This repository is a customized setup based on locosim and lab-docker projects. It utilizes configurations from docker-stuffs and linux-stuffs repositories.
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Install Docker:
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Linux:
curl -fsSL https://raw.githubusercontent.com/lomcin/linux-stuffs/master/install/docker -o install_docker.sh chmod +x install_docker.sh ./install_docker.sh
- To use NVIDIA GPUs, follow the instructions provided in Installing the NVIDIA Container Toolkit
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Windows:
- Install Windows Subsystem for Linux (WSL) by following the Install Linux on Windows with WSL instructions.
- Install Docker by following the Turn on Docker Desktop WSL 2 instructions.
- Launch Docker Desktop.
- Launch WSL.
- To navigate to the home directory in WSL, simply run:
cd ~
- Open port:
sudo ufw allow 8888 sudo ufw enable
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Clone this repository and run
prepare.sh
:git clone https://github.com/gbrlb/locosim_jupyter.git cd locosim_jupyter ./prepare.sh
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In a terminal, navigate to
locosim_jupyter
, if it is in the home directory:cd ~/locosim_jupyter
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Run Docker with:
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Linux:
./run_linux.sh
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Linux+gpu: You need to have NVIDIA drivers and the NVIDIA Container Toolkit installed already.
./run_linux_gpu.sh
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Windows WSL:
./run_wsl.sh
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Inside the Docker container, execute:
lab
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Access the Jupyter Lab interface by opening http://localhost:8888/ in a web browser.
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Password Token for Jupyter Lab:
locosim
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In the Jupyter Lab, navigate to L1_kinematics.ipynb located at
robot_control/lab_exercises/
to access the example exercise.