Automatic Build Setup Script + Makefile for a linux machine

DeepMimicCore/Makefile.auto

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+BIN=Main
+OBJ_DIR = objs
+MKDIR = mkdir -p
+
+# CONFIGS FOR LINUX MACHINE WITH MINICONDA3 CONDA ENV
+# PLEASE ENSURE THAT YOUR MINICONDA3 DISTRIBUTION IS AT THE PATH /home/ubuntu/miniconda3 OR OTHERWISE UPDATE FOR THIS TO WORK
+
+# Reminder: these variables must be set as environment variables if the corresponding dev libs are not installed in the system: eg:
+EIGEN_DIR=$(PWD)/../eigen-3.3.7
+BULLET_INC_DIR=$(PWD)/../bullet3-2.88/src
+BULLET_LIB_DIR=$(PWD)/../bullet3-2.88/build_cmake/src
+GLEW_INC_DIR=$(PWD)/../glew-2.1.0/include
+GLEW_LIB_DIR=$(PWD)/../glew-2.1.0/lib
+FREEGLUT_INC_DIR=$(PWD)/../freeglut-3.0.0/include
+FREEGLUT_LIB_DIR=$(PWD)/../freeglut-3.0.0/lib
+
+# Python paths from your conda environment
+PYTHON_INC=/home/ubuntu/miniconda3/envs/deep_mimic_env/include/python3.7m
+PYTHON_LIB=/home/ubuntu/miniconda3/envs/deep_mimic_env/lib/python3.7
+
+INC = -I./ \
+	-I$(EIGEN_DIR) \
+	-I$(BULLET_INC_DIR) \
+	-I$(GLEW_INC_DIR) \
+	-I$(FREEGLUT_INC_DIR) \
+	-I$(BULLET_INC_DIR)
+
+LIBDIRS = -L$(GLEW_LIB_DIR) -L$(FREEGLUT_LIB_DIR) -L$(BULLET_LIB_DIR)
+LIBS = -lGLEW -lGL -lGLU -lglut -lBulletDynamics -lBulletCollision -lLinearMath -lm -lstdc++
+
+CC = clang++
+CFLAGS = -std=c++11 -O3 -Wall -fPIC -stdlib=libc++
+
+SRC_DIRS = util/ \
+	util/json/ \
+	anim/ \
+	sim/ \
+	render/ \
+	render/lodepng/ \
+	scenes/ \
+	scenes/arm/ \
+	scenes/particle/ \
+	scenes/pendulum/
+
+SRC_FILES = $(BIN).cpp DeepMimicCore.cpp $(foreach dir, $(SRC_DIRS), $(wildcard $(dir)*.cpp))
+OUT_DIRS = $(addprefix $(OBJ_DIR)/, $(SRC_DIRS))
+OBJ = $(addprefix $(OBJ_DIR)/, $(patsubst %.cpp, %.o, $(SRC_FILES)))
+
+
+default: build
+
+build: $(BIN)
+
+print:
+	$(OUT_DIRS)
+
+python: $(OUT_DIRS) $(OBJ)
+	swig -c++ -python DeepMimicCore.i
+	$(CC) -c -g $(CFLAGS) $(INC) $(LIBS) DeepMimicCore.cpp DeepMimicCore_wrap.cxx -I$(PYTHON_INC)
+	$(CC) -shared $(CFLAGS) $(OBJ) $(LIBS) DeepMimicCore_wrap.o -o _DeepMimicCore.so -L$(PYTHON_LIB) $(LIBDIRS)
+
+$(OBJ_DIR)/%.o: %.cpp
+	$(CC) -c -g $(CFLAGS) $(INC) -o $@ $<
+
+$(BIN): $(OUT_DIRS) $(OBJ)
+	$(CC) -g $(CFLAGS) $(OBJ) $(LIBS) -o $@
+
+$(OUT_DIRS):
+	$(MKDIR) $(OUT_DIRS)
+
+clean:
+	- rm -f -r $(OUT_DIRS) $(BIN) $(OBJ) $(OBJ_DIR) DeepMimicCore_wrap.cxx _DeepMimicCore.so

auto_setup.sh

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+#!/bin/bash
+
+# CONFIGS IN MAKEFILE.AUTO ARE FOR A LINUX MACHINE WITH MINICONDA3 CONDA ENV
+
+# PLEASE ENSURE THAT YOUR MINICONDA3 DISTRIBUTION IS AT THE PATH /home/ubuntu/miniconda3,
+# OR OTHERWISE UPDATE THE PATHS IN MAKEFILE.AUTO FOR THIS TO WORK
+
+# setup_deepmimic.sh
+set -e  # Exit on any error
+
+echo "Setting up DeepMimic environment..."
+
+# First check if Miniconda3 is installed at the expected location
+if [ ! -d "/home/ubuntu/miniconda3" ]; then
+    echo "Miniconda3 not found at /home/ubuntu/miniconda3. Installing Miniconda3..."
+
+    # Download the latest Miniconda3 installer for Linux
+    wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O /tmp/miniconda.sh
+
+    # Install Miniconda3 silently to the specified location
+    bash /tmp/miniconda.sh -b -p /home/ubuntu/miniconda3
+
+    # Remove the installer
+    rm /tmp/miniconda.sh
+
+    # Add Miniconda3 to PATH in .bashrc if not already present
+    if ! grep -q "miniconda3/bin" /home/ubuntu/.bashrc; then
+        echo 'export PATH="/home/ubuntu/miniconda3/bin:$PATH"' >> /home/ubuntu/.bashrc
+    fi
+
+    # Initialize conda for bash
+    /home/ubuntu/miniconda3/bin/conda init bash
+
+    echo "Miniconda3 has been installed. Please restart your terminal or run:"
+    echo "source /home/ubuntu/.bashrc"
+
+    # Source the bashrc to get immediate access to conda
+    source /home/ubuntu/.bashrc
+
+    export PATH="/home/ubuntu/miniconda3/bin:$PATH"
+
+fi
+
+# Ensure conda command is available
+if ! command -v conda &> /dev/null; then
+    echo "Error: conda command not found even after installation."
+    echo "Please restart your terminal or run: source /home/ubuntu/.bashrc"
+    exit 1
+fi
+
+# Check if environment already exists
+if conda info --envs | grep -q "deep_mimic_env"; then
+    echo "Conda environment 'deep_mimic_env' already exists."
+    echo "Please choose an option:"
+    echo "1 - Use existing environment"
+    echo "2 - Delete existing and create new environment"
+    echo "3 - Exit"
+    read -p "Enter your choice (1-3): " choice
+    case $choice in
+        1)
+            echo "Using existing environment..."
+            # Initialize conda
+            source ~/miniconda3/etc/profile.d/conda.sh
+            conda activate deep_mimic_env
+            ;;
+        2)
+            echo "Deleting existing environment..."
+            # Initialize conda
+            source ~/miniconda3/etc/profile.d/conda.sh
+            # Ensure we're in base environment
+            conda activate base
+            # Now try to remove the environment
+            conda env remove -n deep_mimic_env -y
+            if [ $? -eq 0 ]; then
+                echo "Successfully deleted environment"
+                echo "Creating new environment..."
+                conda create -n deep_mimic_env python=3.7 -y
+                conda activate deep_mimic_env
+            else
+                echo "Failed to delete environment. Error code: $?"
+                exit 1
+            fi
+            ;;
+        3)
+            echo "Exiting..."
+            exit 0
+            ;;
+        *)
+            echo "Invalid choice. Exiting..."
+            exit 1
+            ;;
+    esac
+else
+    # If environment doesn't exist, create it
+    echo "Creating new environment..."
+    # Initialize conda
+    source ~/miniconda3/etc/profile.d/conda.sh
+    conda create -n deep_mimic_env python=3.7 -y
+    conda activate deep_mimic_env
+fi
+
+# Install system dependencies
+sudo apt install -y libgl1-mesa-dev libx11-dev libxrandr-dev libxi-dev
+sudo apt install -y mesa-utils
+sudo apt install -y clang
+sudo apt install -y cmake
+
+# Install PyBullet
+wget https://github.com/bulletphysics/bullet3/archive/refs/tags/2.88.zip
+unzip 2.88.zip
+cd bullet3-2.88
+mkdir build_cmake && cd build_cmake
+cmake .. -DUSE_DOUBLE_PRECISION=OFF -DBUILD_SHARED_LIBS=ON
+make -j$(nproc)
+sudo make install
+cd ../../
+
+# Install Eigen
+wget https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip
+unzip eigen-3.3.7.zip
+cd eigen-3.3.7
+mkdir build && cd build
+cmake ..
+
+# Install headless OpenGL
+sudo apt-get install -y xvfb
+cd ../../
+
+# Install FreeGLUT
+sudo apt-get update
+sudo apt-get install libglu1-mesa-dev
+
+wget https://github.com/freeglut/freeglut/releases/download/v3.0.0/freeglut-3.0.0.tar.gz
+tar -xzf freeglut-3.0.0.tar.gz
+cd freeglut-3.0.0
+cmake . -DFREEGLUT_BUILD_SHARED_LIBS=ON -DFREEGLUT_BUILD_STATIC_LIBS=OFF -DCMAKE_C_FLAGS="-fcommon"
+make
+sudo make install
+cd ../
+
+# Install GLEW
+wget https://sourceforge.net/projects/glew/files/glew/2.1.0/glew-2.1.0.zip/download
+unzip download
+cd glew-2.1.0
+make
+sudo make install
+
+
+# Create symlinks to the right location for DeepMimicCore to access
+sudo ln -s /usr/lib64/libGLEW.so.2.1 /usr/lib/libGLEW.so.2.1
+sudo ln -s /usr/lib64/libGLEW.so.2.1 /usr/lib/libGLEW.so
+sudo ldconfig
+
+
+make clean
+cd ../
+
+# Install SWIG
+wget https://sourceforge.net/projects/swig/files/swig/swig-4.0.0/swig-4.0.0.tar.gz/download
+mv download.1 swig-4.0.0.tar.gz
+tar -xzf swig-4.0.0.tar.gz
+cd swig-4.0.0
+./configure --without-pcre
+make
+sudo make install
+cd ../
+
+# Install MPI and Python packages
+sudo apt install -y libopenmpi-dev
+pip install PyOpenGL PyOpenGL_accelerate
+
+pip install tensorflow==1.13.1
+pip install protobuf==3.20.0
+
+
+
+# Update apt and install mpi4py
+sudo apt update
+conda install mpi4py -y
+
+# Install C build tools
+sudo apt-get update
+sudo apt-get install -y build-essential libc++-dev libc++abi-dev
+
+# Build DeepMimicCore
+cd DeepMimicCore
+make -f Makefile.auto python
+
+echo "Setup completed successfully!"