mirror of
https://github.com/wassname/pyrobolearn.git
synced 2026-09-09 11:31:38 +08:00
add simulator installation scripts
This commit is contained in:
Brian Delhaisse
@@ -0,0 +1,50 @@
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#!/bin/bash
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# Install the Chrono simulator and its Python wrapper (pychrono)
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# References:
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# - install chrono:
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# - https://github.com/projectchrono/chrono
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# - http://api.projectchrono.org/development/tutorial_install_chrono.html
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# - install pychrono:
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# - http://api.projectchrono.org/development/module_python_installation.html
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# Define few variables
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ORIGIN_DIR=$PWD
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# install chrono
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# Pass as the first argument the location where to install chrono and pychrono
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if [[ -z $1 ]]; then
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echo "Specify the location where to install the chrono and pychrono source directories as the first argument."
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exit
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fi
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CHRONO_PATH=$1
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cd $CHRONO_PATH
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# install dependencies
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sudo apt-get install libeigen3-dev cmake git
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sudo apt install build-essential x11-common libxxf86vm-dev libglu1-mesa-dev freeglut3 xorg-dev
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sudo apt install libirrlicht1.8 libirrlicht-dev libirrlicht-doc
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# install SWIG
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git clone https://github.com/swig/swig.git
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cd swig
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sudo apt-get install automake
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./autogen.sh
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./configure
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sudo apt-get install bison flex
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make -j4
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sudo make install
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# install chrono and pychrono
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cd $CHRONO_PATH
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git clone https://github.com/projectchrono/chrono
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cd chrono
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mkdir build
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cd build
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cmake .. -DENABLE_MODULE_IRRLICHT=True -DENABLE_MODULE_PYTHON=True -DSWIG_EXECUTABLE=/usr/local/bin/swig
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make -j4
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sudo make install
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# the pychrono Python library is in chrono/build/bin
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# return to the original directory
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cd $ORIGIN_DIR
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@@ -0,0 +1,47 @@
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#!/bin/bash
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# Install the Dart simulator and its Python wrapper (dartpy)
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# References
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# - Install DART on Ubuntu: https://dartsim.github.io/install_dart_on_ubuntu.html
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# - Install dartpy on Ubuntu: https://dartsim.github.io/install_dartpy_on_ubuntu.html
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# Define few variables
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ORIGIN_DIR=$PWD
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# install dart
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# Pass as the first argument the location where to install DART
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if [[ -z $1 ]]; then
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echo "Specify the location where to install the DART source directory as the first argument."
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exit
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fi
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cd $1
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sudo apt-get remove libdart*
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# install dependencies
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sudo apt-get install build-essential cmake pkg-config git
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sudo apt-get install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev
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sudo apt-get install libnlopt-dev
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sudo apt-get install coinor-libipopt-dev
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sudo apt-get install libbullet-dev
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sudo apt-get install libode-dev
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sudo apt-get install liboctomap-dev
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sudo apt-get install libflann-dev
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sudo apt-get install libtinyxml2-dev liburdfdom-dev
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sudo apt-get install libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev
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sudo apt-get install python3-pip
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# build and install DART and dartpy
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git clone git://github.com/dartsim/dart.git
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cd dart
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git checkout tags/v6.9.0
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mkdir build
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cd build
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cmake .. -DDART_BUILD_DARTPY=ON -DCMAKE_INSTALL_PREFIX=/usr/ -DCMAKE_BUILD_TYPE=Release
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make -j4
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make -j4 dartpy
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sudo make install
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# return to the original directory
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cd $ORIGIN_DIR
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@@ -16,7 +16,7 @@ currentdir=$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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echo "Specify 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 $1
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@@ -0,0 +1,63 @@
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#!/bin/bash
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# Install the MuJoCo simulator and the Python wrapper (mujoco_py) provided by OpenAI
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# You have to provide the directory where to install the Mujoco and mujoco_py packages and which contains the mjkey.txt
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# References:
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# - install mujoco: https://www.roboti.us/index.html
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# - install mujoco_py: https://github.com/openai/mujoco-py
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# Define few variables
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ORIGIN_DIR=$PWD
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# install mujoco
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# Pass as the first argument the location where to install MuJoCo and mujoco_py
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if [[ -z $1 ]]; then
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echo "Specify the location where to install the MuJoCo and mujoco_py source directories as the first argument."
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exit
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fi
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MUJOCO_PATH=$1
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cd $MUJOCO_PATH
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# check OS
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if [[ "$OSTYPE" == "linux-gnu" ]]; then # LINUX
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PACKAGE="mujoco200_linux"
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elif [[ "$OSTYPE" == "darwin"* ]]; then # Mac OSX
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PACKAGE="mujoco200_macos"
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elif [[ "$OSTYPE" == "msys" ]]; then # Windows
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PACKAGE="mujoco200_win64"
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else
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echo "This OS is not supported. Expecting a Linux, Mac OSX, or Windows system."
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exit
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fi
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# download package and unzip it
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wget "https://www.roboti.us/download/${PACKAGE}.zip"
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unzip "${PACKAGE}.zip"
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# install mujoco_py
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sudo apt install libosmesa6-dev libgl1-mesa-glx libglfw3
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export MUJOCO_PY_MJKEY_PATH="${MUJOCO_PATH}/mjkey.txt"
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export MUJOCO_PY_MJPRO_PATH="${MUJOCO_PATH}/${PACKAGE}"
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export MUJOCO_PY_MUJOCO_PATH="${MUJOCO_PATH}/${PACKAGE}"
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export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${MUJOCO_PATH}/${PACKAGE}/bin
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export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so # :/usr/lib/x86_64-linux-gnu/libGL.so # for visualization
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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 "# MuJoCo" >> .bashrc
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echo "export MUJOCO_PY_MJKEY_PATH=${MUJOCO_PATH}/mjkey.txt" >> .bashrc
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echo "export MUJOCO_PY_MJPRO_PATH=${MUJOCO_PATH}/${PACKAGE}" >> .bashrc
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echo "export MUJOCO_PY_MUJOCO_PATH=${MUJOCO_PATH}/${PACKAGE}" >> .bashrc
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echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${MUJOCO_PATH}/${PACKAGE}/bin" >> .bashrc
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echo "export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so" >> .bashrc
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# source .bashrc
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git clone https://github.com/openai/mujoco-py
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cd mujoco-py
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pip install -e .
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# sudo python setup.py install
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# return to the original directory
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cd $ORIGIN_DIR
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@@ -0,0 +1,123 @@
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#!/bin/bash
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# Install the raisim simulator (raisimLib and raisimOgre) and its Python wrapper (raisimpy)
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# ./install_raisim [<workspace_path> <local_build_path> <python_version> [<path/to/python/bin>]]
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# References:
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# - install raisimLib: https://github.com/leggedrobotics/raisimLib
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# - install raisimOgre: https://github.com/leggedrobotics/raisimOgre
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# - install raisimpy: https://github.com/robotlearn/raisimpy
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# Define few variables
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ORIGIN_DIR=$PWD
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# define workspace, local build, and python version
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# Pass as the first argument the workspace location
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if [[ -z $1 ]]; then
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echo "Specify the WORKSPACE location where to clone/install the various RaiSim repositories."
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exit
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fi
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# Pass as the second argument the local build location
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if [[ -z $2 ]]; then
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echo "Specify the local build location where to install the exported cmake libraries."
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exit
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fi
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# Pass as the third argument the python version
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if [[ -z $3 ]]; then
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echo "Specify the python version."
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exit
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fi
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WORKSPACE=$1
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LOCAL_BUILD=$2
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PYTHON_VERSION=$3
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#####################
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# install raisimLib #
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#####################
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# install raisimLib dependencies
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sudo apt-get install libeigen-dev
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# install raisimLib
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cd $WORKSPACE/raisimLib
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mkdir build && cd build && cmake .. -DCMAKE_INSTALL_PREFIX=$LOCAL_BUILD && make install
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######################
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# install raisimOgre #
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######################
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# install cmake > 3.10
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export cmake_version=3.14
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export cmake_build=5
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mkdir ~/temp
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cd ~/temp
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wget https://cmake.org/files/v$cmake_version/cmake-$cmake_version.$cmake_build.tar.gz
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tar -xzvf cmake-$cmake_version.$cmake_build.tar.gz
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cd cmake-$cmake_version.$cmake_build/
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./bootstrap
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make -j4
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sudo make install
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# install g++
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sudo apt-get install -y software-properties-common
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sudo add-apt-repository ppa:ubuntu-toolchain-r/test
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sudo apt update
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sudo apt install g++-8 gcc-8 -y
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# install raisimOgre dependencies
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sudo apt-get install libgles2-mesa-dev libxt-dev libxaw7-dev libsdl2-dev libzzip-dev libfreeimage-dev libfreetype6-dev libpugixml-dev
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# build Ogre from source
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cd $WORKSPACE
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git clone https://github.com/leggedrobotics/ogre.git
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cd ogre
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git checkout raisimOgre
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mkdir build
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cd build
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cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$LOCAL_BUILD -DOGRE_BUILD_COMPONENT_BITES=ON -OGRE_BUILD_COMPONENT_JAVA=OFF -DOGRE_BUILD_DEPENDENCIES=OFF -DOGRE_BUILD_SAMPLES=False
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make install -j8
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# install raisimOgre
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cd $WORKSPACE
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cd raisimOgre && mkdir build && cd build
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cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH=$LOCAL_BUILD -DCMAKE_INSTALL_PREFIX=$LOCAL_BUILD -DRAISIM_OGRE_EXAMPLES=True
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make install -j8
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####################
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# Install raisimpy #
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####################
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# install pybind11
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cd $WORKSPACE
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git clone https://github.com/pybind/pybind11
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mkdir build
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cd build
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if [[ -z $4 ]]; then # Check if path to python binary is provided
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cmake ..
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else
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cmake -DPYTHON_EXECUTABLE=$4 ..
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fi
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make check -j 4
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# install raisimpy
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cd $WORKSPACE
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git clone https://github.com/robotlearn/raisimpy
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cd raisimpy
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mkdir build && cd build
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cmake -DPYBIND11_PYTHON_VERSION=$PYTHON_VERSION -DCMAKE_PREFIX_PATH=$LOCAL_BUILD -DCMAKE_INSTALL_PREFIX=$LOCAL_BUILD ..
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make -j4
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make install
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export PYTHONPATH=$PYTHONPATH:$LOCAL_BUILD/lib
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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 "# RaiSim" >> .bashrc
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echo "export PYTHONPATH=\$PYTHONPATH:${LOCAL_BUILD}/lib" >> .bashrc
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# source .bashrc
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# return to the original directory
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cd $ORIGIN_DIR
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@@ -1,18 +1,25 @@
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#!/bin/sh
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# This bash installs the 'sloccount' command which counts source lines of code, and provides several statisticsabout this last one.
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# This bash installs the 'sloccount' and 'cloc' commands which provide statistics such as the number of lines of code,
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# and others of a certain software.
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# Once installed, go to the pyrobolearn package and type:
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# $ sloccount *.py */*.py
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# $ sloccount .
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# or
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# $ cloc .
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# define variables
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origindir=$PWD
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scriptdir=`dirname $0`
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# install package
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# install packages
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sudo apt install sloccount -y
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sudo apt install cloc -y
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# compute statistics for pyrobolearn software
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cd $scriptdir; cd ..
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sloccount *.py */*.py
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echo "\n\nUsing Sloccount:"
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sloccount .
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echo "\n\nUsing clock:"
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cloc .
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# return to the original directory
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cd $origindir
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@@ -0,0 +1,79 @@
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#!/bin/bash
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# Install the VREP simulator and the Python wrapper (PyRep)
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# If you use a virtual environment for Python, activate this last one before launching this script
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# References:
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# - install VREP: http://www.coppeliarobotics.com/downloads.html
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# - install PyRep: https://github.com/stepjam/PyRep
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# Define few variables
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ORIGIN_DIR=$PWD
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# install VREP
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# Pass as the first argument the location where to install VREP and PyRep
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if [[ -z $1 ]]; then
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echo "Specify the location where to install the VREP and PyRep source directories as the first argument."
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exit
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fi
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cd $1
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# check OS
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if [[ "$OSTYPE" == "linux-gnu" ]]; then
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# LINUX
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OS=`cat /etc/os-release | grep NAME= | head -1 | cut -c 7- | sed 's/.$//'` # e.g. Ubuntu
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VERSION=`cat /etc/os-release | grep VERSION= | head -1 | cut -c 10- | cut -c -5` # e.g. 16.04
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# Check Ubuntu version
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if [[ $VERSION == "16.04" ]]; then
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PACKAGE="V-REP_PRO_EDU_V3_6_2_Ubuntu16_04"
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elif [[ $VERSION == "18.04" ]]; then
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PACKAGE="V-REP_PRO_EDU_V3_6_2_Ubuntu18_04"
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else
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echo "This Linux distribution ${OS} ${VERSION} is not supported; Ubuntu 16.04 or 18.04 is required."
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exit
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fi
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# download package and unpack it
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wget "http://www.coppeliarobotics.com/files/${PACKAGE}.tar.xz"
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tar -xvf "${PACKAGE}.tar.xz"
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elif [[ "$OSTYPE" == "darwin"* ]]; then
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# Mac OSX
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PACKAGE="V-REP_PRO_EDU_V3_6_2_Mac"
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# download package and unpack it
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wget "http://www.coppeliarobotics.com/files/${PACKAGE}.zip"
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unzip "${PACKAGE}.zip"
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#elif [[ "$OSTYPE" == "msys" ]]; then
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# # Windows
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# PACKAGE="V-REP_PRO_EDU_V3_6_2_Setup"
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# wget "http://www.coppeliarobotics.com/files/$PACKAGE.exe"
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else
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echo "This OS is not supported. Expecting an Ubuntu or Mac OSX system."
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exit
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fi
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# export variables
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export VREP_ROOT="${PWD}/${PACKAGE}"
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export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$VREP_ROOT
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export QT_QPA_PLATFORM_PLUGIN_PATH=$VREP_ROOT
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# write variables to export in the ~/.bashrc file, and source it
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cd
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echo "" >> .bashrc
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echo "# VREP" >> .bashrc
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echo "export VREP_ROOT=${PWD}/${PACKAGE}" >> .bashrc
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echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:\$VREP_ROOT" >> .bashrc
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echo "export QT_QPA_PLATFORM_PLUGIN_PATH=\$VREP_ROOT" >> .bashrc
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# source .bashrc
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# install PyRep
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cd $1
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git clone https://github.com/stepjam/PyRep.git
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cd PyRep
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# install requirements and setup (if you don't have a virtual environment with Py3, you might need to replace
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# pip by pip3, and python by python3.
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pip install -r requirements.txt
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python setup.py install --user
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# return to the original directory
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cd $ORIGIN_DIR
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