Skip to content

Commit

Permalink
Merge pull request #28 from kvasios/feature/franka-ai-companion
Browse files Browse the repository at this point in the history 
revised system requirements
  • Loading branch information
@gomezgu
gomezgu authored Nov 29, 2024
2 parents 630b7cb + 1ed02fd commit 9935df7
Showing 1 changed file with 31 additions and 25 deletions.
56 changes: 31 additions & 25 deletions source/franka_matlab/system_requirements.rst
View file
Original file line number Diff line number Diff line change
Expand Up @@ -37,28 +37,34 @@ MATLAB Coder Support Package for NVIDIA Jetson
Target PC - AI Companion
------------------------

Franka Toolbox for MATLAB ships with precompiled libfranka which requires the following system dynamic libraries:

.. _system_dependencies_precompiled_ai_companion:

The Franka Toolbox for MATLAB ships with prebuilt libfranka and other binaries which are built based on the following AI Companion Target PC Ubuntu version:

+-------------------------+---------------------------------------------+
| Franka Toolbox Version | Target PC Ubuntu Version (recommended) |
+=========================+=============================================+
| 2.0.0 | 20.04 LTS |
+-------------------------+---------------------------------------------+

precompiled libfranka system dependencies
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

+--------------+------------------------+---------------------------------------------------+
| Franka Robot | libfranka Version | System Dependency |
+==============+========================+===================================================+
| FR3 | 0.14.0 | libpoco-dev (1.9.2-3ubuntu3), pinocchio (2.7.1) |
+--------------+------------------------+---------------------------------------------------+
| FER | 0.9.2 | libpoco-dev (1.9.2-3ubuntu3) |
+--------------+------------------------+---------------------------------------------------+
+--------------+------------------------+--------------------------------------------------------------------------+
| Franka Robot | libfranka Version | System Dependency |
+==============+========================+==========================================================================+
| FR3 | 0.14.0 | libpoco-dev (1.9.2-3ubuntu3 - Ubuntu-20.04 default), pinocchio (2.7.1) |
+--------------+------------------------+--------------------------------------------------------------------------+
| FER | 0.9.2 | libpoco-dev (1.9.2-3ubuntu3 - Ubuntu-20.04 default) |
+--------------+------------------------+--------------------------------------------------------------------------+


To install the required version of libpoco-dev on your system, you can use the following commands:
To install the required version of libpoco-dev on your system, you can use the following commands for Ubuntu-20.04:

.. code-block:: shell
sudo apt-get update
sudo apt-get install libpoco-dev=1.8.0.1-1ubuntu4
sudo apt-get install libpoco-dev
For installing the required version of pinocchio, please refer to the `Pinocchio installation documentation <https://stack-of-tasks.github.io/pinocchio/download.html>`_.

Expand All @@ -84,11 +90,11 @@ Make sure that your target PC configuration complies with the following document

The Franka Toolbox for MATLAB ships with prebuilt libfranka and other binaries which are built based on the following Target PC Ubuntu version:

+-------------------------+---------------------------------------------+
| Franka Toolbox Version | Target PC Ubuntu Version (recommended) |
+=========================+=============================================+
| 2.0.0 | 22.04 LTS |
+-------------------------+---------------------------------------------+
+-------------------------+-----------------------------------------------------+
| Franka Toolbox Version | Target AI Companion PC Ubuntu Version (recommended) |
+=========================+=====================================================+
| 2.0.0 | 22.04 LTS |
+-------------------------+-----------------------------------------------------+

MATLAB Support Package for Linux
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Expand All @@ -107,20 +113,20 @@ precompiled libfranka system dependencies

Franka Toolbox comes with prebuilt libfranka which requires the following system dynamic libraries:

+--------------+------------------------+-------------------------------------------+
| Franka Robot | libfranka Version | System Dependency |
+==============+========================+===========================================+
| FR3 | 0.14.0 | libpoco-dev (1.11.0-3), pinocchio (3.2.0) |
+--------------+------------------------+-------------------------------------------+
| FER | 0.9.2 | libpoco-dev (1.11.0-3) |
+--------------+------------------------+-------------------------------------------+
+--------------+------------------------+-------------------------------------------------------------------+
| Franka Robot | libfranka Version | System Dependency |
+==============+========================+===================================================================+
| FR3 | 0.14.0 | libpoco-dev (1.11.0-3 - Ubuntu-22.04 default), pinocchio (3.2.0) |
+--------------+------------------------+-------------------------------------------------------------------+
| FER | 0.9.2 | libpoco-dev (1.11.0-3 - Ubuntu-22.04 default) |
+--------------+------------------------+-------------------------------------------------------------------+

To install the required version of libpoco-dev on your system, you can use the following commands:
To install the required version of libpoco-dev on your system, you can use the following commands for Ubuntu-22.04:

.. code-block:: shell
sudo apt-get update
sudo apt-get install libpoco-dev=1.11.0-3
sudo apt-get install libpoco-dev
For installing the required version of pinocchio, please refer to the `Pinocchio installation documentation <https://stack-of-tasks.github.io/pinocchio/download.html>`_.

Expand Down

0 comments on commit 9935df7

Please sign in to comment.