Initial Setup

Last updated: 2021.01.15

• For Windows:

  • Install Docker Desktop

    

    • If you have Windows 10 64-bit: Pro, Enterprise, or Education (Build 16299 or later), follow these instructions:
      • https://docs.docker.com/docker-for-windows/install
    • If you have Windows Home, follow these instructions:
      • https://docs.docker.com/docker-for-windows/install-windows-home

• Install Docker

  • For Mac:
    • Install Docker Desktop
      • https://docs.docker.com/docker-for-mac/install/
  • For Linux:
    • Install Docker Engine
      • https://docs.docker.com/engine/install/
    • Install Docker Compose
      • https://docs.docker.com/compose/install/

• If you don't have git installed, follow these instructions to install it:

  (Linux)

  (Windows)

  (Mac)

• Set up directories

  The main thing is the reachy repo and the CoLab-Reachy repo need to be in the same directory. For Docker Compose, I have the Docker container mount the reachy repo and it expects directory to be in a certain place relative to the CoLab-Reachy directory. I also forked the reachy repo because I needed to modify the notebooks a little to get things working.

  

  

  • For Mac users: you should have git preinstalled :),

    • if you get errors git not installed : to test to see if you have it already run c if you already have it installed you should see a version number pop up, if you don't fallow this guide https://phoenixnap.com/kb/install-git-on-mac

  • For Windows, open PowerShell and type the following commands:

    NOTE: this assumes you have 'git' installed google git and download if you dont have it

    Download via SSH:

    mkdir c:\\work
    cd c:\\work
    git clone [email protected]:CircuitLaunch/reachy.git
    git clone [email protected]:CircuitLaunch/CoLab-Reachy.git
    

    Download via HTTP:

    

    cd ~ 
    mkdir c:\\work
    cd c:\\work
    git clone <https://github.com/CircuitLaunch/reachy.git>
    git clone <https://github.com/CircuitLaunch/CoLab-Reachy.git>
    

  • For Mac/Linux, open a console and type the following commands:

    cd ~
    mkdir ~/work
    cd work
    git clone [email protected]:CircuitLaunch/reachy.git
    git clone [email protected]:CircuitLaunch/CoLab-Reachy.git
    

    for http replace [email protected].... with

    cd ~
    mkdir ~/work
    cd work
    git clone <https://github.com/CircuitLaunch/reachy.git>
    git clone <https://github.com/CircuitLaunch/CoLab-Reachy.git>
    

    Notes for windows:

    • if you get a error "The authenticity of host 'github.com...'" issue with git clone try the HTTP version ",

      

    • Dont use 'cmd.exe' in windows "cd ~ " does not work within cmd.exe

Starting the reachy-docker container

• Start the reachy-docker container

  • The first time you run this, it might take a little while because it has to download the Docker container from Docker Hub. After that, it shouldn't take that long to execute.

  • For Windows:

    • Open PowerShell and type the following commands:

    

    cd c:\\work\\CoLab-Reachy\\software\\reachy-docker
    docker-compose up
    

    This takes a long time, might as well get some tea. (smiley face emoji) You've earned it!

    

    I haven't tried this for Windows 10 Home edition. You will probably have to open a console to whatever version of linux you have installed with Windows Subsystem for Linux, instead of PowerShell.

    • You might see a window like this appear:

    

    The Docker container needs access to some ports. Click on the "Allow access" button to let Windows Defender Firewall to give access to those ports to the container.

  • For Mac/Linux:

    • open a console and type the following commands:

    cd ~/work/CoLab-Reachy/software/reachy-docker
    docker-compose up
    

After the Docker container starts running, you should see something like this:

At this point, it has already started Jupyter Notebook. The current directory in the container is "/reachy". This maps to the local repo of "reachy" on the host.

Stopping the reachy-docker container

• Do control-C in the console which the container is running
• You can also stop the container by opening a new console and going to CoLab-Reachy/software/reachy-docker (the directory where the docker-compose.yml file is) and doing:

docker-compose down

Running Jupyter Notebook with the Unity Simulator