echo "Downloading V-Rep/CoppeliaSim"

wget https://coppeliarobotics.com/files/CoppeliaSim_Edu_V4_0_0_Ubuntu18_04.tar.xz --no-check-certificate

tar -xvf CoppeliaSim_Edu_V4_0_0_Ubuntu18_04.tar.xz

rm CoppeliaSim_Edu_V4_0_0_Ubuntu18_04.tar.xz

echo "V-Rep/CoppeliaSim Downloaded. Installing Drivers"

sudo apt-get update && sudo apt-get install -y \

zsh \

wget \

libglib2.0-0 \

libgl1-mesa-glx \

xcb \

"^libxcb.*" \

libx11-xcb-dev \

libglu1-mesa-dev \

libxrender-dev \

libxi6 \

libdbus-1-3 \

libfontconfig1 \

xvfb \

tar \

git \

qtbase5-dev qtdeclarative5-dev libqt5webkit5-dev libsqlite3-dev qt5-default qttools5-dev-tools \

&& sudo rm -rf /var/lib/apt/lists/*

echo "Drivers Downloaded. Installing RLBench"

git clone https://github.com/stepjam/PyRep.git

echo "Setting Environment Variables For A Test Run"

export COPPELIASIM_ROOT=$(pwd)/CoppeliaSim_Edu_V4_0_0_Ubuntu18_04

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT

export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT

git clone https://github.com/valayDave/RLBench.git

echo "Installing Virtual Environment"

python3 -m venv .env

echo "Installing PyRep and RLBench in Virtual Environment"

.env/bin/pip install -r PyRep/requirements.txt

.env/bin/pip install -e PyRep

.env/bin/pip install -r RLBench/requirements.txt

.env/bin/pip install -e RLBench

# echo "Running Demo Script"

# .env/bin/python PyRep/examples/example_baxter_pick_and_pass.py

echo "Installed PyRep and RLBench !"

echo "Installing PyTorch and Metaflow"

.env/bin/pip install -r requirements.txt

# docker run -i -t --rm -e DISPLAY=$DISPLAY -u docker -v /tmp/.X11-unix:/tmp/.X11-unix:ro --name="PyRep_Docker_Test" valaygaurang/pyrep:0.1

echo "Downloading Dataset with 200 Demos Of Reach Target Task"

.env/bin/python RLBench/tools/dataset_generator.py --tasks reach_target --episodes_per_task 200 --processes 1