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install.bat
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@echo off
@REM Check for administrative permissions
net session >nul 2>&1
if %errorlevel% neq 0 (
echo This script requires administrative privileges.
echo Please run as an administrator.
pause
exit /b 1
)
set "CURRENT_DIR=%~dp0"
cd %CURRENT_DIR%
set "MULTIVERSE_DIR=%CURRENT_DIR%multiverse"
@REM Install chocolatey (https://chocolatey.org/install)
if not exist "C:\ProgramData\chocolatey" (
powershell -NoProfile -Command "Set-ExecutionPolicy Bypass -Scope Process -Force; [System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072; iex ((New-Object System.Net.WebClient).DownloadString('https://community.chocolatey.org/install.ps1'))"
)
if not exist "C:\ProgramData\chocolatey" (
echo "Chocolatey installation failed."
pause
exit /b 1
)
@REM Install vcredist2013, vcredist140, openssl, curl, cmake 7zip
set "NEW_PATH=%PATH%;%ALLUSERSPROFILE%\chocolatey\bin"
set "SET_NEW_PATH=$env:Path = '%NEW_PATH%'; [System.Environment]::SetEnvironmentVariable('Path', $env:Path, [System.EnvironmentVariableTarget]::Process)"
powershell -NoProfile -Command "%SET_NEW_PATH%; choco install -y vcredist2013 vcredist140; choco install -y openssl --version 1.1.1.2100; choco install -y curl cmake 7zip"
@REM Download OpenCV
set "OPENCV_DIR=%MULTIVERSE_DIR%\external\opencv"
set "OPENCV_ZIP=opencv-3.4.6-vc16.VS2019.zip"
if not exist "%OPENCV_DIR%" (
mkdir "%OPENCV_DIR%"
start powershell -NoProfile -Command "curl -o '%OPENCV_DIR%\%OPENCV_ZIP%' 'https://github.com/ros2/ros2/releases/download/opencv-archives/%OPENCV_ZIP%'; Expand-Archive -Path '%OPENCV_DIR%\%OPENCV_ZIP%' -DestinationPath '%OPENCV_DIR%'; setx /m OpenCV_DIR %OPENCV_DIR%"
)
@REM Install dependencies for ROS
set "ASIO_DIR=%MULTIVERSE_DIR%\external\asio"
set "ASIO_NUPKG=asio.1.12.1.nupkg"
if not exist "%ASIO_DIR%" (
mkdir "%ASIO_DIR%"
start powershell -NoProfile -Command "%SET_NEW_PATH%; curl -o '%ASIO_DIR%\%ASIO_NUPKG%' 'https://github.com/ros2/choco-packages/releases/download/2022-03-15/%ASIO_NUPKG%'; choco install -y -s %ASIO_DIR% asio"
)
set "BULLET_DIR=%MULTIVERSE_DIR%\external\bullet"
set "BULLET_NUPKG=bullet.3.17.nupkg"
if not exist "%BULLET_DIR%" (
mkdir "%BULLET_DIR%"
start powershell -NoProfile -Command "%SET_NEW_PATH%; curl -o '%BULLET_DIR%\%BULLET_NUPKG%' 'https://github.com/ros2/choco-packages/releases/download/2022-03-15/%BULLET_NUPKG%'; choco install -y -s %BULLET_DIR% bullet"
)
set "CUNIT_DIR=%MULTIVERSE_DIR%\external\cunit"
set "CUNIT_NUPKG=cunit.2.1.3.nupkg"
if not exist "%CUNIT_DIR%" (
mkdir "%CUNIT_DIR%"
start powershell -NoProfile -Command "%SET_NEW_PATH%; curl -o '%CUNIT_DIR%\%CUNIT_NUPKG%' 'https://github.com/ros2/choco-packages/releases/download/2022-03-15/%CUNIT_NUPKG%'; choco install -y -s %CUNIT_DIR% cunit"
)
set "EIGEN_DIR=%MULTIVERSE_DIR%\external\eigen"
set "EIGEN_NUPKG=eigen.3.3.4.nupkg"
if not exist "%EIGEN_DIR%" (
mkdir "%EIGEN_DIR%"
start powershell -NoProfile -Command "%SET_NEW_PATH%; curl -o '%EIGEN_DIR%\%EIGEN_NUPKG%' 'https://github.com/ros2/choco-packages/releases/download/2022-03-15/%EIGEN_NUPKG%'; choco install -y -s %EIGEN_DIR% eigen"
)
set "TINYXML2_DIR=%MULTIVERSE_DIR%\external\tinyxml2"
set "TINYXML2_NUPKG=tinyxml2.6.0.0.nupkg"
if not exist "%TINYXML2_DIR%" (
mkdir "%TINYXML2_DIR%"
start powershell -NoProfile -Command "%SET_NEW_PATH%; curl -o '%TINYXML2_DIR%\%TINYXML2_NUPKG%' 'https://github.com/ros2/choco-packages/releases/download/2022-03-15/%TINYXML2_NUPKG%'; choco install -y -s %TINYXML2_DIR% tinyxml2"
)
set "PYTHON_DIR=%USERPROFILE%\AppData\Local\Programs\Python\Python312"
set "PYTHON_EXECUTABLE=%PYTHON_DIR%\python.exe"
if not exist "%PYTHON_EXECUTABLE%" (
echo "Python executable not found: %PYTHON_EXECUTABLE%"
exit /b 1
)
%PYTHON_EXECUTABLE% -m ensurepip
%PYTHON_EXECUTABLE% -m pip install -U pip virtualenvwrapper-win
set "MKVIRTUALENV_EXECUTABLE=%PYTHON_DIR%\Scripts\mkvirtualenv.bat"
set "PYTHON_EXECUTABLE=%USERPROFILE%\Envs\multiverse\Scripts\python.exe"
if not exist "%PYTHON_EXECUTABLE%" (
powershell -NoProfile -Command "%MKVIRTUALENV_EXECUTABLE% --system-site-packages multiverse"
@REM Wait for the virtual environment to be created
TIMEOUT /T 1
)
%PYTHON_EXECUTABLE% -m pip install setuptools==59.6.0 catkin_pkg cryptography empy importlib-metadata jsonschema lark==1.1.1 lxml matplotlib netifaces numpy opencv-python PyQt5 pillow psutil pycairo pydot pyparsing==2.4.7 pytest pyyaml
set "XMLLINT_DIR=%MULTIVERSE_DIR%\external\xmllint"
set "LIBXML2_7Z=libxml2-2.9.3-win32-x86_64.7z"
set "ICONV_7Z=iconv-1.14-win32-x86_64.7z"
set "ZLIB_7Z=zlib-1.2.8-win32-x86_64.7z"
if not exist "%XMLLINT_DIR%" (
mkdir "%XMLLINT_DIR%"
start powershell -NoProfile -Command "%SET_NEW_PATH%; curl -o '%XMLLINT_DIR%\%LIBXML2_7Z%' 'https://www.zlatkovic.com/pub/libxml/64bit/%LIBXML2_7Z%'; 7z x '%XMLLINT_DIR%\%LIBXML2_7Z%' -o'%XMLLINT_DIR%'; pause"
start powershell -NoProfile -Command "%SET_NEW_PATH%; curl -o '%XMLLINT_DIR%\%ICONV_7Z%' 'https://www.zlatkovic.com/pub/libxml/64bit/%ICONV_7Z%'; 7z x '%XMLLINT_DIR%\%ICONV_7Z%' -o'%XMLLINT_DIR%'; pause"
start powershell -NoProfile -Command "%SET_NEW_PATH%; curl -o '%XMLLINT_DIR%\%ZLIB_7Z%' 'https://www.zlatkovic.com/pub/libxml/64bit/%ZLIB_7Z%'; 7z x '%XMLLINT_DIR%\%ZLIB_7Z%' -o'%XMLLINT_DIR%'; pause"
powershell -Command "[Environment]::SetEnvironmentVariable('Path', [Environment]::GetEnvironmentVariable('Path', 'User') + ';%XMLLINT_DIR%\bin', [EnvironmentVariableTarget]::User)"
)
set "GRAPHVIZ_DIR=%MULTIVERSE_DIR%\external\graphviz"
set "GRAPHVIZ_ZIP=windows_10_cmake_Release_Graphviz-12.0.0-win64.zip"
if not exist "%GRAPHVIZ_DIR%" (
mkdir "%GRAPHVIZ_DIR%"
start powershell -NoProfile -Command "curl -o '%GRAPHVIZ_DIR%\%GRAPHVIZ_ZIP%' 'https://gitlab.com/api/v4/projects/4207231/packages/generic/graphviz-releases/12.0.0/%GRAPHVIZ_ZIP%'; Expand-Archive -Path '%GRAPHVIZ_DIR%\%GRAPHVIZ_ZIP%' -DestinationPath '%GRAPHVIZ_DIR%'"
powershell -Command "[Environment]::SetEnvironmentVariable('Path', [Environment]::GetEnvironmentVariable('Path', 'User') + ';%GRAPHVIZ_DIR%\Graphviz-12.0.0-win64\bin', [EnvironmentVariableTarget]::User)"
)
set "ROS_DIR=%MULTIVERSE_DIR%\external\ros\ros2_jazzy"
set "ROS_ZIP=ros2-jazzy-20240705-windows-release-amd64.zip"
if not exist "%ROS_DIR%" (
mkdir "%ROS_DIR%"
start powershell -NoProfile -Command "curl -o '%ROS_DIR%\%ROS_ZIP%' 'https://github.com/ros2/ros2/releases/download/release-jazzy-20240705/%ROS_ZIP%'; 7z x '%ROS_DIR%\%ROS_ZIP%' -o'%ROS_DIR%'; Move-Item -Path '%ROS_DIR%\ros2-windows\*' '%ROS_DIR%' -Force; Remove-Item -Path '%ROS_DIR%\%ROS_ZIP%'; Remove-Item -Path '%ROS_DIR%\ros2-windows'; workon multiverse; %PYTHON_EXECUTABLE% %ROS_DIR%/../fix_shebang.py %ROS_DIR%"
)
@REM Install dependencies for the rest packages
@REM Install build
%PYTHON_EXECUTABLE% -m pip install build
@REM Install additional packages for USD and multiverse_knowledge
%PYTHON_EXECUTABLE% -m pip install pyside6 pyopengl wheel cython owlready2 markupsafe==2.0.1 jinja2 pybind11
@REM Install mujoco
%PYTHON_EXECUTABLE% -m pip install mujoco==3.2.6 mujoco-mjx==3.2.6 "jax[cuda12]" jaxlib==0.4.21
@REM Install urdf_parser_py
%PYTHON_EXECUTABLE% -m pip install urdf_parser_py
@REM Install ros_dep_tools
%PYTHON_EXECUTABLE% -m pip install rosdep colcon-core
@REM Install msys2
set "MSYS2_DIR=%MULTIVERSE_DIR%\external\msys2"
if not exist "%MSYS2_DIR%" (
mkdir "%MSYS2_DIR%"
powershell -NoProfile -Command "curl -o '%MSYS2_DIR%\msys2-x86_64-20240507.exe' 'https://github.com/msys2/msys2-installer/releases/download/2024-05-07/msys2-x86_64-20240507.exe'; %MSYS2_DIR%\msys2-x86_64-20240507.exe in --confirm-command --accept-messages --root %MSYS2_DIR%; %MSYS2_DIR%\msys2_shell.cmd -defterm -here -no-start -c 'pacman -y -Syu'"
powershell -NoProfile -Command "%MSYS2_DIR%\msys2_shell.cmd -defterm -here -no-start -c 'pacman -S mingw-w64-x86_64-gcc mingw-w64-x86_64-make mingw-w64-x86_64-cmake mingw-w64-x86_64-zeromq mingw-w64-x86_64-cppzmq mingw-w64-x86_64-jsoncpp mingw-w64-x86_64-boost mingw-w64-x86_64-glfw mingw-w64-x86_64-tinyxml2'"
powershell -NoProfile -Command "[Environment]::SetEnvironmentVariable('Path', [Environment]::GetEnvironmentVariable('Path', 'User') + ';%MULTIVERSE_DIR%\external\msys2\mingw64\bin', [EnvironmentVariableTarget]::User)"
)
echo Installation completed.
pause