mirror of
https://github.com/wassname/pyrobolearn.git
synced 2026-09-09 11:31:38 +08:00
add license, requirements, setup and install scripts
This commit is contained in:
Brian Delhaisse
@@ -102,3 +102,11 @@ venv.bak/
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# mypy
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.mypy_cache/
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# others
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*.pyc
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*.swp
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.ipynb_checkpoints/
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.idea/
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0_VRDemoSettings.txt
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tests/
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@@ -0,0 +1,21 @@
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MIT License
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Copyright (c) 2019, Brian Delhaisse (brian.delhaisse@iit.it)
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Permission is hereby granted, free of charge, to any person obtaining a copy
|
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of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all
|
||||
copies or substantial portions of the Software.
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|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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@@ -1 +1,9 @@
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# pyrobolearn
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# PyRoboLearn
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This repository contains the code for the *PyRoboLearn* (PRL) framework: a Python framework for Robot Learning.
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This framework revolves mainly around 7 axes: simulators, worlds, robots, interfaces, learning tasks (= environment
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+ policy), learning models, and learning algorithms.
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## Requirements
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The framework has been tested with Python 2.7 and Ubuntu 16.04.
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@@ -0,0 +1,64 @@
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# To only install dependencies, type:
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# $ pip install -r requirements.txt
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numpy>=1.13.3
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numba>=0.42.0
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numpy-quaternion>=2019.1.13.15.7.3
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autograd>=1.2
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matplotlib>=2.0.2
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sympy>=1.3
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scipy>=0.19.1
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control>=0.8.1
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opencv-python>=4.0.0.21
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# multiprocessing
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pathos>=0.2.3
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# backend
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torch>=1.0.0
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torchvision>=0.2.1
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# simulators
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pybullet>=2.4.1
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gym>=0.10.9
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# git+git://github.com/benelot/pybullet-gym
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# interfaces
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inputs>=0.5
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gTTS>=2.0.3
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openni>=2.2.0.post6
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pyaudio>=0.2.8
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# models and algos
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sklearn>=0.0
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# gpytorch>=0.1.0rc4
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git+git://github.com/cornellius-gp/gpytorch/archive/alpha.zip
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GPy>=1.9.6
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GPyOpt>=1.2.5
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hmmlearn>=0.2.1
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keras>=2.2.4
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neat-python>=0.92
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tensorflow>=1.3.0
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# tensorflow-gpu
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cma>=2.6.0
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# ray>=0.6.3 [rllib]
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# git+git://github.com/ikostrikov/pytorch-a2c-ppo-acktr
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# robots
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urdf-parser-py>=0.0.3
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# optim
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cvxopt>=1.2.3
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cvxpy>=1.0.15
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quadprog>=0.1.6
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qpsolvers>=1.0.4
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nlopt>=2.4.2.post2
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# ipopt
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# control
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slycot>=0.3.3
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# worlds/utils
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# gdal>=1.11.3
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# need to install rbdl, ipopt, tf
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Executable
+63
@@ -0,0 +1,63 @@
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#!/bin/sh
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# Install everything: for each package, ask the user if he/she wishes to install it
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# check if user is root (i.e. running with sudo)
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if [ `whoami` != root ]; then
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echo "Please run this script with sudo"
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exit
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fi
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# check the first argument which must be the source directory
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if [ -z $1 ]
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then
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echo "Specify the absolute location (or relative to home) where to install the various packages."
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exit
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fi
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## Install packages
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# install ros-kinetic
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read -p 'Do you wish to install the `ros-kinetic` package on this computer [yes/no]?: ' reply
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if [ $reply = 'yes' ]; then
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echo "Installing ros-kinetic..."
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$PWD/install_ros_kinetic.sh
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else
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echo "Not installing ros-kinetic"
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fi
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# install rbdl
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read -p 'Do you wish to install the `rbdl` package on this computer [yes/no]?: ' reply
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if [ $reply = 'yes' ]; then
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echo "Installing rbdl..."
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$PWD/install_rbdl.sh
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else
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echo "Not installing rbdl"
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fi
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|
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# install ipopt
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read -p 'Do you wish to install the `ipopt` package on this computer [yes/no]?: ' reply
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if [ $reply = 'yes' ]; then
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echo "Installing ipopt..."
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$PWD/install_ipopt.sh
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else
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echo "Not installing ipopt"
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fi
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# install openni2 & nite2
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read -p 'Do you wish to install the `openni2`, `libfreenect`, and `nite2` packages on this computer [yes/no]?: ' reply
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if [ $reply = 'yes' ]; then
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echo "Installing openni2, libfreenect, and nite2..."
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$PWD/install_openni2_nite2.sh $1
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else
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echo "Not installing openni2, libfreenect, and nite2"
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fi
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# install openpose
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read -p 'Do you wish to install the `openpose` package on this computer [yes/no]?: ' reply
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if [ $reply = 'yes' ]; then
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echo "Installing openpose..."
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$PWD/install_openpose.sh $1
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else
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echo "Not installing openpose"
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fi
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Executable
+7
@@ -0,0 +1,7 @@
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#!/bin/sh
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# Install audio packages for Ubuntu which is needed for pyaudio.
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sudo apt-get install libasound-dev portaudio19-dev libportaudio2 libportaudiocpp0
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sudo apt-get install ffmpeg libav-tools
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pip install pyaudio
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Executable
+8
@@ -0,0 +1,8 @@
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#!/bin/sh
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# This bash script install the gdal library and the official python wrapper
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sudo apt-get install libgdal-dev
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export CPLUS_INCLUDE_PATH=/usr/include/gdal
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export C_INCLUDE_PATH=/usr/include/gdal
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#sudo pip install gdal
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sudo apt-get install python-gdal
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Executable
+88
@@ -0,0 +1,88 @@
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#!/bin/sh
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# File taken from CarND-MPC-Project from Udacity but modified to install python wrapper as well
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# Source: https://github.com/udacity/CarND-MPC-Project
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#
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# To use this script:
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# $ sudo ./install_openni2_nite2.sh <path/to/install/packages>
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#
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# You might need to source your .bashrc file at the end.
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#
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# IPopt installation on MacOSX:
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# brew install ipopt --with-openblas
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# Define few variables
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currentdir=$PWD
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# Pass the Ipopt source directory as the first argument
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if [ -z $1 ]
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then
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echo "Specifiy the location of the Ipopt source directory in the first argument."
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exit
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fi
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cd $1
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# specify ipopt version
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version=3.12.12
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# install gfortran
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sudo apt-get install gfortran
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# download ipopt
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wget https://www.coin-or.org/download/source/Ipopt/Ipopt-${version}.zip
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unzip Ipopt-${version}.zip
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rm Ipopt-${version}.zip
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cd Ipopt-${version}
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prefix=/usr/local
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srcdir=$PWD
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echo "Building Ipopt from ${srcdir}"
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echo "Saving headers and libraries to ${prefix}"
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# BLAS
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cd $srcdir/ThirdParty/Blas
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./get.Blas
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mkdir -p build && cd build
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../configure --prefix=$prefix --disable-shared --with-pic
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make
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sudo make install
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# Lapack
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cd $srcdir/ThirdParty/Lapack
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./get.Lapack
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mkdir -p build && cd build
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../configure --prefix=$prefix --disable-shared --with-pic \
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--with-blas="$prefix/lib/libcoinblas.a -lgfortran"
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make
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sudo make install
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# ASL
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cd $srcdir/ThirdParty/ASL
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./get.ASL
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# MUMPS
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cd $srcdir/ThirdParty/Mumps
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./get.Mumps
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# build everything
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cd $srcdir
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./configure --prefix=$prefix coin_skip_warn_cxxflags=yes \
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--with-blas="$prefix/lib/libcoinblas.a -lgfortran" \
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--with-lapack=$prefix/lib/libcoinlapack.a
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make
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make test
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sudo make -j1 install
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# write variables to export in the ~/.bashrc file, and source it
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cd
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echo "" >> .bashrc
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echo "# Export environment variables for IPopt" >> .bashrc
|
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echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/usr/local/lib/" >> .bashrc
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# source .bashrc
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# install python package
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pip install ipopt
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# return to the original directory
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cd $currentdir
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Executable
+134
@@ -0,0 +1,134 @@
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#!/bin/sh
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# This bash script install the OpenNI2 and Nite2 packages (tested on Ubuntu 16.04)
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||||
#
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# To use this script:
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# $ sudo ./install_openni2_nite2.sh <path/to/install/packages>
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#
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# You might need to source your .bashrc file at the end.
|
||||
#
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# Github repo:
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# - https://github.com/OpenNI/OpenNI
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# - https://github.com/occipital/OpenNI2
|
||||
# - https://github.com/OpenKinect/libfreenect
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#
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# References:
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# - https://roboticslab-uc3m.gitbook.io/installation-guides/install-openni-nite
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# - https://stackoverflow.com/questions/32415089/install-openni2-and-nite2-on-linux
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# - https://codeyarns.com/2015/08/04/how-to-install-and-use-openni2/
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#
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# To test kinect (with libfreenect):
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# $ freenect-glview
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# To test asus/kinect (with openni, check in the Bin and Tools folders):
|
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# $ NiViewer
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# $ UserViewer
|
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|
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# Define few variables
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currentdir=$PWD
|
||||
|
||||
# Check if user is root/running with sudo
|
||||
if [ `whoami` != root ]; then
|
||||
echo "Please run this script with sudo"
|
||||
exit
|
||||
fi
|
||||
|
||||
# check the first argument which must be the source directory
|
||||
if [ -z $1 ]
|
||||
then
|
||||
echo "Specify the absolute location (or relative to home) where to install the OpenNI2, libfreenect, and NiTE2 packages."
|
||||
exit
|
||||
fi
|
||||
|
||||
# move to that directory
|
||||
cd; cd $1
|
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|
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# install requirement packages
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echo "Installing prerequired packages..."
|
||||
sudo apt-get install git g++ cmake libxi-dev libxmu-dev libusb-1.0-0-dev pkg-config freeglut3-dev build-essential libudev-dev openjdk-8-jdk usbutils
|
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|
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# driver for Asus Xtion Pro Live OpenNI driver (Ubuntu)
|
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sudo apt-get install libopenni-sensor-primesense0
|
||||
|
||||
# install OpenNI2
|
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echo "Installing OpenNI2..."
|
||||
cd; cd $1
|
||||
git clone https://github.com/occipital/OpenNI2.git # We used to have a fork off 6857677beee08e264fc5aeecb1adf647a7d616ab with working copy of Xtion Pro Live OpenNI2 driver.
|
||||
cd OpenNI2
|
||||
make -j`nproc`
|
||||
sudo ln -s $PWD/Bin/x64-Release/libOpenNI2.so /usr/local/lib/ # $PWD should be /yourPathTo/OpenNI2
|
||||
sudo ln -s $PWD/Bin/x64-Release/OpenNI2/ /usr/local/lib/ # $PWD should be /yourPathTo/OpenNI2
|
||||
sudo ln -s $PWD/Include /usr/local/include/OpenNI2 # $PWD should be /yourPathTo/OpenNI2
|
||||
sudo ldconfig
|
||||
#sudo $PWD/Packaging/Linux/install.sh
|
||||
sudo cp $PWD/Packaging/Linux/primesense-usb.rules /etc/udev/rules.d/557-primesense-usb.rules # install udev rules for usb devices
|
||||
# Install prebuilt SDK from online (instead of git)
|
||||
#wget https://s3.amazonaws.com/com.occipital.openni/OpenNI-Linux-x64-2.2.0.33.tar.bz2
|
||||
#tar -xjvf OpenNI-Linux-x64-2.2.0.33.tar.bz2 && rm OpenNI-Linux-x64-2.2.0.33.tar.bz2
|
||||
#cd OpenNI-Linux-x64-2.2
|
||||
#sudo ./install.sh # this installs 'primesense-usb.rules' in /etc/udev/rules.d/, and defines environment variables 'OPENNI2_*'
|
||||
#cd; cd $1
|
||||
#cp libfreenect/build/lib/OpenNI2-FreenectDriver/libFreenectDriver.so OpenNI-Linux-x64-2.2/Redist/OpenNI2/Drivers/
|
||||
#cp libfreenect/build/lib/OpenNI2-FreenectDriver/libFreenectDriver.so OpenNI-Linux-x64-2.2/Tools/OpenNI2/Drivers/
|
||||
#cd OpenNI-Linux-x64-2.2/Tools
|
||||
#./NiViewer
|
||||
|
||||
# Test the installation
|
||||
#cd Bin/x64-Release/
|
||||
#./NiViewer
|
||||
|
||||
# install libfreenect because it contains a driver to be used with OpenNI2
|
||||
echo "Installing libfreenect..."
|
||||
cd; cd $1
|
||||
git clone https://github.com/OpenKinect/libfreenect
|
||||
cd libfreenect && mkdir -p build
|
||||
cd build
|
||||
cmake .. -DBUILD_OPENNI2_DRIVER=ON
|
||||
make -j`nproc`
|
||||
sudo make install
|
||||
sudo ldconfig
|
||||
sudo ln -s /usr/local/lib/OpenNI2-FreenectDriver/libFreenectDriver.so /usr/local/lib/OpenNI2/Drivers
|
||||
cd ..
|
||||
sudo cp platform/linux/udev/51-kinect.rules /etc/udev/rules.d/ # don't need to run the app as root
|
||||
cd wrappers/python/
|
||||
sudo python setup.py install
|
||||
|
||||
# Test the installation
|
||||
#freenect-glview
|
||||
|
||||
# Set rules to avoid needing sudo when trying to read data from the sensors connected via USB port
|
||||
sudo sh -c "echo 'KERNEL == \"ttyUSB0\", MODE = \"0777\"' > 80-persistent-local-usb.rules"
|
||||
|
||||
# install NiTE2
|
||||
echo "Installing NiTE2..."
|
||||
cd; cd $1
|
||||
wget https://sourceforge.net/projects/roboticslab/files/External/nite/NiTE-Linux-x64-2.2.tar.bz2
|
||||
tar xvf NiTE-Linux-x64-2.2.tar.bz2 && rm NiTE-Linux-x64-2.2.tar.bz2
|
||||
cd NiTE-Linux-x64-2.2/
|
||||
sudo ./install.sh # defines environment variables 'NITE2_*'
|
||||
sudo ln -s $PWD/Redist/libNiTE2.so /usr/local/lib/
|
||||
sudo ln -s $PWD/Include /usr/local/include/NiTE-Linux-x64-2.2
|
||||
cd ..
|
||||
sudo ldconfig
|
||||
# Test the installation
|
||||
#cd NiTE-Linux-x64-2.2/Samples/Bin
|
||||
#./UserViewer
|
||||
|
||||
# write variables to export in the ~/.bashrc file, and source it
|
||||
cd
|
||||
OUT_FILE=".bashrc"
|
||||
echo "" >> $OUT_FILE
|
||||
echo "# Export OPENNI and NITE environment variables" >> $OUT_FILE
|
||||
echo "export OPENNI2_INCLUDE=$1/OpenNI2/Include" >> $OUT_FILE
|
||||
if [ `uname -m` = "x86_64" ];
|
||||
then
|
||||
#echo "export OPENNI2_REDIST64=$1/OpenNI-Linux-x64-2.2/Redist" >> $OUT_FILE
|
||||
echo "export OPENNI2_REDIST64=$1/OpenNI2/Bin/x64-Release" >> $OUT_FILE
|
||||
echo "export NITE2_REDIST64=$1/NiTE-Linux-x64-2.2/Redist" >> $OUT_FILE
|
||||
else
|
||||
#echo "export OPENNI2_REDIST=$1/OpenNI-Linux-x64-2.2/Redist" >> $OUT_FILE
|
||||
echo "export OPENNI2_REDIST=$1/OpenNI2/Bin/x64-Release" >> $OUT_FILE
|
||||
echo "export NITE2_REDIST=$1/NiTE-Linux-x64-2.2/Redist" >> $OUT_FILE
|
||||
fi
|
||||
# source .bashrc
|
||||
|
||||
# return to the original directory
|
||||
cd $currentdir
|
||||
Executable
+94
@@ -0,0 +1,94 @@
|
||||
#!/bin/sh
|
||||
# This bash script install the openpose and the official python wrapper
|
||||
#
|
||||
# Github repo: https://github.com/CMU-Perceptual-Computing-Lab/openpose
|
||||
# Reference: https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/installation.md
|
||||
# FAQ (troubleshooting): https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/faq.md
|
||||
|
||||
|
||||
# Define few variables
|
||||
currentdir=$PWD
|
||||
|
||||
# Check if user is root/running with sudo
|
||||
if [ `whoami` != root ]; then
|
||||
echo "Please run this script with sudo"
|
||||
exit
|
||||
fi
|
||||
|
||||
# check the first argument which must be the source directory
|
||||
if [ -z $1 ]
|
||||
then
|
||||
echo "Specify the absolute location (or relative to home) where to install the Openpose package."
|
||||
exit
|
||||
fi
|
||||
|
||||
# move to that directory
|
||||
cd; cd $1
|
||||
|
||||
# clone repository
|
||||
git clone https://github.com/CMU-Perceptual-Computing-Lab/openpose
|
||||
cd openpose
|
||||
git pull origin master
|
||||
|
||||
# Prerequisites
|
||||
sudo apt-get install cmake-qt-gui
|
||||
sudo apt install cmake-curses-gui
|
||||
read -p 'Do you wish to install the CUDA8 on this computer [yes/no]?: ' reply
|
||||
if [ $reply = 'yes' ]; then
|
||||
echo "Installing CUDA8..."
|
||||
sudo ./scripts/ubuntu/install_cuda.sh
|
||||
else
|
||||
echo "Not installing CUDA8"
|
||||
fi
|
||||
read -p 'Do you wish to install the cuDNN5.1 on this computer [yes/no]?: ' reply
|
||||
if [ $reply = 'yes' ]; then
|
||||
echo "Installing cuDNN5.1..."
|
||||
sudo ./scripts/ubuntu/install_cudnn.sh
|
||||
else
|
||||
echo "Not installing cuDNN5.1"
|
||||
fi
|
||||
sudo ./scripts/ubuntu/install_deps.sh
|
||||
sudo apt-get install libopencv-dev
|
||||
sudo apt-get install nvidia-modprobe
|
||||
|
||||
mkdir build && cd build
|
||||
echo "Check https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/installation.md#openpose-configuration for more information on how to configure the openpose package"
|
||||
#cmake-gui
|
||||
# to build with python 2.7
|
||||
#export PYTHON_EXECUTABLE=/usr/bin/python2.7
|
||||
#export PYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython2.7.so
|
||||
cmake -DBUILD_PYTHON=ON -DPYBIND11_PYTHON_VERSION=2.7 ..
|
||||
make -j`nproc`
|
||||
sudo make install
|
||||
sudo cp python/openpose/pyopenpose.so /usr/local/lib/python2.7/dist-packages/
|
||||
cd ..
|
||||
OPENPOSE_PATH_DIR=$PWD
|
||||
|
||||
# go to home directory and export environment variables in the bashrc
|
||||
cd
|
||||
echo "\n\n# Export OPENPOSE environment variables" >> ".bashrc"
|
||||
echo "export OPENPOSE_PATH=$OPENPOSE_PATH_DIR" >> ".bashrc"
|
||||
|
||||
# Test installation (check github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/quick_start.md)
|
||||
#cd OPENPOSE_PATH_DIR
|
||||
#./build/examples/openpose/openpose.bin
|
||||
# Python examples are in github.com/CMU-Perceptual-Computing-Lab/openpose/tree/master/examples/tutorial_api_python
|
||||
|
||||
# return to original directory
|
||||
cd currentdir
|
||||
|
||||
|
||||
# Troubleshootings
|
||||
# - If you obtain the following error "nvcc fatal : Unsupported gpu architecture 'compute_<xx>'", just modify the
|
||||
# cmake/Cuda.cmake file, from the line "set(Caffe_known_gpu_archs "...")", remove the architectures that your
|
||||
# computer does not possess. You can also specify the architecture in the cmake line with the option "CUDA_ARCH".
|
||||
# - If you obtain an error with the python version, you have to specify the version you want to use to pybind11, by
|
||||
# setting the option "-DPYBIND11_PYTHON_VERSION=2.7"
|
||||
# - If you have the following error "Cuda check failed (30 vs. 0): unknown error" when launching a basic example
|
||||
# in openpose as given in "https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/quick_start.md",
|
||||
# then the error comes from your Nvidia GPU driver or your CUDA toolkit. Check the solutions given in the following
|
||||
# link: https://github.com/NVIDIA/DIGITS/issues/1663
|
||||
# Before tempting any solutions, try to reboot your computer (this solution worked for me). Otherwise, this will
|
||||
# probably require you to reinstall the Nvidia drivers / CUDA toolkit.
|
||||
# - If you have an error with Qt such as: qt.qpa.plugin: Could not find the Qt platform plugin "xcb" in "", reinstall
|
||||
# the package, or install qtcreator.
|
||||
Executable
+74
@@ -0,0 +1,74 @@
|
||||
#!/bin/sh
|
||||
# This bash script install the rbdl library and the official python wrapper
|
||||
#
|
||||
# repo + documentation: https://rbdl.bitbucket.io/
|
||||
# paper: https://pdfs.semanticscholar.org/f129/5068f646ea9379da72ba5183276ca73a038d.pdf
|
||||
|
||||
# Define few variables
|
||||
currentdir=$PWD
|
||||
|
||||
# Check if user is root/running with sudo
|
||||
if [ `whoami` != root ]; then
|
||||
echo "Please run this script with sudo"
|
||||
exit
|
||||
fi
|
||||
|
||||
# check the first argument which must be the source directory
|
||||
if [ -z $1 ]
|
||||
then
|
||||
echo "Specify the absolute location (or relative to home) where to install the Openpose package."
|
||||
exit
|
||||
fi
|
||||
|
||||
# move to that directory
|
||||
cd; cd $1
|
||||
|
||||
# Install requirements
|
||||
# update & upgrade #
|
||||
sudo apt-get update
|
||||
sudo apt-get upgrade
|
||||
|
||||
#install cython
|
||||
sudo apt-get -y install cython
|
||||
# build-tools
|
||||
sudo apt-get -y install build-essential
|
||||
sudo apt-get -y install cmake
|
||||
# eigen
|
||||
sudo apt-get -y install libeigen3-dev
|
||||
|
||||
# download and install rbdl
|
||||
sudo rm -r rbdl
|
||||
wget https://bitbucket.org/rbdl/rbdl/get/default.zip
|
||||
unzip default.zip
|
||||
rm default.zip
|
||||
mv rbdl-rbdl-* rbdl
|
||||
cd rbdl
|
||||
mkdir build && cd build/
|
||||
cmake -D CMAKE_BUILD_TYPE=Release -D RBDL_BUILD_ADDON_URDFREADER=ON -D RBDL_BUILD_PYTHON_WRAPPER=ON ../
|
||||
# make error fix: cd addons/urdfreader
|
||||
# open urdfreader.cc
|
||||
# remove the line: #include "ros/ros.h"
|
||||
make -j`nproc`
|
||||
sudo make install
|
||||
|
||||
## to use python wrapper, you need to install Cython and NumPy
|
||||
cd python
|
||||
sudo cp rbdl.so /usr/local/lib/python2.7/dist-packages
|
||||
sudo cp rbdl.so /usr/local/lib/python2.7/site-packages
|
||||
|
||||
# return to original directory
|
||||
cd currentdir
|
||||
|
||||
|
||||
## to wrap GetBodyId() function
|
||||
#
|
||||
# Inside crbdl.pxd, add:
|
||||
# unsigned int GetBodyId(const char *body_name)
|
||||
# inside cdef cppclass Model:
|
||||
#
|
||||
# Inside rbdl-wrapper.pyx, add:
|
||||
# def GetBodyId (self, char* body_name):
|
||||
# return self.thisptr.GetBodyId(body_name)
|
||||
# inside cdef class Model:
|
||||
#
|
||||
# then do cmake, make, install again
|
||||
Executable
+49
@@ -0,0 +1,49 @@
|
||||
#!/bin/bash
|
||||
# update & upgrade #
|
||||
sudo apt-get update
|
||||
sudo apt-get upgrade
|
||||
|
||||
# install ros indigo #
|
||||
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
|
||||
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
|
||||
sudo apt-get update
|
||||
sudo apt-get -y install ros-kinetic-desktop-full
|
||||
sudo rosdep init
|
||||
rosdep update
|
||||
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
|
||||
source ~/.bashrc
|
||||
sudo apt-get -y install python-rosinstall
|
||||
|
||||
# install catkin #
|
||||
sudo apt-get -y install ros-kinetic-catkin
|
||||
|
||||
|
||||
# create ros workspace #
|
||||
mkdir -p ~/catkin_ws/src
|
||||
cd ~/catkin_ws/src
|
||||
catkin_init_workspace
|
||||
cd ~/catkin_ws/
|
||||
catkin_make
|
||||
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
|
||||
|
||||
# update gazebo to latest version #
|
||||
#sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu trusty #main" > /etc/apt/sources.list.d/gazebo-latest.list'
|
||||
#wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
#sudo apt-get update
|
||||
#sudo apt-get upgrade
|
||||
|
||||
# install gazebo ros pkgs #
|
||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
sudo apt-get -y install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
|
||||
|
||||
# install ros control #
|
||||
sudo apt-get -y install ros-kinetic-ros-control ros-kinetic-ros-controllers
|
||||
|
||||
# additional setting #
|
||||
#echo "export LC_NUMERIC=C" >> ~/.bashrc
|
||||
#echo "killall -q roscore" >> ~/.bashrc
|
||||
#echo "killall -q rosmaster" >> ~/.bashrc
|
||||
#echo "killall -q gazebo" >> ~/.bashrc
|
||||
#echo "killall -q gzserver" >> ~/.bashrc
|
||||
#echo "killall -q gzclient" >> ~/.bashrc
|
||||
Executable
+18
@@ -0,0 +1,18 @@
|
||||
#!/bin/sh
|
||||
# This bash installs the 'sloccount' command which counts source lines of code, and provides several statisticsabout this last one.
|
||||
# Once installed, go to the pyrobolearn package and type:
|
||||
# $ sloccount *.py */*.py
|
||||
|
||||
# define variables
|
||||
origindir=$PWD
|
||||
scriptdir=`dirname $0`
|
||||
|
||||
# install package
|
||||
sudo apt install sloccount -y
|
||||
|
||||
# compute statistics for pyrobolearn software
|
||||
cd $scriptdir; cd ..
|
||||
sloccount *.py */*.py
|
||||
|
||||
# return to the original directory
|
||||
cd $origindir
|
||||
Executable
+48
@@ -0,0 +1,48 @@
|
||||
#!/bin/sh
|
||||
# This bash script install the trac_ik library and the official python wrapper
|
||||
#
|
||||
# wiki: http://wiki.ros.org/trac_ik
|
||||
# repo: https://bitbucket.org/traclabs/trac_ik
|
||||
|
||||
# install from Debian package
|
||||
#sudo apt-get install ros-kinetic-trac-ik
|
||||
|
||||
# Define few variables
|
||||
currentdir=$PWD
|
||||
|
||||
# Check if user is root/running with sudo
|
||||
if [ `whoami` != root ]; then
|
||||
echo "Please run this script with sudo"
|
||||
exit
|
||||
fi
|
||||
|
||||
# check the first argument which must be the source directory
|
||||
if [ -z $1 ]
|
||||
then
|
||||
echo "Specify the absolute location (or relative to home) where to install the Openpose package."
|
||||
exit
|
||||
fi
|
||||
|
||||
# move to that directory
|
||||
cd; cd $1
|
||||
|
||||
# install requirements
|
||||
sudo apt-get install libccd-dev libccd2 libfcl-0.5-dev libfcl0.5
|
||||
sudo apt-get install libnlopt-dev libnlopt0 # nlopt
|
||||
sudo apt-get -y install libeigen3-dev # eigen
|
||||
sudo pip install nlopt
|
||||
|
||||
# install trac_ik library from sources
|
||||
git clone https://bitbucket.org/traclabs/trac_ik.git
|
||||
cd trac_ik/trac_ik_lib/
|
||||
mkdir build && cd build
|
||||
cmake -DPYTHON_VERSION=2.7 ..
|
||||
make -j2
|
||||
source devel/setup.bash
|
||||
|
||||
# install python
|
||||
cd ../../trac_ik_python/
|
||||
mkdir build && cd build
|
||||
cmake -DPYTHON_VERSION=2.7 ..
|
||||
make -j2
|
||||
sudo make install
|
||||
@@ -0,0 +1,38 @@
|
||||
# Once in the pyrobolearn folder, type one of the following command:
|
||||
# $ pip install -e .
|
||||
# $ pip install --user -e .
|
||||
# $ python setup.py install
|
||||
# $ python setup.py install --home=<dir>
|
||||
|
||||
from setuptools import setup, find_packages
|
||||
from pip.req import parse_requirements
|
||||
|
||||
# get description from readme file
|
||||
with open('README.md', 'r') as f:
|
||||
long_description = f.read()
|
||||
|
||||
# get the required packages
|
||||
install_requires = parse_requirements('requirements.txt', session=False)
|
||||
reqs = [str(ir.req) for ir in install_requires]
|
||||
|
||||
# setup
|
||||
setup(
|
||||
name='pyrobolearn',
|
||||
version='0.1.0',
|
||||
description='A Python framework for roboticists and machine learning practitioners',
|
||||
long_description = long_description,
|
||||
author='Brian Delhaisse',
|
||||
author_email='briandelhaisse@gmail.com',
|
||||
maintainer='Brian Delhaisse',
|
||||
maintainer_email='Brian Delhaisse',
|
||||
license='(c) Brian Delhaisse',
|
||||
url='https://github.com/robotlearn/pyrobolearn',
|
||||
platforms=['Linux Ubuntu'],
|
||||
python_requires='2.7'
|
||||
# packages=['', 'worlds', 'robots', 'tools', 'pso', 'envs', 'algos', 'optim', 'tasks', 'tools.vr', 'tools.vr.htc', 'tools.vr.oculus',
|
||||
# 'tools.bci', 'tools.audio', 'tools.camera', 'tools.game_controllers', 'utils', 'utils.data_structures',
|
||||
# 'models', 'robots', 'robots.ros', 'robots.ros.coman', 'robots.ros.walkman', 'filters',
|
||||
# 'metrics', 'rl', 'mechanics', 'objectives', 'experiments', 'exploration'],
|
||||
packages=find_packages(), #find_packages(exclude=('tests',))
|
||||
install_requires=reqs
|
||||
)
|
||||
Reference in New Issue
Block a user