setup.sh

FULL_INSTALL=false
cd ~
mkdir -p Dropbox
mkdir tamp_work
cd ~/tamp_work


### SETUP VIRTENV ###
# Setup virtual env
# NOTE: If you're on ubuntu 20.04, install python 3.6 manually by reading this: https://askubuntu.com/questions/1231543/problem-with-creating-python-3-6-virtual-environment-on-ubuntu-20-04
# also, install python 3.6-dev manually (for use with robosuite): https://zoomadmin.com/HowToInstall/UbuntuPackage/python3.6-dev
export VIRTUALENVWRAPPER_PYTHON=/usr/bin/python3.6  
virtualenv -p $VIRTUALENVWRAPPER_PYTHON venv
source venv/bin/activate
echo 'alias tampenv="source ~/tamp_env.sh; source ~/tamp_work/venv/bin/activate"' >> ~/.bashrc

# Get python code
pip install numpy==1.18.5
pip install pybullet==3.1.6 # NOTE: latest version (3.1.7) has strange installation issues....
pip install numba pandas dm_control numdifftools ipdb
pip install seaborn==0.9.0

### SETUP TAMP CODE ###
git clone https://github.com/dhadfieldmenell/tampy.git
git clone https://github.com/m-j-mcdonald/sco.git
git clone https://github.com/m-j-mcdonald/BaxterGym.git
git clone https://github.com/m-j-mcdonald/gps.git
pip install robosuite
pip install tensorflow==1.10.0
pip install -e BaxterGym
cd BaxterGym/baxter_gym
mkdir local
echo 'export MUJOCO_KEY_PATH=/home/${USER}/.mujoco/mjkey.txt' >> ~/tamp_env.sh
echo 'export MUJOCO_GL=egl' >> ~/tamp_env.sh
cd ~/tamp_work
cd tampy
git checkout python3 
git pull origin python3 
cd ../sco
git checkout python3
pip install h5py psutil
pip install --upgrade numpy
cd ~/tamp_work

# Set env variables
touch ~/tamp_env.sh
truncate -s 0 ~/tamp_env.sh
echo 'export GUROBI_HOME=/home/${USER}/tamp_work/gurobi901/linux64' >> ~/tamp_env.sh
echo 'export PATH="${PATH}:${GUROBI_HOME}:${GUROBI_HOME}/bin":/home/${USER}/.local/bin' >> ~/tamp_env.sh
echo 'export LD_LIBRARY_PATH="${GUROBI_HOME}/lib:/home/${USER}/.mujoco/mujoco200/bin"' >> ~/tamp_env.sh
echo 'export PYTHONPATH=$PYTHONPATH:/home/${USER}/tamp_work:/home/${USER}/tamp_work/tampy/src:/home/${USER}/tamp_work/gps/python' >> ~/tamp_env.sh
echo 'source ~/tamp_env.sh' >> ~/.bashrc

# Setup gurobi (need to get license separately)
# https://www.gurobi.com/downloads/end-user-license-agreement-academic/
cd ~/tamp_work
wget https://packages.gurobi.com/9.0/gurobi9.0.1_linux64.tar.gz
tar xvfz gurobi9.0.1_linux64.tar.gz 
cd gurobi901/linux64

# source ~/.bashrc
python setup.py install

pip install --force-reinstall numpy==1.18.5
pip install osqp

if ! $FULL_INSTALL; then
    exit 0
fi

### SETUP POLICY TRAINING CODE ###
# Setup mujoco
# Place your mujoco key in your home directory
cd ~
mkdir .mujoco
cd .mujoco
wget https://www.roboti.us/download/mujoco200_linux.zip -O mujoco200.zip
unzip mujoco200.zip
cp ~/mjkey.txt .
ln -s mujoco200 mujoco200_linux

# Setup additional codebases
cd ~/tamp_work
git clone https://github.com/m-j-mcdonald/BaxterGym.git
git clone https://github.com/m-j-mcdonald/gps.git
pip install robosuite
pip install tensorflow==1.10.0
pip install -e BaxterGym
cd BaxterGym/baxter_gym
mkdir local
echo 'export MUJOCO_KEY_PATH=/home/${USER}/.mujoco/mjkey.txt' >> ~/tamp_env.sh
echo 'export MUJOCO_GL=egl' >> ~/tamp_env.sh
echo 'export PYTHONPATH=$PYTHONPATH:/home/${USER}/tamp_work/gps/python' >> ~/tamp_env.sh
#echo 'export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so' >> ~/tamp_env.sh

cd ~/tamp_work
git clone https://github.com/AboudyKreidieh/h-baselines.git
git clone https://github.com/openai/baselines.git
cd baselines
pip install -e .
cd ../h-baselines
pip install -e .
pip install mpi4py
pip install imageio
cd ~/tamp_work

pip install tensorflow==1.10.0
pip install --force-reinstall numpy==1.18.5