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Repository

https://github.com/Tomohiro-Nagasaka/Tomohiro-Nagasaka.github.io

ifconfig

sudo apt install net-tools

Teamviewer

wget https://download.teamviewer.com/download/linux/teamviewer_amd64.deb

sudo dpkg -i teamvieweramd64.deb sudo apt -f install -y sudo dpkg -i teamvieweramd64.deb

General > Incomming LAN > accept Security > Personal password

Syncthing

https://github.com/syncthing/syncthing/releases/download/v1.13.1/syncthing-linux-amd64-v1.13.1.tar.gz

sudo apt-get install curl

echo "deb https://apt.syncthing.net/ syncthing stable" | sudo tee /etc/apt/sources.list.d/syncthing.list
curl -s https://syncthing.net/release-key.txt | sudo apt-key add -
sudo apt update
sudo systemctl enable syncthing@tomo.service

sudo apt-get install apt-transport-https
sudo apt-get update
sudo apt-get install syncthing

Node.js, npm

sudo apt install nodejs npm -y
npm config set registry https://registry.npm.taobao.org

Is it better to use nvm (version manager)?

sudo chown -R tomo /usr/local/lib/node_modules

Gatsby

sudo npm config set registry https://registry.npm.taobao.org
sudo npm install -g gatsby-cli

Without sudo, might not be able to access /usr/local/lib

CUDA

sudo apt install nvidia-cuda-toolkit
nvcc --version

Torch cuda10.1

https://pytorch.org/get-started/locally/

pip3 install torch==1.7.1+cu101 torchvision==0.8.2+cu101 torchaudio==0.7.2 -f https://download.pytorch.org/whl/torch_stable.html

https://download.pytorch.org/whl/torch_stable.html

https://download.pytorch.org/whl/cu101/torch-1.7.1%2Bcu101-cp38-cp38-linuxx8664.whl

https://download.pytorch.org/whl/cu101/torchvision-0.8.2%2Bcu101-cp38-cp38-linuxx8664.whl

https://download.pytorch.org/whl/torchaudio-0.7.2-cp38-cp38-linuxx8664.whl

PYTHON

sudo apt install python3-pip

virtualenv /path/to/venv --python=python3
source /path/to/venv/bin/activate

pip3 install numpy matplotlib ipython -i https://pypi.tuna.tsinghua.edu.cn/simple

mirror

-i https://pypi.tuna.tsinghua.edu.cn/simple

修改 pip.conf 文件 (没有就创建一个)

$HOME/.config/pip/pip.conf

修改内容如下：

[global]

index-url = https://pypi.tuna.tsinghua.edu.cn/simple12

Dart

sudo apt-add-repository ppa:dartsim/ppa

sudo apt-get install libdart6-all-dev

Manual from DART(http://dartsim.github.io/installdarton_ubuntu.html)

install required dependencies

sudo apt-get install build-essential cmake pkg-config git -y
sudo apt-get install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev -y
sudo apt-get install libopenscenegraph-dev -y
sudo apt-get install coinor-libipopt-dev libtinyxml2-dev liburdfdom-dev libxi-dev libxmu-dev freeglut3-dev liboctomap-dev libbullet-dev -y

NOTE: Maybe we should manually install boost ** libfcl-dev libboost-regex-dev libboost-system-dev ** Install > Uninstall > Install??

install DART v6.3.0

git clone git://github.com/dartsim/dart.git
cd dart
git checkout tags/v6.3.0
mkdir build
cd build
cmake ..
make -j4
sudo make install

Mass

sudo apt-get install libtinyxml-dev libeigen3-dev libxi-dev libxmu-dev freeglut3-dev libassimp-dev libpython3-dev python3-tk python3-numpy virtualenv ipython3 cmake-curses-gui -y

Boost

** NOTE: We should install python packages first with apt, since we need boost-python. **

"We strongly recommand that you install boost libraries from the source code"

Download boost sources with the version over 1.66.(https://www.boost.org/users/history/version166_0.html) ** NOTE: I downloaded 1.71 **
Compile and Install the sources

cd /path/to/boost_1_xx/
./bootstrap.sh --with-python=python3
sudo ./b2 --with-python --with-filesystem --with-system --with-regex install

Source install : /usr/local/lib

Apt install :/usr/lib/x86_64-linux-gnu/cmake

CMakeLists.txt in render and python

find_package(Boost 1.66.0 COMPONENTS filesystem python3 numpy3) >>

find_package(Boost 1.71.0 COMPONENTS filesystem python numpy)

Compile and Run

mkdir build
cd build
cmake .. 
make -j8

Run Training

cd python
source /path/to/virtualenv/
python3 main.py -d ../data/metadata.txt

All the training networks are saved in /nn folder.

Run UI

source /path/to/virtualenv/
./render/render ../data/metadata.txt

Run Trained data

source /path/to/virtualenv/
./render/render ../data/metadata.txt ../nn/xxx.pt ../nn/xxx_muscle.pt

If you are simulating with the torque-actuated model,

source /path/to/virtualenv/
./render/render ../data/metadata.txt ../nn/xxx.pt

Uninstall boost

# to uninstall deb version
sudo apt-get -y --purge remove libboost-all-dev libboost-doc libboost-dev
# to uninstall the version which we installed from source
sudo rm -f /usr/local/lib/libboost_*

/usr/local/lib/libboost_*

cmake ../ -Dboostpython3DIR=/usr/local/lib/cmake/boostpython-1.71.0 -Dboostnumpy3DIR=/usr/local/lib/cmake/boostnumpy-1.71.0

VScode

sudo snap install --classic code

Extension:

C++

Cmake

Ctrl + Shift + P > Debug

WireGuard

sudo apt install wireguard -y

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Tomo's Tech Notes

Tomohiro Nagasaka