Installation

The code was tested for Python >=3.8 and this is what we recommend.

Note: If you want to work with a version Python<3.8, that is mostly possible at the moment. Only the moteus python package needs to be commented in the setup.py and it will not be possible to operate mjbots hardware.

We recommend using a virtual python environment.

Manual

Install dependencies:

# ubuntu20
sudo apt-get install git unzip libyaml-cpp-dev libeigen3-dev libpython3.8 libx11-6 libsm6 libxt6 libglib2.0-0 python3-pip python3-sphinx python3-numpydoc python3-sphinx-rtd-theme ffmpeg

# ubuntu22
sudo apt-get install git unzip libyaml-cpp-dev libeigen3-dev libx11-6 libsm6 libglib2.0-0 libboost-dev python3-pip python3-sphinx python3-numpydoc python3-sphinx-rtd-theme ffmpeg

(Optional, only for C++ support, iLQR and PRX controllers) Install Eigen:

wget -O Eigen.zip https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.zip
unzip Eigen.zip
sudo mv eigen-*/Eigen /usr/local/include/

(Optional, only for Acados controller) Install Acados:

git clone https://github.com/acados/acados.git
cd acados
git submodule update --recursive --init
mkdir -p build
cd build
cmake -DACADOS_WITH_QPOASES=ON ..
make install
pip install -e acados/interfaces/acados_template

Clone the repository:

git clone git@github.com:dfki-ric-underactuated-lab/double_pendulum.git

Install the double pendulum package:
```
cd double_pendulum
make install
```

Using Conda/Mamba

Another option to install and use dependencies would be using conda/mamba environment.

Clone the repository:

git clone git@github.com:dfki-ric-underactuated-lab/double_pendulum.git

Create a new conda environment:

cd double_pendulum
mamba env create --file=environment.yaml

Activate the environment and install the double pendulum package:
```
mamba activate double_pendulum
make install
```

With this you are done and you can use all functionalities and some controllers in this repository. If you want to install all requirements (this includes also larger dependencies such as tensorflow, drake etc.) for all controllers do

(Optional) Full installation
```
make pythonfull
```

Individual Controllers

To install dependencies for individual controllers do:

cd src/python
pip install .[<name>]

where you replace <name> with the controller name. Have a look in the setup.py for the controller names. If you want to install all dependencies for all controllers do:

cd src/python
pip install .[all]

Partial Installations

The following two bullet points may be useful when only the C++/Python code is needed, if you work on the code and need to recompile often, or if errors appear during the installation call in 4.

If you want to install only the Python package, you can do:

make python
# make pythonfull

# or

cd src/python
pip install .
# pip install .[all]

If you want to build C++ code and install python bindings:
```
make cpp

# or

cd src/cpp/python
make
```