Contents

Developer Installation

We encourage anyone to contribute to this project. There are currently two ways to install gym-os2r which allow the user to develop.

  1. Editable pip installation

  2. Superbuild installation

Ignition Gazebo Installation

Required ignition gazebo version can be found in the Support Policy. Please install ignition gazebo following binary installation instructions on the ignition website (Installing from source also works but is unnecessary).

Note

It maybe be necessary to add the following to your bashrc.

export IGN_GAZEBO_PHYSICS_ENGINE_PATH=${IGN_GAZEBO_PHYSICS_ENGINE_PATH}:/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/

To add it you can simply run the following code.

echo 'export IGN_GAZEBO_PHYSICS_ENGINE_PATH=${IGN_GAZEBO_PHYSICS_ENGINE_PATH}:/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/' >> ~/.bashrc

Note

If you had an old version of ignition installed prior you might need to remove the config folder: Ignition should create a new one the next time it starts.

mv $HOME/.ignition $HOME/.ignition_bak

If there are still folder errors, try to create the folder yourself

mkdir -p $HOME/.ignition/gazebo/6

Pip Installation

cd <Install Dir>
git clone git@github.com:OpenSim2Real/gym-os2r.git
cd gym-os2r
pip install -e .

Superbuild Installation

The super build is a convenient way to build all required packages for different build types from source. The superbuild provides a bash script which is then sourced to set up the environment for the superbuild. It is necessary to install a lot of the dependencies manually to use the super build. The complete superbuild dependencies list for every build option and additional info on what the superbuild is can be found here.

There are no provided instructions on how to use the superbuild as a developer for only simulation components. However, the easiest way to use the superbuild as a developer will be to install all packages that are a dependency of the current package you wish to develop for then clone and develop that repo separate from the superbuild.

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Standard Installation

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Training on Cloud