false
           tags: moma_dev:latest

From 2948c5257e53145c63b6e61f1737ad47df32eb00 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Tue, 8 Aug 2023 18:10:38 +0200
Subject: [PATCH 06/57] Update moma.yml

---
 .github/workflows/moma.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index e9caea35..068cba11 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -20,7 +20,7 @@ jobs:
         name: Build and push
         uses: docker/build-push-action@v4
         with:
-          context: ./docker/scripts/
-          file: ./docker/scripts/dev.Dockerfile
+          context: ./docker/
+          file: ./docker/dev.Dockerfile
           push: false
           tags: moma_dev:latest

From 3542f2816952881bd6fa4112ff1163dd3fac30a7 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 9 Aug 2023 11:30:30 +0200
Subject: [PATCH 07/57] Update moma.yml

---
 .github/workflows/moma.yml | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index 068cba11..1db63837 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -7,20 +7,23 @@ on:
     branches: [ "master" ]
 
 jobs:
-
-  build:
+  build-docker:
     runs-on: ubuntu-latest
-
     steps:
     - uses: actions/checkout@v3
-    -
-        name: Set up Docker Buildx
+    - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v2
-    -
-        name: Build and push
+    - name: Build and push docker
         uses: docker/build-push-action@v4
         with:
           context: ./docker/
           file: ./docker/dev.Dockerfile
           push: false
           tags: moma_dev:latest
+  build-catkin:
+    needs: build-docker
+    runs-on: ubuntu-latest
+    container: moma_dev:latest
+    steps:
+    - run: echo "Hello!"
+    - run: ls ~/

From 6d25913d893d1f54aeea8e2e8466c8ada44532e4 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 9 Aug 2023 11:31:55 +0200
Subject: [PATCH 08/57] Update moma.yml

---
 .github/workflows/moma.yml | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index 1db63837..3abc582b 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -12,14 +12,14 @@ jobs:
     steps:
     - uses: actions/checkout@v3
     - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+      uses: docker/setup-buildx-action@v2
     - name: Build and push docker
-        uses: docker/build-push-action@v4
-        with:
-          context: ./docker/
-          file: ./docker/dev.Dockerfile
-          push: false
-          tags: moma_dev:latest
+      uses: docker/build-push-action@v4
+      with:
+        context: ./docker/
+        file: ./docker/dev.Dockerfile
+        push: false
+        tags: moma_dev:latest
   build-catkin:
     needs: build-docker
     runs-on: ubuntu-latest

From 7e4648d6930b1be59697ad3acb136424c07de299 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 9 Aug 2023 13:22:41 +0200
Subject: [PATCH 09/57] Update moma.yml

---
 .github/workflows/moma.yml | 30 +++++++++++++++++++++++++-----
 1 file changed, 25 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index 3abc582b..23e59f82 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -1,4 +1,4 @@
-name: moma Docker
+name: moma CI & Docker
 
 on:
   push:
@@ -6,6 +6,12 @@ on:
   pull_request:
     branches: [ "master" ]
 
+env:
+  # Use docker.io for Docker Hub if empty
+  REGISTRY: ghcr.io
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: ${{ github.repository }}
+
 jobs:
   build-docker:
     runs-on: ubuntu-latest
@@ -13,17 +19,31 @@ jobs:
     - uses: actions/checkout@v3
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
+    - name: Log into registry ${{ env.REGISTRY }}
+        uses: docker/login-action@v2
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+    - name: Extract Docker metadata
+        id: meta
+        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
     - name: Build and push docker
       uses: docker/build-push-action@v4
       with:
         context: ./docker/
         file: ./docker/dev.Dockerfile
-        push: false
-        tags: moma_dev:latest
+        push: true
+        tags: ${{ steps.meta.outputs.tags }}
+        labels: ${{ steps.meta.outputs.labels }}
+        cache-from: type=gha
+        cache-to: type=gha,mode=max
   build-catkin:
     needs: build-docker
     runs-on: ubuntu-latest
-    container: moma_dev:latest
+    container: ${{ steps.meta.outputs.tags }}
     steps:
-    - run: echo "Hello!"
+    - run: echo "${{ steps.meta.outputs.tags }}"
     - run: ls ~/

From c981617493f7767a35970b8c82e45ceb2b9546bc Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 9 Aug 2023 13:24:17 +0200
Subject: [PATCH 10/57] Update moma.yml

---
 .github/workflows/moma.yml | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index 23e59f82..ac456792 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -20,16 +20,16 @@ jobs:
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Log into registry ${{ env.REGISTRY }}
-        uses: docker/login-action@v2
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
+      uses: docker/login-action@v2
+      with:
+        registry: ${{ env.REGISTRY }}
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
     - name: Extract Docker metadata
-        id: meta
-        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
-        with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+      id: meta
+      uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
+      with:
+        images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
     - name: Build and push docker
       uses: docker/build-push-action@v4
       with:

From 07775003c830e68e9bdaac39d0f78cb204b7647d Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 9 Aug 2023 13:26:16 +0200
Subject: [PATCH 11/57] Update moma.yml

---
 .github/workflows/moma.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index ac456792..c0135641 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -46,4 +46,4 @@ jobs:
     container: ${{ steps.meta.outputs.tags }}
     steps:
     - run: echo "${{ steps.meta.outputs.tags }}"
-    - run: ls ~/
+#    - run: ls ~/

From ed204da31a0b5b694e77f7f526101890f742f501 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 9 Aug 2023 13:26:49 +0200
Subject: [PATCH 12/57] Update moma.yml

---
 .github/workflows/moma.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index c0135641..9428095a 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -43,7 +43,7 @@ jobs:
   build-catkin:
     needs: build-docker
     runs-on: ubuntu-latest
-    container: ${{ steps.meta.outputs.tags }}
+    container: ${{ build-docker.steps.meta.outputs.tags }}
     steps:
-    - run: echo "${{ steps.meta.outputs.tags }}"
+    - run: echo "${{ build-docker.steps.meta.outputs.tags }}"
 #    - run: ls ~/

From 2f65f01749d44b933891d96bf33dc2eefdbbe10c Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 9 Aug 2023 13:29:20 +0200
Subject: [PATCH 13/57] Update moma.yml

---
 .github/workflows/moma.yml | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index 9428095a..bf717c25 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -15,6 +15,8 @@ env:
 jobs:
   build-docker:
     runs-on: ubuntu-latest
+    outputs:
+      docker_image_name: ${{ steps.meta.outputs.tags }}
     steps:
     - uses: actions/checkout@v3
     - name: Set up Docker Buildx
@@ -40,10 +42,11 @@ jobs:
         labels: ${{ steps.meta.outputs.labels }}
         cache-from: type=gha
         cache-to: type=gha,mode=max
+        
   build-catkin:
     needs: build-docker
     runs-on: ubuntu-latest
-    container: ${{ build-docker.steps.meta.outputs.tags }}
+    container: ${{ needs.build-docker.outputs.docker_image_name }}
     steps:
-    - run: echo "${{ build-docker.steps.meta.outputs.tags }}"
-#    - run: ls ~/
+    - run: echo "${{ needs.build-docker.outputs.docker_image_name }}"
+    - run: ls ~/

From f76f7558e1bd3b915ff236d2f4c91595f8835b62 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 11:31:15 +0200
Subject: [PATCH 14/57] Actually try to build the repo.

---
 .github/workflows/moma.yml | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index bf717c25..67ea8d82 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -18,7 +18,10 @@ jobs:
     outputs:
       docker_image_name: ${{ steps.meta.outputs.tags }}
     steps:
-    - uses: actions/checkout@v3
+    - name: Check out moma repo
+      uses: actions/checkout@v3
+      with:
+        path: moma_ws/src
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Log into registry ${{ env.REGISTRY }}
@@ -42,11 +45,16 @@ jobs:
         labels: ${{ steps.meta.outputs.labels }}
         cache-from: type=gha
         cache-to: type=gha,mode=max
-        
+
   build-catkin:
     needs: build-docker
     runs-on: ubuntu-latest
-    container: ${{ needs.build-docker.outputs.docker_image_name }}
+    container:
+      image: ${{ needs.build-docker.outputs.docker_image_name }}
+      volumes:
+        - $GITHUB_WORKSPACE/moma_ws:/root/moma_ws
     steps:
     - run: echo "${{ needs.build-docker.outputs.docker_image_name }}"
-    - run: ls ~/
+    - run: echo $GITHUB_WORKSPACE
+    - run: cd ~/moma_ws && catkin init && catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+    - run: catkin build --continue
\ No newline at end of file

From da8888f26a6b7af87be14c0c2d9a42ce8d1a42c2 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 11:33:26 +0200
Subject: [PATCH 15/57] Fix paths?

---
 .github/workflows/moma.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index 67ea8d82..aa36e90b 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -21,7 +21,7 @@ jobs:
     - name: Check out moma repo
       uses: actions/checkout@v3
       with:
-        path: moma_ws/src
+        path: moma_ws/src/moma
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Log into registry ${{ env.REGISTRY }}
@@ -38,8 +38,8 @@ jobs:
     - name: Build and push docker
       uses: docker/build-push-action@v4
       with:
-        context: ./docker/
-        file: ./docker/dev.Dockerfile
+        context: ./moma_ws/src/moma/docker/
+        file: ./moma_ws/src/moma/docker/dev.Dockerfile
         push: true
         tags: ${{ steps.meta.outputs.tags }}
         labels: ${{ steps.meta.outputs.labels }}

From f85db6abd2f08ee6134c8832acb2cce90180824e Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 13:37:44 +0200
Subject: [PATCH 16/57] Fix paths again

---
 .github/workflows/moma.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index aa36e90b..c60f46c5 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -52,9 +52,9 @@ jobs:
     container:
       image: ${{ needs.build-docker.outputs.docker_image_name }}
       volumes:
-        - $GITHUB_WORKSPACE/moma_ws:/root/moma_ws
+        - ${{ github.workspace }}/moma_ws:/root/moma_ws
     steps:
     - run: echo "${{ needs.build-docker.outputs.docker_image_name }}"
-    - run: echo $GITHUB_WORKSPACE
+    - run: echo "${{ github.workspace }}"
     - run: cd ~/moma_ws && catkin init && catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
     - run: catkin build --continue
\ No newline at end of file

From effad71e5cc7400aaef86e3ce7dec17efcf8098e Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 13:40:52 +0200
Subject: [PATCH 17/57] The path fixing continues

---
 .github/workflows/moma.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index c60f46c5..8aead320 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -56,5 +56,5 @@ jobs:
     steps:
     - run: echo "${{ needs.build-docker.outputs.docker_image_name }}"
     - run: echo "${{ github.workspace }}"
-    - run: cd ~/moma_ws && catkin init && catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+    - run: cd /root/moma_ws && catkin init && catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
     - run: catkin build --continue
\ No newline at end of file

From d3c9407066743b4aaaae6ba3985bd09129b19cfd Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 13:51:44 +0200
Subject: [PATCH 18/57] The path fixing continues even more

---
 .github/workflows/moma.yml | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index 8aead320..cd522656 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -22,6 +22,7 @@ jobs:
       uses: actions/checkout@v3
       with:
         path: moma_ws/src/moma
+        submodules: recursive
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Log into registry ${{ env.REGISTRY }}
@@ -53,8 +54,13 @@ jobs:
       image: ${{ needs.build-docker.outputs.docker_image_name }}
       volumes:
         - ${{ github.workspace }}/moma_ws:/root/moma_ws
+        - ${{ github.workspace }}/moma_ws:/github/home/moma_ws
     steps:
     - run: echo "${{ needs.build-docker.outputs.docker_image_name }}"
     - run: echo "${{ github.workspace }}"
-    - run: cd /root/moma_ws && catkin init && catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
-    - run: catkin build --continue
\ No newline at end of file
+    - name: Set up Catkin workspace
+      run: cd ~/moma_ws && catkin init && catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+      shell: bash
+    - name: Build the workspace
+      run: cd ~/moma_ws && catkin build --continue
+      shell: bash
\ No newline at end of file

From 7954d17ff7680be72efe71c548460f767c8c41af Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 14:00:54 +0200
Subject: [PATCH 19/57] Debugggg

---
 .github/workflows/moma.yml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index cd522656..8a885a1c 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -58,9 +58,11 @@ jobs:
     steps:
     - run: echo "${{ needs.build-docker.outputs.docker_image_name }}"
     - run: echo "${{ github.workspace }}"
+    - run: ls -la /root/moma_ws
+    - run: cat /root/.bashrc
     - name: Set up Catkin workspace
-      run: cd ~/moma_ws && catkin init && catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+      run: cd /root/moma_ws && catkin init && catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
       shell: bash
     - name: Build the workspace
-      run: cd ~/moma_ws && catkin build --continue
+      run: cd /root/moma_ws && catkin build --continue
       shell: bash
\ No newline at end of file

From 9e2225cd51ad537261d69ddcc6ccd7ddb1c5e17f Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 14:13:00 +0200
Subject: [PATCH 20/57] I don't understand jobs apparently.

---
 .github/workflows/moma.yml | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index 8a885a1c..0cd539df 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -52,14 +52,18 @@ jobs:
     runs-on: ubuntu-latest
     container:
       image: ${{ needs.build-docker.outputs.docker_image_name }}
-      volumes:
-        - ${{ github.workspace }}/moma_ws:/root/moma_ws
-        - ${{ github.workspace }}/moma_ws:/github/home/moma_ws
     steps:
     - run: echo "${{ needs.build-docker.outputs.docker_image_name }}"
     - run: echo "${{ github.workspace }}"
     - run: ls -la /root/moma_ws
     - run: cat /root/.bashrc
+    - name: Check out moma repo
+      uses: actions/checkout@v3
+      with:
+        path: moma_ws/src/moma
+        submodules: recursive
+    - run: ls
+      shell: bash
     - name: Set up Catkin workspace
       run: cd /root/moma_ws && catkin init && catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
       shell: bash

From 66f876fc5b10032960abe90872d976390a58f453 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 14:15:59 +0200
Subject: [PATCH 21/57] Debug the reckoning

---
 .github/workflows/moma.yml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index 0cd539df..c3f5c6d3 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -55,8 +55,6 @@ jobs:
     steps:
     - run: echo "${{ needs.build-docker.outputs.docker_image_name }}"
     - run: echo "${{ github.workspace }}"
-    - run: ls -la /root/moma_ws
-    - run: cat /root/.bashrc
     - name: Check out moma repo
       uses: actions/checkout@v3
       with:

From 616623c0eabb46fdb3c232b9f4a980ea54561eb6 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 14:23:42 +0200
Subject: [PATCH 22/57] ????

---
 .github/workflows/moma.yml | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index c3f5c6d3..9da5c888 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -11,6 +11,7 @@ env:
   REGISTRY: ghcr.io
   # github.repository as <account>/<repo>
   IMAGE_NAME: ${{ github.repository }}
+  CATKIN_WS_PATH: /__w/moma/moma/moma_ws
 
 jobs:
   build-docker:
@@ -63,8 +64,15 @@ jobs:
     - run: ls
       shell: bash
     - name: Set up Catkin workspace
-      run: cd /root/moma_ws && catkin init && catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+      run: |
+        cd  ${{ env.CATKIN_WS_PATH }}
+        source /root/.bashrc
+        catkin init
+        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
       shell: bash
     - name: Build the workspace
-      run: cd /root/moma_ws && catkin build --continue
+      run: |
+        cd  ${{ env.CATKIN_WS_PATH }} |
+        source /root/.bashrc
+        catkin build --continue
       shell: bash
\ No newline at end of file

From 902edc0c55cba5ab76c744c436d63a73893ad11a Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 14:28:14 +0200
Subject: [PATCH 23/57] ??

---
 .github/workflows/moma.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/moma.yml b/.github/workflows/moma.yml
index 9da5c888..3eb1f751 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/moma.yml
@@ -68,11 +68,12 @@ jobs:
         cd  ${{ env.CATKIN_WS_PATH }}
         source /root/.bashrc
         catkin init
+        catkin config --extend /root/moma_dep_ws/devel
         catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
       shell: bash
     - name: Build the workspace
       run: |
-        cd  ${{ env.CATKIN_WS_PATH }} |
+        cd  ${{ env.CATKIN_WS_PATH }}
         source /root/.bashrc
         catkin build --continue
       shell: bash
\ No newline at end of file

From 4bfff1685ba75119c1f2b430eaf5ede54fbc2535 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 14:45:25 +0200
Subject: [PATCH 24/57] Remove yumi submodule

---
 .gitmodules     | 4 ----
 submodules/yumi | 1 -
 2 files changed, 5 deletions(-)
 delete mode 160000 submodules/yumi

diff --git a/.gitmodules b/.gitmodules
index 6d542ae3..fbe14659 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,7 +1,3 @@
-[submodule "submodules/yumi"]
-	path = submodules/yumi
-	url = git@github.com:ethz-asl/yumi.git
-	branch = asl-devel
 [submodule "submodules/roboticsgroup_gazebo_plugins"]
 	path = submodules/roboticsgroup_gazebo_plugins
 	url = git@github.com:roboticsgroup/roboticsgroup_gazebo_plugins.git
diff --git a/submodules/yumi b/submodules/yumi
deleted file mode 160000
index 18a2b064..00000000
--- a/submodules/yumi
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 18a2b06413389b00a09c6a525569f4e106923780

From 919f3c39cae75f1c72b82ccbce2dc790367d5ccf Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 14:49:51 +0200
Subject: [PATCH 25/57] Try this stuff again

---
 docker/scripts/install_sys_deps.sh | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/docker/scripts/install_sys_deps.sh b/docker/scripts/install_sys_deps.sh
index 4c17e074..f4d312be 100644
--- a/docker/scripts/install_sys_deps.sh
+++ b/docker/scripts/install_sys_deps.sh
@@ -16,9 +16,5 @@ apt-get -qq update && apt-get install -y python3-catkin-tools python3-vcstool py
 # Install other system deps
 apt-get -qq update && apt-get install -y qtbase5-dev bash-completion
 
-# This is for nvblox
-pip install --upgrade cmake
-apt-get -qq update &&  apt-get install -y libgoogle-glog-dev libgtest-dev libgflags-dev python3-dev libsqlite3-dev
-
 # Clear cache to keep layer size down
 rm -rf /var/lib/apt/lists/*

From ba78fcfa9665f84d1519fa6242ba01e7f2f197f6 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 15:13:52 +0200
Subject: [PATCH 26/57] Split into CI CD

---
 .github/workflows/{moma.yml => cd.yml} |   3 +-
 .github/workflows/ci.yml               | 125 +++++++++++++++++++++++++
 2 files changed, 126 insertions(+), 2 deletions(-)
 rename .github/workflows/{moma.yml => cd.yml} (97%)
 create mode 100644 .github/workflows/ci.yml

diff --git a/.github/workflows/moma.yml b/.github/workflows/cd.yml
similarity index 97%
rename from .github/workflows/moma.yml
rename to .github/workflows/cd.yml
index 3eb1f751..08bc95e2 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/cd.yml
@@ -1,4 +1,4 @@
-name: moma CI & Docker
+name: moma CD
 
 on:
   push:
@@ -11,7 +11,6 @@ env:
   REGISTRY: ghcr.io
   # github.repository as <account>/<repo>
   IMAGE_NAME: ${{ github.repository }}
-  CATKIN_WS_PATH: /__w/moma/moma/moma_ws
 
 jobs:
   build-docker:
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 00000000..c62ac460
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,125 @@
+name: moma CI
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+env:
+  # Use docker.io for Docker Hub if empty
+  REGISTRY: ghcr.io
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: ${{ github.repository }}
+  CATKIN_WS_PATH: moma_ws
+
+jobs:
+  build-dev:
+    name: Build dev docker image
+    runs-on: ubuntu-latest
+    outputs:
+      docker_image_name: ${{ steps.meta.outputs.tags }}
+    steps:
+    - name: Check out moma repo
+      uses: actions/checkout@v3
+      with:
+        path: moma_ws/src/moma
+        submodules: recursive
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    - name: Log into registry ${{ env.REGISTRY }}
+      uses: docker/login-action@v2
+      with:
+        registry: ${{ env.REGISTRY }}
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - name: Extract Docker metadata
+      id: meta
+      uses: docker/metadata-action@v4
+      with:
+        images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+        flavor: prefix=dev
+    - name: Build and push docker
+      uses: docker/build-push-action@v4
+      with:
+        context: ./moma_ws/src/moma/docker/
+        file: ./moma_ws/src/moma/docker/dev.Dockerfile
+        push: true
+        tags: ${{ steps.meta.outputs.tags }}
+        labels: ${{ steps.meta.outputs.labels }}
+        cache-from: type=gha
+        cache-to: type=gha,mode=max
+
+  build-robot:
+    name: Build robot docker image
+    runs-on: ubuntu-latest
+    outputs:
+      docker_image_name: ${{ steps.meta.outputs.tags }}
+    steps:
+    - name: Check out moma repo
+      uses: actions/checkout@v3
+      with:
+        path: moma_ws/src/moma
+        submodules: recursive
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    - name: Log into registry ${{ env.REGISTRY }}
+      uses: docker/login-action@v2
+      with:
+        registry: ${{ env.REGISTRY }}
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - name: Extract Docker metadata
+      id: meta
+      uses: docker/metadata-action@v4
+      with:
+        images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+        flavor: prefix=robot
+    - name: Build and push docker
+      uses: docker/build-push-action@v4
+      with:
+        context: ./moma_ws/src/moma/docker/
+        file: ./moma_ws/src/moma/docker/robot.Dockerfile
+        push: true
+        tags: ${{ steps.meta.outputs.tags }}
+        labels: ${{ steps.meta.outputs.labels }}
+        cache-from: type=gha
+        cache-to: type=gha,mode=max
+
+  # Checks out the demo branch and builds a docker image of that.
+  build-demo:
+    name: Build robot docker image
+    runs-on: ubuntu-latest
+    outputs:
+      docker_image_name: ${{ steps.meta.outputs.tags }}
+    steps:
+    - name: Check out moma repo
+      uses: actions/checkout@v3
+      with:
+        ref: demo
+        path: moma_ws/src/moma
+        submodules: recursive
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    - name: Log into registry ${{ env.REGISTRY }}
+      uses: docker/login-action@v2
+      with:
+        registry: ${{ env.REGISTRY }}
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - name: Extract Docker metadata
+      id: meta
+      uses: docker/metadata-action@v4
+      with:
+        images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+        flavor: prefix=demo
+    - name: Build and push docker
+      uses: docker/build-push-action@v4
+      with:
+        context: ./moma_ws/src/moma/docker/
+        file: ./moma_ws/src/moma/docker/demo.Dockerfile
+        push: true
+        tags: ${{ steps.meta.outputs.tags }}
+        labels: ${{ steps.meta.outputs.labels }}
+        cache-from: type=gha
+        cache-to: type=gha,mode=max

From b1a6a3b8a77f0aada6e694100a269d919e0204e0 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 15:21:22 +0200
Subject: [PATCH 27/57] MAtrix it up

---
 .github/workflows/cd.yml | 45 ++++---------------
 .github/workflows/ci.yml | 96 +++++++++++-----------------------------
 2 files changed, 34 insertions(+), 107 deletions(-)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index 08bc95e2..2cd1ff86 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -1,4 +1,4 @@
-name: moma CD
+name: moma CI
 
 on:
   push:
@@ -13,10 +13,12 @@ env:
   IMAGE_NAME: ${{ github.repository }}
 
 jobs:
-  build-docker:
+  build-dockers:
+    name: Build docker images
+    strategy:
+      matrix:
+        dockerfile: [dev, robot, demo]
     runs-on: ubuntu-latest
-    outputs:
-      docker_image_name: ${{ steps.meta.outputs.tags }}
     steps:
     - name: Check out moma repo
       uses: actions/checkout@v3
@@ -33,46 +35,17 @@ jobs:
         password: ${{ secrets.GITHUB_TOKEN }}
     - name: Extract Docker metadata
       id: meta
-      uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
+      uses: docker/metadata-action@v4
       with:
         images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+        flavor: prefix=${{ matrix.dockerfile }}
     - name: Build and push docker
       uses: docker/build-push-action@v4
       with:
         context: ./moma_ws/src/moma/docker/
-        file: ./moma_ws/src/moma/docker/dev.Dockerfile
+        file: ./moma_ws/src/moma/docker/${{ matrix.dockerfile }}.Dockerfile
         push: true
         tags: ${{ steps.meta.outputs.tags }}
         labels: ${{ steps.meta.outputs.labels }}
         cache-from: type=gha
         cache-to: type=gha,mode=max
-
-  build-catkin:
-    needs: build-docker
-    runs-on: ubuntu-latest
-    container:
-      image: ${{ needs.build-docker.outputs.docker_image_name }}
-    steps:
-    - run: echo "${{ needs.build-docker.outputs.docker_image_name }}"
-    - run: echo "${{ github.workspace }}"
-    - name: Check out moma repo
-      uses: actions/checkout@v3
-      with:
-        path: moma_ws/src/moma
-        submodules: recursive
-    - run: ls
-      shell: bash
-    - name: Set up Catkin workspace
-      run: |
-        cd  ${{ env.CATKIN_WS_PATH }}
-        source /root/.bashrc
-        catkin init
-        catkin config --extend /root/moma_dep_ws/devel
-        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
-      shell: bash
-    - name: Build the workspace
-      run: |
-        cd  ${{ env.CATKIN_WS_PATH }}
-        source /root/.bashrc
-        catkin build --continue
-      shell: bash
\ No newline at end of file
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index c62ac460..8367ad0e 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -1,4 +1,4 @@
-name: moma CI
+name: moma CD
 
 on:
   push:
@@ -14,8 +14,7 @@ env:
   CATKIN_WS_PATH: moma_ws
 
 jobs:
-  build-dev:
-    name: Build dev docker image
+  build-docker:
     runs-on: ubuntu-latest
     outputs:
       docker_image_name: ${{ steps.meta.outputs.tags }}
@@ -35,10 +34,9 @@ jobs:
         password: ${{ secrets.GITHUB_TOKEN }}
     - name: Extract Docker metadata
       id: meta
-      uses: docker/metadata-action@v4
+      uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
       with:
         images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
-        flavor: prefix=dev
     - name: Build and push docker
       uses: docker/build-push-action@v4
       with:
@@ -50,76 +48,32 @@ jobs:
         cache-from: type=gha
         cache-to: type=gha,mode=max
 
-  build-robot:
-    name: Build robot docker image
+  build-catkin:
+    needs: build-docker
     runs-on: ubuntu-latest
-    outputs:
-      docker_image_name: ${{ steps.meta.outputs.tags }}
-    steps:
-    - name: Check out moma repo
-      uses: actions/checkout@v3
-      with:
-        path: moma_ws/src/moma
-        submodules: recursive
-    - name: Set up Docker Buildx
-      uses: docker/setup-buildx-action@v2
-    - name: Log into registry ${{ env.REGISTRY }}
-      uses: docker/login-action@v2
-      with:
-        registry: ${{ env.REGISTRY }}
-        username: ${{ github.actor }}
-        password: ${{ secrets.GITHUB_TOKEN }}
-    - name: Extract Docker metadata
-      id: meta
-      uses: docker/metadata-action@v4
-      with:
-        images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
-        flavor: prefix=robot
-    - name: Build and push docker
-      uses: docker/build-push-action@v4
-      with:
-        context: ./moma_ws/src/moma/docker/
-        file: ./moma_ws/src/moma/docker/robot.Dockerfile
-        push: true
-        tags: ${{ steps.meta.outputs.tags }}
-        labels: ${{ steps.meta.outputs.labels }}
-        cache-from: type=gha
-        cache-to: type=gha,mode=max
-
-  # Checks out the demo branch and builds a docker image of that.
-  build-demo:
-    name: Build robot docker image
-    runs-on: ubuntu-latest
-    outputs:
-      docker_image_name: ${{ steps.meta.outputs.tags }}
+    container:
+      image: ${{ needs.build-docker.outputs.docker_image_name }}
     steps:
+    - run: echo "${{ needs.build-docker.outputs.docker_image_name }}"
+    - run: echo "${{ github.workspace }}"
     - name: Check out moma repo
       uses: actions/checkout@v3
       with:
-        ref: demo
         path: moma_ws/src/moma
         submodules: recursive
-    - name: Set up Docker Buildx
-      uses: docker/setup-buildx-action@v2
-    - name: Log into registry ${{ env.REGISTRY }}
-      uses: docker/login-action@v2
-      with:
-        registry: ${{ env.REGISTRY }}
-        username: ${{ github.actor }}
-        password: ${{ secrets.GITHUB_TOKEN }}
-    - name: Extract Docker metadata
-      id: meta
-      uses: docker/metadata-action@v4
-      with:
-        images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
-        flavor: prefix=demo
-    - name: Build and push docker
-      uses: docker/build-push-action@v4
-      with:
-        context: ./moma_ws/src/moma/docker/
-        file: ./moma_ws/src/moma/docker/demo.Dockerfile
-        push: true
-        tags: ${{ steps.meta.outputs.tags }}
-        labels: ${{ steps.meta.outputs.labels }}
-        cache-from: type=gha
-        cache-to: type=gha,mode=max
+    - run: ls
+      shell: bash
+    - name: Set up Catkin workspace
+      run: |
+        cd  ${{ env.CATKIN_WS_PATH }}
+        source /root/.bashrc
+        catkin init
+        catkin config --extend /root/moma_dep_ws/devel
+        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+      shell: bash
+    - name: Build the workspace
+      run: |
+        cd  ${{ env.CATKIN_WS_PATH }}
+        source /root/.bashrc
+        catkin build --continue
+      shell: bash
\ No newline at end of file

From ee775c5ebed15685edde8e64ea63d2965edba393 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 15:22:13 +0200
Subject: [PATCH 28/57] Make names match up.

---
 .github/workflows/cd.yml | 2 +-
 .github/workflows/ci.yml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index 2cd1ff86..37162525 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -1,4 +1,4 @@
-name: moma CI
+name: moma CD
 
 on:
   push:
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 8367ad0e..a77e297b 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -1,4 +1,4 @@
-name: moma CD
+name: moma CI
 
 on:
   push:

From 953f769a441ca88621c4c92ba6977fd2eb6695d7 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 15:28:46 +0200
Subject: [PATCH 29/57] tags???

---
 .github/workflows/cd.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index 37162525..f887d040 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -39,6 +39,7 @@ jobs:
       with:
         images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
         flavor: prefix=${{ matrix.dockerfile }}
+        tags: type=raw,value=${{ matrix.dockerfile }}
     - name: Build and push docker
       uses: docker/build-push-action@v4
       with:

From 5626a414eda7046438444f718679fab257e70f7f Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 15:33:32 +0200
Subject: [PATCH 30/57] MORE TAGS

---
 .github/workflows/cd.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index f887d040..308cc181 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -38,7 +38,6 @@ jobs:
       uses: docker/metadata-action@v4
       with:
         images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
-        flavor: prefix=${{ matrix.dockerfile }}
         tags: type=raw,value=${{ matrix.dockerfile }}
     - name: Build and push docker
       uses: docker/build-push-action@v4

From c937df31ce1a1fbef6fe12d7cfacf8d72ed514ea Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Aug 2023 15:53:08 +0200
Subject: [PATCH 31/57] Fix demo docker.

---
 docker/scripts/install_demo.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/docker/scripts/install_demo.sh b/docker/scripts/install_demo.sh
index 7e80d09f..815a7268 100644
--- a/docker/scripts/install_demo.sh
+++ b/docker/scripts/install_demo.sh
@@ -16,6 +16,7 @@ pip install -r vgn/requirements.txt
 pip install gdown
 
 # Make sure we can unzip too
+apt-get update
 apt-get install unzip
 
 # Download the data file from google drive

From 12b8059d1da33ce2c58d30e7cc45da4d65d3418f Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Fri, 11 Aug 2023 12:03:12 +0200
Subject: [PATCH 32/57] Make super moma just pulls the demo branch.

---
 docker/scripts/moma_demo.repos | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docker/scripts/moma_demo.repos b/docker/scripts/moma_demo.repos
index 5a10c139..565be57d 100644
--- a/docker/scripts/moma_demo.repos
+++ b/docker/scripts/moma_demo.repos
@@ -10,4 +10,4 @@ repositories:
   moma:
     type: git
     url: https://github.com/ethz-asl/moma.git
-    version: 6730e11ca580dd80fb49a553db5394111bf232ff
+    version: demo

From c0ae126f04797aeda6ad487fa934fe7b94c6a731 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Fri, 11 Aug 2023 13:40:49 +0200
Subject: [PATCH 33/57] Hopefully fix the torch downloading issue

---
 docker/scripts/install_demo.sh | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/docker/scripts/install_demo.sh b/docker/scripts/install_demo.sh
index 815a7268..b0af3672 100644
--- a/docker/scripts/install_demo.sh
+++ b/docker/scripts/install_demo.sh
@@ -9,8 +9,11 @@ vcs import --recursive --input $SCRIPTS_PATH/moma_demo.repos
 # Upgrade numpy version
 pip install --upgrade numpy==1.23.0
 
+# This helps torch download on Github Actions :)
+export TMPDIR='/var/tmp'
+
 # Pip install VGN requirements
-pip install -r vgn/requirements.txt
+pip install --cache-dir=$TMPDIR --build $TMPDIR -r vgn/requirements.txt
 
 # Pip install gdown to get google drive files
 pip install gdown

From e1cc6e70c350544986b4c118251d368ded5b3035 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Fri, 11 Aug 2023 14:21:08 +0200
Subject: [PATCH 34/57] Try self-hosted runner

---
 .github/workflows/cd.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index 308cc181..495ec754 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -18,7 +18,7 @@ jobs:
     strategy:
       matrix:
         dockerfile: [dev, robot, demo]
-    runs-on: ubuntu-latest
+    runs-on: self-hosted
     steps:
     - name: Check out moma repo
       uses: actions/checkout@v3

From 93bbf60a741f61f07a96c4fcac795ae6b4497d0c Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Fri, 11 Aug 2023 14:30:42 +0200
Subject: [PATCH 35/57] Remove submodules from the checkout.

---
 .github/workflows/cd.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index 495ec754..07fda9ac 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -24,7 +24,8 @@ jobs:
       uses: actions/checkout@v3
       with:
         path: moma_ws/src/moma
-        submodules: recursive
+    - name: Workaround for older git client on self-hosted runners
+      run: cd moma_ws/src/moma && git submodule update --init --recursive
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Log into registry ${{ env.REGISTRY }}

From 1e0cf7138c0c06fa3577c79920e92d43931e6ae5 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Fri, 11 Aug 2023 14:37:10 +0200
Subject: [PATCH 36/57] The confusion continues

---
 .github/workflows/cd.yml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index 07fda9ac..d2a917a9 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -25,7 +25,10 @@ jobs:
       with:
         path: moma_ws/src/moma
     - name: Workaround for older git client on self-hosted runners
-      run: cd moma_ws/src/moma && git submodule update --init --recursive
+      run: |
+        ls
+        pwd
+        cd moma_ws/src/moma && git submodule update --init --recursive
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Log into registry ${{ env.REGISTRY }}

From dbe9dd96b8a37e3bd186d9c09ff67292a12a461a Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Fri, 11 Aug 2023 14:38:20 +0200
Subject: [PATCH 37/57] ??????

---
 .github/workflows/cd.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index d2a917a9..59629e0c 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -28,7 +28,9 @@ jobs:
       run: |
         ls
         pwd
-        cd moma_ws/src/moma && git submodule update --init --recursive
+        cd moma_ws/src/moma
+        ls
+        git submodule update --init --recursive
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Log into registry ${{ env.REGISTRY }}

From b2a220c8b80162d9f47237f117ba66d870583f42 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Fri, 11 Aug 2023 14:49:39 +0200
Subject: [PATCH 38/57] ???

---
 .github/workflows/cd.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index 59629e0c..12e0a1ff 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -20,6 +20,8 @@ jobs:
         dockerfile: [dev, robot, demo]
     runs-on: self-hosted
     steps:
+    - name: Fix other git issues
+      run: git config --global --add safe.directory "$GITHUB_WORKSPACE"
     - name: Check out moma repo
       uses: actions/checkout@v3
       with:

From 232bccc39fbfe2c35402db066b48099837ba421d Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Fri, 11 Aug 2023 15:29:33 +0200
Subject: [PATCH 39/57] .....

---
 .github/workflows/cd.yml       | 12 ++----------
 docker/scripts/install_demo.sh |  1 +
 2 files changed, 3 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index 12e0a1ff..fc3145e7 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -18,21 +18,13 @@ jobs:
     strategy:
       matrix:
         dockerfile: [dev, robot, demo]
-    runs-on: self-hosted
+    runs-on: ubuntu-latest
     steps:
-    - name: Fix other git issues
-      run: git config --global --add safe.directory "$GITHUB_WORKSPACE"
     - name: Check out moma repo
       uses: actions/checkout@v3
       with:
         path: moma_ws/src/moma
-    - name: Workaround for older git client on self-hosted runners
-      run: |
-        ls
-        pwd
-        cd moma_ws/src/moma
-        ls
-        git submodule update --init --recursive
+        submodule: recursive
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Log into registry ${{ env.REGISTRY }}
diff --git a/docker/scripts/install_demo.sh b/docker/scripts/install_demo.sh
index b0af3672..91238938 100644
--- a/docker/scripts/install_demo.sh
+++ b/docker/scripts/install_demo.sh
@@ -14,6 +14,7 @@ export TMPDIR='/var/tmp'
 
 # Pip install VGN requirements
 pip install --cache-dir=$TMPDIR --build $TMPDIR -r vgn/requirements.txt
+pip install --no-cache-dir torch
 
 # Pip install gdown to get google drive files
 pip install gdown

From eff687b5d82532cf5fcce5babe9e1124b6f0acc8 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Fri, 11 Aug 2023 16:19:45 +0200
Subject: [PATCH 40/57] Clean up disk???

---
 .github/workflows/cd.yml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index fc3145e7..cf751b40 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -20,6 +20,12 @@ jobs:
         dockerfile: [dev, robot, demo]
     runs-on: ubuntu-latest
     steps:
+    - name: Maximize build space
+      uses: easimon/maximize-build-space@v7
+      with:
+        root-reserve-mb: 512
+        swap-size-mb: 1024
+        remove-dotnet: 'true'
     - name: Check out moma repo
       uses: actions/checkout@v3
       with:

From 1e8d4f1bf162396f0e89398ed26b1dfd71b8b6fc Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Fri, 11 Aug 2023 16:38:43 +0200
Subject: [PATCH 41/57] Recursive

---
 .github/workflows/cd.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index cf751b40..1b99c1f7 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -30,7 +30,7 @@ jobs:
       uses: actions/checkout@v3
       with:
         path: moma_ws/src/moma
-        submodule: recursive
+        submodules: recursive
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Log into registry ${{ env.REGISTRY }}

From 850c24f8b564b47dfb45308c9cbc41482c55a221 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Mon, 14 Aug 2023 14:49:51 +0200
Subject: [PATCH 42/57] Try again to get pip to build ok with limtied space.

---
 docker/scripts/install_demo.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docker/scripts/install_demo.sh b/docker/scripts/install_demo.sh
index 91238938..e4b53e9c 100644
--- a/docker/scripts/install_demo.sh
+++ b/docker/scripts/install_demo.sh
@@ -13,7 +13,7 @@ pip install --upgrade numpy==1.23.0
 export TMPDIR='/var/tmp'
 
 # Pip install VGN requirements
-pip install --cache-dir=$TMPDIR --build $TMPDIR -r vgn/requirements.txt
+pip install --no-cache-dir -r vgn/requirements.txt
 pip install --no-cache-dir torch
 
 # Pip install gdown to get google drive files

From 36aaac727bc251742ea12fd7e4b3bda58196fdb9 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Mon, 14 Aug 2023 15:30:16 +0200
Subject: [PATCH 43/57] Remove maximizing build space since it seems to mess
 stuff up.

---
 .github/workflows/cd.yml | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index 1b99c1f7..308cc181 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -20,12 +20,6 @@ jobs:
         dockerfile: [dev, robot, demo]
     runs-on: ubuntu-latest
     steps:
-    - name: Maximize build space
-      uses: easimon/maximize-build-space@v7
-      with:
-        root-reserve-mb: 512
-        swap-size-mb: 1024
-        remove-dotnet: 'true'
     - name: Check out moma repo
       uses: actions/checkout@v3
       with:

From 875c5ed7494437cd9a4cedcd10984db4b9c3268b Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Mon, 14 Aug 2023 16:31:18 +0200
Subject: [PATCH 44/57] Change CD only on push.

---
 .github/workflows/cd.yml | 2 --
 .github/workflows/ci.yml | 2 --
 2 files changed, 4 deletions(-)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index 308cc181..d1e4b52a 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -3,8 +3,6 @@ name: moma CD
 on:
   push:
     branches: [ "master" ]
-  pull_request:
-    branches: [ "master" ]
 
 env:
   # Use docker.io for Docker Hub if empty
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index a77e297b..fb3e992b 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -54,8 +54,6 @@ jobs:
     container:
       image: ${{ needs.build-docker.outputs.docker_image_name }}
     steps:
-    - run: echo "${{ needs.build-docker.outputs.docker_image_name }}"
-    - run: echo "${{ github.workspace }}"
     - name: Check out moma repo
       uses: actions/checkout@v3
       with:

From e9d24c9346c6b0bcbdd6aaa65eece7582eb4bced Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Tue, 15 Aug 2023 16:51:35 +0200
Subject: [PATCH 45/57] Try out the self-hosted stuff.

---
 .github/workflows/ci.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index fb3e992b..2e302eba 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -15,7 +15,7 @@ env:
 
 jobs:
   build-docker:
-    runs-on: ubuntu-latest
+    runs-on: [self-hosted, linux]
     outputs:
       docker_image_name: ${{ steps.meta.outputs.tags }}
     steps:
@@ -50,7 +50,7 @@ jobs:
 
   build-catkin:
     needs: build-docker
-    runs-on: ubuntu-latest
+    runs-on: [self-hosted, linux]
     container:
       image: ${{ needs.build-docker.outputs.docker_image_name }}
     steps:

From c2ee1da7b13a1bef9eb43b23221e654c4506b564 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 16 Aug 2023 14:05:27 +0200
Subject: [PATCH 46/57] Add safe directory

---
 .github/workflows/ci.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 2e302eba..dc867662 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -24,6 +24,8 @@ jobs:
       with:
         path: moma_ws/src/moma
         submodules: recursive
+    - name: Git safe directory
+      run: git config --system --add safe.directory .
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Log into registry ${{ env.REGISTRY }}

From 11e4bd7920a3cb2686dd3a61a5310bfeb9048a3d Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 16 Aug 2023 14:06:43 +0200
Subject: [PATCH 47/57] Put the safe directory in the correct place.

---
 .github/workflows/ci.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index dc867662..cc131d26 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -24,8 +24,6 @@ jobs:
       with:
         path: moma_ws/src/moma
         submodules: recursive
-    - name: Git safe directory
-      run: git config --system --add safe.directory .
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Log into registry ${{ env.REGISTRY }}
@@ -56,6 +54,8 @@ jobs:
     container:
       image: ${{ needs.build-docker.outputs.docker_image_name }}
     steps:
+    - name: Git safe directory (only for running within containers)
+      run: git config --system --add safe.directory .
     - name: Check out moma repo
       uses: actions/checkout@v3
       with:

From ed6418808f10ed08eb3d47b383f917fe4b387ece Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 16 Aug 2023 14:24:36 +0200
Subject: [PATCH 48/57] Hack workaround for safe directory

---
 .github/workflows/ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index cc131d26..809651dd 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -55,7 +55,7 @@ jobs:
       image: ${{ needs.build-docker.outputs.docker_image_name }}
     steps:
     - name: Git safe directory (only for running within containers)
-      run: git config --system --add safe.directory .
+      run: git config --system --add safe.directory '*'
     - name: Check out moma repo
       uses: actions/checkout@v3
       with:

From 522442b8d89c2b287d37e8c3ca0088af67c5f685 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 16 Aug 2023 14:39:15 +0200
Subject: [PATCH 49/57] Switch back to github-hosted dockers.

---
 .github/workflows/ci.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 809651dd..53d4a57a 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -15,7 +15,7 @@ env:
 
 jobs:
   build-docker:
-    runs-on: [self-hosted, linux]
+    runs-on: ubuntu-latest
     outputs:
       docker_image_name: ${{ steps.meta.outputs.tags }}
     steps:
@@ -50,7 +50,7 @@ jobs:
 
   build-catkin:
     needs: build-docker
-    runs-on: [self-hosted, linux]
+    runs-on: ubuntu-latest
     container:
       image: ${{ needs.build-docker.outputs.docker_image_name }}
     steps:

From d9112ae5652e91422bd23bf0a2c89a6bad3c3f25 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Tue, 10 Oct 2023 15:29:47 +0200
Subject: [PATCH 50/57] Make an attempt to get the demo docker to build
 properly.

---
 docker/scripts/install_demo.sh | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/docker/scripts/install_demo.sh b/docker/scripts/install_demo.sh
index e4b53e9c..752a76e7 100644
--- a/docker/scripts/install_demo.sh
+++ b/docker/scripts/install_demo.sh
@@ -7,7 +7,7 @@ cd $MOMA_DEP_WS/src || exit 1
 vcs import --recursive --input $SCRIPTS_PATH/moma_demo.repos
 
 # Upgrade numpy version
-pip install --upgrade numpy==1.23.0
+pip install --no-cache-dir --upgrade numpy==1.23.0
 
 # This helps torch download on Github Actions :)
 export TMPDIR='/var/tmp'
@@ -30,6 +30,7 @@ gdown 1MysYHve3ooWiLq12b58Nm8FWiFBMH-bJ
 unzip data.zip -d vgn_data
 mv vgn_data/data/* vgn/assets/
 rm -r vgn_data
+rm data.zip
 
 # Add a rundemo alias:
 echo 'alias rundemo="roslaunch grasp_demo grasp_demo.launch launch_rviz:=true"' >> ~/.bashrc

From 95392e1f60897d0f2a6e9a760e96de0ac6a7f0f1 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Tue, 10 Oct 2023 15:31:02 +0200
Subject: [PATCH 51/57] Re-force CD to run again.

---
 .github/workflows/cd.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index d1e4b52a..308cc181 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -3,6 +3,8 @@ name: moma CD
 on:
   push:
     branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
 
 env:
   # Use docker.io for Docker Hub if empty

From 292e4c5baab8efe5d935f1f6b893f9b872b786fb Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Tue, 10 Oct 2023 15:49:07 +0200
Subject: [PATCH 52/57] Try to reduce number of pip requirements.

---
 docker/scripts/install_demo.sh | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/docker/scripts/install_demo.sh b/docker/scripts/install_demo.sh
index 752a76e7..5110e910 100644
--- a/docker/scripts/install_demo.sh
+++ b/docker/scripts/install_demo.sh
@@ -13,8 +13,9 @@ pip install --no-cache-dir --upgrade numpy==1.23.0
 export TMPDIR='/var/tmp'
 
 # Pip install VGN requirements
-pip install --no-cache-dir -r vgn/requirements.txt
-pip install --no-cache-dir torch
+pip install --no-cache-dir catkin_pkg scipy pandas matplotlib mpi4py open3d pybullet==2.7.9 tqdm
+pip cache purge
+pip install --no-cache-dir torch pytorch-ignite tensorboard
 
 # Pip install gdown to get google drive files
 pip install gdown

From e4cba284c4f876f81ec6854c10561cfa95741f9e Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 11 Oct 2023 11:13:51 +0200
Subject: [PATCH 53/57] We try again, without CUDA this time.

---
 docker/scripts/install_demo.sh | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/docker/scripts/install_demo.sh b/docker/scripts/install_demo.sh
index 5110e910..809a24f8 100644
--- a/docker/scripts/install_demo.sh
+++ b/docker/scripts/install_demo.sh
@@ -13,9 +13,10 @@ pip install --no-cache-dir --upgrade numpy==1.23.0
 export TMPDIR='/var/tmp'
 
 # Pip install VGN requirements
-pip install --no-cache-dir catkin_pkg scipy pandas matplotlib mpi4py open3d pybullet==2.7.9 tqdm
+pip install --no-cache-dir catkin_pkg scipy pandas==0.22.0 matplotlib mpi4py open3d pybullet==2.7.9 tqdm
 pip cache purge
-pip install --no-cache-dir torch pytorch-ignite tensorboard
+pip install --no-cache-dir torch==1.2.0+cpu -f https://download.pytorch.org/whl/torch_stable.html
+pip install tensorboard #pytorch-ignite
 
 # Pip install gdown to get google drive files
 pip install gdown

From 0b7d5257fd86ef8f3ffe12f8103865d0792e337b Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 11 Oct 2023 11:21:26 +0200
Subject: [PATCH 54/57] Newer torch

---
 docker/scripts/install_demo.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docker/scripts/install_demo.sh b/docker/scripts/install_demo.sh
index 809a24f8..f7f8d6fd 100644
--- a/docker/scripts/install_demo.sh
+++ b/docker/scripts/install_demo.sh
@@ -15,7 +15,7 @@ export TMPDIR='/var/tmp'
 # Pip install VGN requirements
 pip install --no-cache-dir catkin_pkg scipy pandas==0.22.0 matplotlib mpi4py open3d pybullet==2.7.9 tqdm
 pip cache purge
-pip install --no-cache-dir torch==1.2.0+cpu -f https://download.pytorch.org/whl/torch_stable.html
+pip install --no-cache-dir torch==1.12.0+cpu -f https://download.pytorch.org/whl/torch_stable.html
 pip install tensorboard #pytorch-ignite
 
 # Pip install gdown to get google drive files

From 954150bbeb06801d9789462eaddec0cdb8ce58b8 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 11 Oct 2023 14:48:34 +0200
Subject: [PATCH 55/57] Please open3d

---
 docker/scripts/install_demo.sh | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/docker/scripts/install_demo.sh b/docker/scripts/install_demo.sh
index f7f8d6fd..00633c24 100644
--- a/docker/scripts/install_demo.sh
+++ b/docker/scripts/install_demo.sh
@@ -13,10 +13,11 @@ pip install --no-cache-dir --upgrade numpy==1.23.0
 export TMPDIR='/var/tmp'
 
 # Pip install VGN requirements
-pip install --no-cache-dir catkin_pkg scipy pandas==0.22.0 matplotlib mpi4py open3d pybullet==2.7.9 tqdm
-pip cache purge
+pip install --no-cache-dir catkin_pkg scipy matplotlib mpi4py pybullet==2.7.9 tqdm
 pip install --no-cache-dir torch==1.12.0+cpu -f https://download.pytorch.org/whl/torch_stable.html
-pip install tensorboard #pytorch-ignite
+pip install --no-cache-dir tensorboard
+pip install --no-cache-dir open3d-cpu==0.17.0
+
 
 # Pip install gdown to get google drive files
 pip install gdown

From 42fa4ce237d5eec8d07f7be62b074e796e0dd27c Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 11 Oct 2023 15:47:37 +0200
Subject: [PATCH 56/57] 700th time is the charm

---
 docker/scripts/install_demo.sh | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/docker/scripts/install_demo.sh b/docker/scripts/install_demo.sh
index 00633c24..00f265ec 100644
--- a/docker/scripts/install_demo.sh
+++ b/docker/scripts/install_demo.sh
@@ -16,11 +16,10 @@ export TMPDIR='/var/tmp'
 pip install --no-cache-dir catkin_pkg scipy matplotlib mpi4py pybullet==2.7.9 tqdm
 pip install --no-cache-dir torch==1.12.0+cpu -f https://download.pytorch.org/whl/torch_stable.html
 pip install --no-cache-dir tensorboard
-pip install --no-cache-dir open3d-cpu==0.17.0
-
+pip install --no-cache-dir open3d==0.13.0
 
 # Pip install gdown to get google drive files
-pip install gdown
+pip install --no-cache-dir gdown
 
 # Make sure we can unzip too
 apt-get update

From 95f228199c05841af93fe26a6066030215de904c Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Wed, 11 Oct 2023 17:05:32 +0200
Subject: [PATCH 57/57] Switch CD back to only building on push.

---
 .github/workflows/cd.yml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
index 308cc181..d1e4b52a 100644
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@@ -3,8 +3,6 @@ name: moma CD
 on:
   push:
     branches: [ "master" ]
-  pull_request:
-    branches: [ "master" ]
 
 env:
   # Use docker.io for Docker Hub if empty