Remove isaac_sim from Ubuntu20.04

Multiverse-Framework · Feb 7, 2025 · 708de96 · 708de96
1 parent 64eb609
commit 708de96
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Showing 4 changed files with 12 additions and 4 deletions.
diff --git a/build_multiverse.sh b/build_multiverse.sh
@@ -149,7 +149,7 @@ else
     . $virtualenvwrapper
     mkvirtualenv --system-site-packages multiverse -p $PYTHON_EXECUTABLE
     $PYTHON_EXECUTABLE -m pip install -U pip build setuptools packaging distro
-    $PYTHON_EXECUTABLE -m pip numpy==1.26.4 # Fix numpy version
+    $PYTHON_EXECUTABLE -m pip install numpy==1.26.4 # Fix numpy version
 fi
 
 # Build multiverse

diff --git a/build_third_parties.sh b/build_third_parties.sh
@@ -175,7 +175,8 @@ if [ $BUILD_MUJOCO = true ]; then
     ln -sf $MUJOCO_BUILD_DIR/bin/simulate $BIN_DIR
 fi
 
-if [ $BUILD_ISAACLAB = true ]; then
+UBUNTU_VERSION=$(lsb_release -rs)
+if [ $BUILD_ISAACLAB = true ] && [ $UBUNTU_VERSION != "20.04" ]; then
     echo "Building IsaacLab..."
 
     # Download IsaacLab

diff --git a/install.sh b/install.sh
@@ -256,7 +256,7 @@ else
         $PYTHON_EXECUTABLE -m pip install -r $MULTIVERSE_DIR/modules/multiverse_connectors/src/multiverse_simulators/src/mujoco_connector/requirements.txt
     fi
 
-    if [ $INSTALL_ISAACLAB = true ]; then
+    if [ $INSTALL_ISAACLAB = true ] && [ $UBUNTU_VERSION != "20.04" ]; then
         $PYTHON_EXECUTABLE -m pip install -r $MULTIVERSE_DIR/modules/multiverse_connectors/src/multiverse_simulators/src/isaac_sim_connector/requirements.txt
     fi
 fi
diff --git a/multiverse/modules/multiverse_connectors/src/multiverse_simulators/CMakeLists.txt b/multiverse/modules/multiverse_connectors/src/multiverse_simulators/CMakeLists.txt
@@ -43,4 +43,11 @@ endif()
 
 add_subdirectory(src/mujoco_connector)
 
-add_subdirectory(src/isaac_sim_connector)
+execute_process(
+  COMMAND lsb_release -rs
+  OUTPUT_VARIABLE UBUNTU_VERSION
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+if (NOT UBUNTU_VERSION STREQUAL "20.04")
+  add_subdirectory(src/isaac_sim_connector)
+endif()