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Please, try to follow this instructions based on your system. Linux is recommended, but other may work. Mac computers with arm64 processors (M1, M2) will not probably work. In case of any questions, ask Lukáš Rustler (email, forum, or in some cases Discord).
The official installation guide is available here. For Windows and Mac, binaries are available to be downloaded. For Linux, we recommend to install only docker engine (named 'Server' in the link). You need to choose your distribution and follow the guide for installation from repository (recommended), .deb package, or with a convenience script.
Docker now requires WSL2. It should install automatically with Docker, but it may happen that something go wrong. If you run Docker and you still see Docker engine starting, the installation of WSL is probably not correct. In that case, open PowerShell and type wsl -l -v. If nothing happens (the output is empty) then you probably need to update to WSL2. First thing to do is wsl –set-default-version 2 (there is double dash in front of 'set'), then install this patch WSL2 kernel patch and restart docker engine.
Docker engine starting
wsl -l -v
wsl –set-default-version 2
Image version:
./run.sh link_path container_name image_name
xhost local:root && ./run_direct.sh link_path container_name image_name
link_path
./run.sh /home/my_user/data
container_name
image_name
docker pull b3m33hro/labs:new
<image_name>
hro_image
docker tag b3m33hro/labs:new <image_name>
-it
-p
<container_name>
hro
-v
docker run -it -p 6080:6080 -p 8888:8888 --name <container_name> -v path_to_data_folder_host_system:/root/data <image_name>
-v C:\Users\my_user\data:/root/data
xhost local:root && docker run -it -e "DISPLAY" -e "QT_X11_NO_MITSHM=1" -e "XAUTHORITY=${XAUTH}" -v ~/.Xauthority:/root/.Xauthority:rw -v "/tmp/.X11-unix:/tmp/.X11-unix:rw" -v /dev:/dev -v /etc/hosts:/etc/hosts --network host --privileged --name <container_path> -v path_on_your_computer_to_shape:/root/data <image_name>
1. VNC (Windows, Linux) - this method runs VNC server and you can see everything in your browser
vnc && start-vnc-session.sh
http://localhost:6080
start-vnc-session.sh
2. Direct (Linux only) - this runs the programs directly
xhost local:root
choregraphe
654e-4564-153c-6518-2f44-7562-206e-4c60-5f47-5f45
Edit→Preferences→Virtual robot
/root/Install-RoboDK
/installation_path/RoboDK-Start.sh
installation_path
/RoboDK
xhost local:root before the scripts
docker stop <container_name>
CTRL+D
exit
docker start <container_name> docker attach <container_name>
docker exec -it <container_name> /bin/bash
docker container rm <container_name>
docker system prune -a
graspit_simulator
jupyter-notebook
http://localhost:8888
git clone https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs.git cd b3m33hro-labs/lab3/tutorial_cartesian-interface/smoke-test ./test.sh
In case of problems with Docker on your computer, you can use Docker on Gitpod. Gitpod allows running Docker images on their servers for free (each registered user can use 50 hours per month).
/workspace
docker run
root
su
Everything should work almost the same as in the local installation, but server resources are used. However, you can not link folder from your PC as in the case of local Docker. You can either use data only in docker, or there are several ways how to share code:
/root/workspace
ssh-keygen -t rsa
cat ~/.ssh/id_rsa.pub
git remote set-url origin <your_new_ssh_adress>
You can copy/paste things to the Gitpod workspace terminals, but you need to approve it (popup window with the question should appear after you first try to paste something).)
./mount_data rustlluk
chmod +x script_name
/usr/bin/
sudo ln -s /home/your_user/scripts/restart_docker /usr/bin/restart_docker
restart_docker
apt update
no package …
$(lsb_release -cs)
some_path/smoke-test/fixtures/fixture.xml
<module>
gzclient
top
htop
pkill -f gz
pkill -f yarp
pkill -f tutorial
You need to install Robotology superbuild, GraspIt!, gpd, Python 2.7 and 3.X. Optionally, ROS is needed. You can check Dockerfile to get an idea of how everything is installed.