From 0195cd6489519994ad0a1fadb76744f63eb37421 Mon Sep 17 00:00:00 2001
From: paleziart <paleziart@laas.fr>
Date: Mon, 8 Feb 2021 10:22:25 +0100
Subject: [PATCH] Update README.md
---
README.md | 20 ++++++++++++++++----
1 file changed, 16 insertions(+), 4 deletions(-)
diff --git a/README.md b/README.md
index 747c0a64..a2b66a0c 100644
--- a/README.md
+++ b/README.md
@@ -18,11 +18,23 @@ Implementation of a reactive walking controller for quadruped robots. Architectu
* Install PyBullet: `pip3 install --user pybullet`
-* Install OSQP solver: `pip3 install --user osqp`
+* Install OSQP solver: [https://osqp.org/docs/get_started/sources.html#build-the-binaries]
+â‹…â‹…â‹… git clone --recursive https://github.com/oxfordcontrol/osqp
+â‹…â‹…â‹… cd osqp
+â‹…â‹…â‹… Edit CMakeLists.txt
+â‹…â‹…â‹… Add `set(PRINTING OFF)` just above `message(STATUS "Printing is ${PRINTING}")`
+â‹…â‹…â‹… Add `set(PROFILING OFF)` just above `message(STATUS "Profiling is ${PROFILING}")`
+â‹…â‹…â‹… Turn DLONG off `option (DLONG "Use long integers (64bit) for indexing" OFF)`
+â‹…â‹…â‹… mkdir build
+â‹…â‹…â‹… cd build
+â‹…â‹…â‹… cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=~/install -DPYTHON_EXECUTABLE=$(which python3.6) -DPYTHON_STANDARD_LAYOUT=ON (to install in ~/install folder)
+â‹…â‹…â‹… make install
* Install package that handles the gamepad: `pip3 install --user inputs`
-* Install TSID: https://github.com/stack-of-tasks/tsid#installation You can put the repo in another folder if you want, like `cd ~/install/` instead of `cd $DEVEL/openrobots/src/` for the first line.
+* Install eiquadprog: `sudo apt install robotpkg-eiquadprog`
+
+* Install TSID: [https://github.com/stack-of-tasks/tsid#installation] You can put the repo in another folder if you want, like `cd ~/install/` instead of `cd $DEVEL/openrobots/src/` for the first line.
* Clone interface repository: in `/scripts`, `git clone https://github.com/paLeziart/solopython`
@@ -36,9 +48,9 @@ Implementation of a reactive walking controller for quadruped robots. Architectu
* Get inside and cmake: `cd build` then `cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=~/install -DPYTHON_EXECUTABLE=$(which python3.6) -DPYTHON_STANDARD_LAYOUT=ON`
-* Compile and and install Python bindings: `make install`
+* Compile Python bindings: `make`
-* If at some point you want to uninstall the bindings: `make uninstall`
+* Copy them to the script folder so that the scripts can access the compiled code: `cp python/quadruped_reactive_walking/libquadruped_reactive_walking.so ../scripts/`
# Run the simulation
--
GitLab