MAGIKS is a set of scripts for python developers. It can be easily installed by checking out the spurce code from the github repository. Make a directory anywhere in which you want to copy the scripts. This will be the root directory of MAGIKS. Then go to that directory and type:

``` git clone https://github.com/uts-magic-lab/Magiks.git ```

Before using MAGIKS, you need to install some dependant packages:

Prerequisites

Currently, Magiks is dependant on the following Python library packages

• crlibm (required by pyinterval).
• pyinterval.
• matplotlib.
• numpy.
• sympy.
• cgkit.
• PyRide (If you want to use pyride ROS interface for S-PR2)

The following sections give detailed instructions on how these required libraries can be installed on your system. NOTE that we assume your target machine use a recent Ubuntu Linux system.

Install numpy,sympy and other required dependancies

First, we install required packages from the standard Ubuntu distribution repository:

1. sudo apt-get update (make sure we have latest package listing).
2. sudo apt-get install python-pip python-pygame python-matplotlib python-numpy python-sympy scons.

Compile and install crlibm library

There is no standard package for crlibm library on Ubuntu/Debian system. The source code can be downloaded from here. Use the following commands to compile and install the library from a terminal:

``` tar zxf crlibm-1.0beta4.tar.gz cd crlibm-1.0beta4 ./configure CPPFLAGS=-fPIC make sudo make install ```

The crlibm library should be installed under this directory: ``` /usr/local/lib ```

Install pyinterval package

``` sudo pip install pyinterval ```

Compile and install cgkit

cgkit also requires custom installation. The source code can be downloaded from here. Similar to crlibm, use the following commands to install cgkit library from a terminal:

``` tar zxf cgkit-2.0.0-py3k.tar.gz cd cgkit-2.0.0/supportlib scons cd .. sudo python setup.py install ```

Install PyRide package

PyRide is required if you want to control the physical PR2 robot or PR2 in simulation via S-PR2 package under MAGIKS. It is a ROS interface by which you can communicate with ROS and can synchronize the configuration of the PR2 object with the real robot. You can also run a trajectory or implement a real-time trajectory control on PR2. You will need PyRide if you work with any of these packages:

• ```PyRide_Synchronizer```
• ```pyride_interpreter```
• ```Skilled_PR2```
• ```Writer-PR2()```

To install pyride, follow the instructions from https://github.com/uts-magic-lab/pyride_pr2/blob/master/README.md "here".