Installation - lehnert/move_to_see GitHub Wiki

Ubuntu 20.04 LTS

These instructions assume a fresh Ubuntu 20.04 installation; if this is not the case, please examine the contents of MTS3D_setup.sh to ensure that it does not overwrite anything vital.

  1. Download and unzip move_to_see_installation.zip; place harvey.py, pyrep_setup.sh, and MTS3D_setup.sh in your desired installation directory (CoppeliaSim, PyRep, and Move to See will all be installed in this directory).
  2. Edit the COPPELIASIM_ROOT variable in pyrep_setup.sh to reflect where you are installing Move to See.
  3. Run source pyrep_setup.sh.
  4. Run sudo apt update.
  5. Run ./MTS3D_setup.sh and enter your password when prompted. This will install the packages and python libraries required to run the project code. 5. Test successful installation by running test_move_to_see_pyrep.py in move_to_see/move_to_see/scripts using python.

Windows 10

Move to See can be run in Windows 10 using WSL2 (with the code installed as above), an X server, and (optionally) a VSCode plugin to run VSCode from within the WSL2 instance:

WSL2

  1. Enable WSL in windows features, then upgrade to WSL2 by following https://docs.microsoft.com/en-us/windows/wsl/install-win10
  2. Install Move to See in WSL2 by following the instructions above
  3. Install XMing or VcXsrv, start it using XLaunch to tick 'No Access Control' (leaving everything else default)
  4. Download Ubuntu 20.04 LTS from the Windows store
  5. In ~/.bashrc​ in the Ubuntu terminal, insert the following line and then source it to enable your X server to render graphical applications: export DISPLAY=$(awk '/nameserver / {print $2; exit}' /etc/resolv.conf 2>/dev/null):0​
  6. Verify that you can run graphical applications by installing x11 apps (sudo apt install x11-apps​) and try running xeyes​ or xcalc

VSCode Integration

  1. Install VSCode, then install the remote development extension pack (step 3 of https://code.visualstudio.com/docs/remote/wsl)
  2. In VSCode on Windows, Ctrl-Shift-P -> Remote WSL: New WSL Window (this should ​install a corresponding module in WSL)
  3. You should now have a VSCode window with WSL: Ubuntu-20.04​ in the bottom left corner running out of your WSL instance, and within your WSL terminal you can now input code . to open a WSL VSCode window with the current folder in the workspace.