Fix MKL setup on arm

docker/Dockerfile

@@ -79,11 +79,9 @@ ENV ACADOS_SOURCE_DIR "/root/acados"
 
 # Install Intel MKL
 WORKDIR /root
-RUN apt-get update && apt-get install -y gpg-agent wget
-RUN wget -O- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB | gpg --dearmor | sudo tee /usr/share/keyrings/oneapi-archive-keyring.gpg > /dev/null
-RUN echo "deb [signed-by=/usr/share/keyrings/oneapi-archive-keyring.gpg] https://apt.repos.intel.com/oneapi all main" | sudo tee /etc/apt/sources.list.d/oneAPI.list
-RUN apt-get update && apt-get install -y intel-oneapi-mkl
-RUN echo 'source /opt/intel/oneapi/mkl/latest/env/vars.sh' >> ~/.bashrc
+COPY mkl_setup.sh /mkl_setup.sh
+RUN /mkl_setup.sh
+RUN rm /mkl_setup.sh
 
 # Install unitree_sdk2
 RUN apt-get update && apt-get install net-tools

docker/mkl_setup.sh

@@ -0,0 +1,19 @@
+#!/bin/sh
+
+# perform a binary install on x86 machines
+# on ARM, it is skipped
+
+if [ "${HW_ARCH}" = "x86_64" ]; then
+  cd /root
+  apt-get update && apt-get install -y gpg-agent wget
+  wget -O- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB | gpg --dearmor | sudo tee /usr/share/keyrings/oneapi-archive-keyring.gpg > /dev/null
+  echo "deb [signed-by=/usr/share/keyrings/oneapi-archive-keyring.gpg] https://apt.repos.intel.com/oneapi all main" | sudo tee /etc/apt/sources.list.d/oneAPI.list
+  apt-get update && apt-get install -y intel-oneapi-mkl
+  echo 'source /opt/intel/oneapi/mkl/latest/env/vars.sh' >> ~/.bashrc
+
+elif [ "${HW_ARCH}" = "aarch64" ]; then
+  echo 'Skipping MKL on ARM'
+fi
+
+
+exit 0