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SETUP.md

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Install DART (python)

Dart dependencies

    sudo apt-get -y update
    # dart dependencies (see: https://dartsim.github.io/install_dartpy_on_ubuntu.html)
    sudo apt-get -y install build-essential cmake pkg-config git #install build tools
    sudo apt-get install libpoco-dev 
    sudo apt-get install libeigen3-dev  #install Eigen 3.4.0.
    sudo apt-get install libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev
    sudo apt-get install libboost-filesystem-dev #required since Ubuntu 22.04 (?)
    sudo apt-get install libtinyxml2-dev liburdfdom-dev
    sudo apt-get install libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev # install visualization libs
    sudo apt-get install pybind11-dev # install pybind for Ubuntu 19.04 and newer
    sudo apt-get install libbullet-dev #(optional if Bullet Collision Detector is used)
    sudo apt-get install libnlopt-cxx-dev

install dart

cd ~/install
git clone https://github.com/dartsim/dart.git
cd dart
git checkout v6.12.1
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_TYPE=Release -DDART_BUILD_DARTPY=ON
make -j dartpy
sudo make install dartpy

test darpy

import dartpy as dart
world = dart.simulation.World()
world.step()
# tests if Dartpy can be run with viewer
import dartpy as dart

if __name__== "__main__":
    world = dart.io.SkelParser.readWorld("dart://sample/skel/cubes.skel")
    world.setGravity([0, -9.81, 0])

    node = dart.gui.osg.RealTimeWorldNode(world)

    viewer = dart.gui.osg.Viewer()
    viewer.addWorldNode(node)

    viewer.setUpViewInWindow(0, 0, 640, 480)
    viewer.setCameraHomePosition([0.8, 0.0, 0.8], [0, -0.25, 0], [0, 0.5, 0])
    viewer.run()

install dart

pip3 install opencv-python

Troubleshooting

Cannot import dartpy

Make sure the dartpy (.so file) is in the python path. If you built with -DCMAKE_INSTALL_PREFIX=/usr it should be located under

/usr/dartpycpython-310-x86_64-linux-gnu.so

If this is not in your python path you can add it to the path, or copy the file to a location in your python path, e.g.

cp /usr/dartpycpython-310-x86_64-linux-gnu.so /usr/lib/python3/dist-packages/

Install libfranka

cd ~/install
git clone --recursive https://github.com/frankaemika/libfranka
cd libfranka
#git checkout tags/0.8.0
git submodule update
mkdir -p build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j
sudo make install

Troubleshooting

std import error when building with tag/0.8.0

add required libraries

Install libvisiontransfer (Nerian API)

Dependencies

Required libraries

# Open CV
sudo apt install libopencv-dev python3-opencv

Required Python packages

# for installation of Nerian API (libvisiontransfer)
pip3 Cython numpy wheel

Install

Download the Nerian Repoitory from github

$ git clone git@github.com:nerian-vision/nerian-vision-software.git

Go in the folder and build the project

$ cd nerian-vision-software/
$ mkdir build
$ cd build
$ cmake ..
$ make

To install on the system

$ sudo make install

Install pyDataverse

cd data/darus_data_download
pip install --user -r requirements.txt