obelisk/setup.sh at main · Caltech-AMBER/obelisk · GitHub

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#!/bin/bash

# script flags
basic=false
cyclone_perf=false
zed=false
unitree=false

docker_install=false
install_sys_deps_docker=false

config_groups=false

install_sys_deps=false
source_ros=false

obk_aliases=false

mujoco=false

for arg in "$@"; do
    case $arg in
        --dev-setup)
            obk_aliases=true
            cyclone_perf=true
            docker_install=true
            install_sys_deps_docker=true
            basic=true
            shift  # Setup for development of Obelisk.
            ;;

        --downstream-setup)
            obk_aliases=true
            cyclone_perf=true
            basic=true
            install_sys_deps=true
            shift  # Setup for downstream use of Obelisk - suggested to build this in a docker container.
            ;;

        # Simulation options
        --mujoco)
            mujoco=true
            shift  # Enables Mujoco support
            ;;

        # Hardware options
        --zed)
            zed=true
            shift  # Enables ZED SDK
            ;;
        --unitree)
            unitree=true
            shift
            ;;

        # help
        --help)
            echo "Usage: source setup.sh [OPTIONS]

Options:
  --dev-setup                  Setup for development of Obelisk.

  --downstream-setup           Setup for downstream use of Obelisk - suggested to build this in a docker container.

  Hardware options:
  --zed                        Enables ZED SDK
  --unitree                    Enables the unitree interfaces

  Simulation options:
  --mujoco                     Enables Mujoco simulation. For now, without this flag there will be no simulation of any type.

  Other options:
  --help                       Display this help message and exit
"
            shift
            return
            ;;
        *)
            # Unknown option
            echo "Unknown option: $arg. Run 'source setup.sh --help' for more information."
            return
            ;;
    esac
done

# set OBELISK_ROOT to be the directory containing this script
export OBELISK_ROOT=$(dirname $(readlink -f ${BASH_SOURCE[0]}))

# docker setup
# if you want to use the ZED camera, you always need the local deps
# always set groups in docker for hardware, regardless of whether you're installing the deps
if [ "$install_sys_deps_docker" = true ]; then
    source $OBELISK_ROOT/scripts/docker_setup.sh \
        $([ "$docker_install" = true ] && echo "--docker-install") \
        $([ "$basic" = true ] && echo "--docker-basic") \
        $([ "$cyclone_perf" = true ] && echo "--docker-cyclone-perf") \
        $([ "$zed" = true ] && echo "--docker-zed --docker-group-zed") \
        $([ "$unitree" = true ] && echo "--docker-unitree") \
        $([ "$mujoco" = true ] && echo "--docker-mujoco")
else
    source $OBELISK_ROOT/scripts/docker_setup.sh \
        $([ "$docker_install" = true ] && echo "--docker-install") \
        $([ "$cyclone_perf" = true ] && echo "--docker-cyclone-perf") \
        $([ "$zed" = true ] && echo "--docker-zed --docker-group-zed") \
        $([ "$unitree" = true ] && echo "--docker-unitree") \
        $([ "$mujoco" = true ] && echo "--docker-mujoco")
fi

# group configuration on host
if [ "$config_groups" = true ]; then
    source $OBELISK_ROOT/scripts/config_groups.sh \
        $([ "$zed" = true ] && echo "--zed")
fi

# system-level deps
if [ "$install_sys_deps" = true ]; then
    source $OBELISK_ROOT/scripts/install_sys_deps.sh \
        $([ "$basic" = true ] && echo "--basic") \
        $([ "$cyclone_perf" = true ] && echo "--cyclone-perf") \
        $([ "$source_ros" = true ] && echo "--source-ros") \
        $([ "$zed" = true ] && echo "--zed") \
        $([ "$unitree" = true ] && echo "--unitree")
fi

# run user-specific setup
source $OBELISK_ROOT/scripts/user_setup.sh \
    $([ "$pixi" = true ] && echo "--pixi") \
    $([ "$zed" = true ] && echo "--zed") \
    $([ "$unitree" = true ] && echo "--unitree") \
    $([ "$obk_aliases" = true ] && echo "--obk-aliases")