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76 lines
3.4 KiB
76 lines
3.4 KiB
#!/usr/bin/env bash
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# install_mujoco_sim.sh
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# Minimal venv setup for running the MuJoCo simulator (run_sim_loop.py).
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# Skips XRoboToolkit SDK and teleop dependencies that are NOT needed for sim.
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# Based on install_pico.sh — see that script for the full teleop setup.
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#
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# Usage: bash install_scripts/install_mujoco_sim.sh (run from repo root)
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set -euo pipefail
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
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# ── 0. Print detected architecture ───────────────────────────────────────────
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ARCH="$(uname -m)"
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echo "[OK] Architecture: $ARCH"
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# ── 1. Ensure uv is installed and available ──────────────────────────────────
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if ! command -v uv &>/dev/null; then
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echo "[INFO] uv not found – installing via official installer …"
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curl -LsSf https://astral.sh/uv/install.sh | sh
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# Source the uv env so it's available in this session
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if [ -f "$HOME/.local/bin/env" ]; then
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# shellcheck disable=SC1091
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source "$HOME/.local/bin/env"
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elif [ -f "$HOME/.cargo/env" ]; then
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# shellcheck disable=SC1091
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source "$HOME/.cargo/env"
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else
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export PATH="$HOME/.local/bin:$PATH"
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fi
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# Verify uv is now reachable
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if ! command -v uv &>/dev/null; then
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echo "[ERROR] uv installation succeeded but binary not found on PATH."
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echo " Please add ~/.local/bin (or ~/.cargo/bin) to your PATH and re-run."
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exit 1
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fi
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fi
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echo "[OK] uv $(uv --version)"
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# ── 2. Install a uv-managed Python 3.10 (includes dev headers / Python.h) ────
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echo "[INFO] Installing uv-managed Python 3.10 (includes development headers) …"
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uv python install 3.10
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MANAGED_PY="$(uv python find --no-project 3.10)"
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echo "[OK] Using Python: $MANAGED_PY"
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# ── 3. Clean previous venv (if any) ──────────────────────────────────────────
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cd "$REPO_ROOT"
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echo "[INFO] Removing old .venv_sim (if present) …"
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rm -rf .venv_sim
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# ── 4. Create venv & install sim extra ────────────────────────────────────────
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echo "[INFO] Creating .venv_sim with uv-managed Python 3.10 …"
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uv venv .venv_sim --python "$MANAGED_PY" --prompt gear_sonic_sim
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# shellcheck disable=SC1091
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source .venv_sim/bin/activate
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echo "[INFO] Installing gear_sonic[sim] …"
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uv pip install -e "gear_sonic[sim]"
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# ── 5. Install unitree_sdk2_python (needed by the sim ↔ WBC bridge) ──────────
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echo "[INFO] Installing unitree_sdk2_python …"
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uv pip install -e external_dependencies/unitree_sdk2_python
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echo ""
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echo "══════════════════════════════════════════════════════════════"
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echo " Setup complete! Activate the venv with:"
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echo ""
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echo " source .venv_sim/bin/activate"
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echo ""
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echo " You should see (gear_sonic_sim) in your prompt."
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echo ""
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echo " Then run the MuJoCo simulator with:"
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echo " python gear_sonic/scripts/run_sim_loop.py"
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echo "══════════════════════════════════════════════════════════════"
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