Installation

It is recommended when installing GRiD to use git clone on the main library GRiD <https://github.com/robot-acceleration/GRiD>. In the case that the linked submodules URDFParser, GRiDCodeGenerator, RBDReference and are empty folders, one can individually popoulate each submodule using its git link as needed.

Run the following script to install GRiD and its related submodules. URDFParser, GRiDCodeGenerator, and RBDReference

# In the root of your desired project directory
git clone https://github.com/A2R-Lab/GRiD.git
cd RBDReference
git clone https://github.com/A2R-Lab/RBDReference.git
cd ..
cd URDFParser
git clone https://github.com/A2R-Lab/URDFParser.git
cd ..
cd GRiDCodeGenerator
git clone https://github.com/A2R-Lab/GRiDCodeGenerator.git

Note

Alternatively, can directly download the zips from these links: URDFParser, GRiDCodeGenerator, and RBDReference. Note that directory setup in this manner requires adjustment of python import statements such that from URDFParser import URDFParser becomes from URDFParser.URDFParser import URDFParser. Thus, each import statement from submodules will require an additional call for correct directory linking.

It is also recommended to create a virtual environment for each external dependency for ease of access. Run the following script to list and update the requirements tab if other dependencies are needed during the installation process.

# Run in virtual enviornment
pip3 list # list all pip modules
pip freeze > requirements.txt

Install Python Dependencies

In order to support the wrapped packages there are 4 required external packages beautifulsoup4, lxml, numpy, sympy which can be automatically installed by running:

pip3 install -r requirements.txt

Install CUDA Dependencies

sudo apt-get update
sudo apt-get -y install xorg xorg-dev linux-headers-$(uname -r) apt-transport-https

Download and Install CUDA

Note: for Ubuntu 20.04 see https://developer.nvidia.com/cuda-downloads for other distros

wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin
sudo mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600
sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/7fa2af80.pub
sudo add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/ /"
sudo apt-get update
sudo apt-get -y install cuda

Add the following to ~/.bashrc

export PATH="/usr/local/cuda/bin:$PATH"
export LD_LIBRARY_PATH="/usr/local/cuda/lib64:$LD_LIBRARY_PATH"
export PATH="opt/nvidia/nsight-compute/:$PATH"

Note

This is an example of how to do a “note”. Good luck with the rest of the setup!

Warning

Example of a warning.

Tip

Here is a tip!

Caution

And proceed with caution!