sudo apt install liblapack3 freeglut3 libglew-dev python3 python3-pip

pip install robotic

ry-info

python3 -c 'import robotic as ry; ry.test.RndScene()'

ry-view `python3 -m site --user-site`/robotic/rai-robotModels/scenarios/pandaSingle.g

pip install jupyter nbconvert matplotlib
git clone https://github.com/MarcToussaint/rai-tutorials.git
cd rai-tutorials
make run -j1
``


## Installation from source with real Franka & realsense support

This assumes a standard Ubuntu 22.04 (or 20.04, 18.04) machine.

* Install Ubuntu and python packages:

      sudo apt install --yes \
        g++ clang make gnupg cmake git wget \
        liblapack-dev libf2c2-dev libqhull-dev libeigen3-dev libann-dev libccd-dev \
        libjsoncpp-dev libyaml-cpp-dev libhdf5-dev libpoco-dev libboost-system-dev portaudio19-dev libusb-1.0-0-dev \
        libx11-dev libglu1-mesa-dev libglfw3-dev libglew-dev freeglut3-dev libpng-dev libassimp-dev \
        python3-dev python3 python3-pip
      
      python3 -m pip install --user numpy pybind11 pybind11-stubgen

* Install some external libs by source. You can skip librealsense and
  libfranka if you disable below. (To speed up compilation, e.g., set

      export MAKEFLAGS="-j $(command nproc --ignore 2)"
  
  To standardize installations, I use a basic script:

      wget https://github.com/MarcToussaint/rai-extern/raw/main/install.sh; chmod a+x install.sh
      ./install.sh fcl
      ./install.sh physx
      ./install.sh librealsense
      ./install.sh libfranka  ## for OLD frankas instead:   ./install.sh -v 0.7.1 libfranka

* Clone, compile and install this repo (note the USE_REALSENSE and USE_LIBFRANKA options!):

      cd $HOME/git
      git clone --recursive https://github.com/MarcToussaint/robotic.git
      cd robotic
      cp _build_utils/CMakeLists-ubuntu.txt CMakeLists.txt
      export PY_VERSION=`python3 -c "import sys; print(str(sys.version_info[0])+'.'+str(sys.version_info[1]))"`
      cmake -DPY_VERSION=$PY_VERSION -DUSE_REALSENSE=ON -DUSE_LIBFRANKA=ON . -B build
      make -C build _robotic install

  (Docstrings could be made with `make docstrings`, but this is not yet robust across distributions.)

* This should install everything in .local/lib/python*/site-packages/robotic. Test:

      cd $HOME
      python3 -c 'import robotic as ry; print("ry version:", ry.__version__, ry.compiled());'
      python3 -c 'import robotic as ry; ry.test.RndScene()'

* Recall that the user needs to be part of the `realtime` and `dialout` unix group:

      sudo usermod -a -G realtime <username>
      sudo usermod -a -G dialout <username>

  You need to log out and back in (or even reboot) for this to take
  effect. Check with `groups` in a terminal.

* Follow the [Real Robot Operation Tutorial](https://marctoussaint.github.io/robotic/tutorials/botop_2_real_robot.html) on the [tutorials page](https://marctoussaint.github.io/robotic/tutorials.html) to test and debug first steps with the real franka.

## Building the wheels within a manylinux docker

* Build the docker

* Compile wheels (this runs `local/_build_utils/build-wheels.sh`
inside the docker -- see `Makefile`)

* Outside of docker, install locally with pip or push wheels to pypi

<!--
## Use of the wheel binary in C++

* Get the binary lib by installing the pip package:

* Get the sources by cloning this repo recursively:

* Copy things into an include and link folder (like 'make install') CHANGE PYTHON VERSION:

* Compile your main

-->