Install dartpy on Ubuntu | DART: Dynamic Animation and Robotics Toolkit

Install dartpy using pip3

Dependencies

# Required dependencies
sudo apt-get install build-essential cmake pkg-config git
sudo apt-get install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev
sudo apt-get install libtinyxml2-dev liburdfdom-dev
sudo apt-get install libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev
sudo apt-get install python3-pip

# Ubuntu 18.10 and older
git clone https://github.com/pybind/pybind11 -b 'v2.2.4' --single-branch --depth 1
cd pybind11
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF
make -j4
sudo make install

# Ubuntu 19.04 and newer
sudo apt-get install pybind11-dev

# Optional dependencies
sudo apt-get install libbullet-dev libode-dev liboctomap-dev

# Ubuntu 16.04 and 18.04
sudo apt-get install libnlopt-dev

# Ubuntu 18.10 and later
sudo apt-get install libnlopt-cxx-dev

dartpy

# This can take several minutes to build dartpy from source
pip3 install dartpy

Warning: Known issues: (1) Pip install of dartpy on Anaconda environment does’t work; import error. (2) Uninstalling pip-installed dartpy doesn’t completely remove dartpy.so, and this leads to incorrect re-installing.

Once installed, you can simply test if dartpy is successfully installed by running:

$ python3
>>> import dartpy as dart
>>> world = dart.simulation.World()
>>> world.step()

Install dartpy using apt

On Ubuntu 19.04, 19.10

In Ubuntu 19.04 and 19.10, dartpy can be installed using apt for both of Python 2 and Python 3.

sudo apt-add-repository ppa:dartsim/ppa
sudo apt install python-dartpy   # for Python 2
sudo apt install python3-dartpy  # for Python 3

Once installed, you can simply test if dartpy is successfully installed by running:

$ python3
>>> import dartpy as dart
>>> world = dart.simulation.World()
>>> world.step()

Install dartpy from Source

Dependencies

# Required dependencies
sudo apt-get install build-essential cmake pkg-config git
sudo apt-get install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev
sudo apt-get install libtinyxml2-dev liburdfdom-dev
sudo apt-get install libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev
sudo apt-get install python3-pip

# Ubuntu 18.10 and older
git clone https://github.com/pybind/pybind11 -b 'v2.2.4' --single-branch --depth 1
cd pybind11
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF
make -j4
sudo make install

# Ubuntu 19.04 and newer
sudo apt-get install pybind11-dev

# Optional dependencies
sudo apt-get install libbullet-dev libode-dev liboctomap-dev

# Ubuntu 16.04 and 18.04
sudo apt-get install libnlopt-dev

# Ubuntu 18.10 and later
sudo apt-get install libnlopt-cxx-dev

Build and Install dartpy

Clone the repository into a directory in your home folder:
```
git clone https://github.com/dartsim/dart.git
```
Change directory to the DART repository and checkout the latest release of DART 6, (e.g., v6.11.1):
```
cd dart
git checkout tags/v6.11.1
```
Create a build directory:
```
mkdir build
cd build
```

Configure and build DART:

cmake .. -DCMAKE_INSTALL_PREFIX=/usr/ -DCMAKE_BUILD_TYPE=Release -DDART_BUILD_DARTPY=ON
make -j4 dartpy

Install dartpy:
```
sudo make install-dartpy
```