Setup

Linux

Tested on Ubuntu 18.04 / 20.04 and Python 3.8

Install SteamVR

• In terminal run $ steam, it will start downloading an update and create a .steam folder in your home directory.
• In Steam, create user account or use existing account.
• Click Steam -> Settings -> Downloads -> Steam Library Folders -> Add Library Folder -> /media/hdd/SteamLibrary to add existing installation of SteamVR to your Steam account
• Restart Steam
• Connect and turn on HTC VIVE
• Launch Library -> SteamVR (if not shown, check [] Tools box)
• If SteamVR throws an Error: setcap of vrcompositor-launcher failed, run $ sudo setcap CAP_SYS_NICE+ep /media/hdd/SteamLibrary/steamapps/common/SteamVR/bin/linux64/vrcompositor-launcher
• Make sure Headset and controller are correctly detected, go through VR setup procedure

Install Bullet

$ git clone https://github.com/bulletphysics/bullet3.git
$ cd bullet3

# Optional: patch bullet for selecting correct rendering device
# (only relevant when using EGL and multi-gpu training)
$ wget https://raw.githubusercontent.com/BlGene/bullet3/egl_remove_works/examples/OpenGLWindow/EGLOpenGLWindow.cpp -O examples/OpenGLWindow/EGLOpenGLWindow.cpp

# For building Bullet for VR  add -DUSE_OPENVR=ON to line 8 of build_cmake_pybullet_double.sh
# Run
$ ./build_cmake_pybullet_double.sh


$ pip install numpy  # important to have numpy installed before installing bullet
$ pip install -e .  # effectively this is building bullet a second time, but importing is easier when installing with pip

# add alias to your bashrc
alias bullet_vr="~/.steam/steam/ubuntu12_32/steam-runtime/run.sh </PATH/TO/BULLET/>bullet3/build_cmake/examples/SharedMemory/App_PhysicsServer_SharedMemory_VR"

Install VREnv

$ cd VREnv
$ pip install -e .

Run Bullet VR

• Close all open SteamVR windows.
• Run $ ~/.steam/ubuntu12_32/steam-runtime/run.sh <PATH_CONTAINING_BULLET>/bullet3/build/examples/SharedMemory/App_PhysicsServer_SharedMemory_VR
• You can add this command as an alias to your bashrc

Speech output

$ sudo apt-get install espeak
$ pip install pyttsx3

Windows

Prerequisites

• python3 (https://www.python.org/downloads/)
• visual studio build tools for c++ (https://visualstudio.microsoft.com/de/downloads/)
• oculus rift software (https://www.oculus.com/setup/)
• streamvr (https://www.steamvr.com/de/)
• python modules numpy, numpy-quaternion, scipy, numba, pybullet

Build Bullet

Necessary build of "App_PhysicsServer_SharedMemory_VR.exe"

• clone repository from https://github.com/bulletphysics/bullet3
  • checkout wanted/current version (sync with pybullet releases to prevent version mismatch on pybullet server connect)
• run build_visual_studio_vr_pybullet_double.bat
• build build3\vs2010\App_PhysicsServer_SharedMemory_VR.vcxproj as Release/win32
  • (conversion of vsproj version may be necessary)

Optionally build pybullet if versions mismatch

• build python bdist (via python setup.py sdist bdist_wheel)
• install package (e.g. pip install dist\pybullet*.whl)

Install VREnv

cd VREnv
pip install -e .

Run

• start bin\App_PhysicsServer_SharedMemory_VR_vs2010.exe
• run python <yourscript.py> with proper options

Editor

editor.py

Prerequisites

• pybullet
• tkinter

Run

• python editor.py

Urdf single body creator

urdfSingleBodyCreator.py

Prerequisites

• meshlab_server for inertia, center of mass
• pybullet for v-hacd
• Only implemented for Linux

Run

• python urdfSingleBodyCreator.py (required) --scale(optional) --mass(optional)