.setup_rc_nuc11

source ~/.bashrc

WITH_PINPY=1

export ROBOT_TYPE=a1
source /home/yip/CodeSpace/legged_ws/devel/setup.bash
source /home/yip/CodeSpace/hexapod_ws/devel/setup.bash
source /home/yip/CodeSpace/Fast-Legged-Planner_ws/moveit_ws/devel/setup.bash
source /home/yip/CodeSpace/Fast-Legged-Planner_ws/flplanner_ws/devel/setup.bash
export PATH=$PATH:/home/yip/.local/bin

# Gurobi
export GUROBI_HOME="/opt/gurobi1003/linux64"
export PATH="${PATH}:${GUROBI_HOME}/bin"
export LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:${GUROBI_HOME}/lib"

# Pinocchio (IMPORTANT: This may interfere with legged_ws-pinocchio, if you are using legged_ws, do not source this)
if [ "$WITH_PINPY" -eq 1 ]; then
export PATH=/opt/openrobots/bin:$PATH
export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH
export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH
export PYTHONPATH=/opt/openrobots/lib/python3.8/site-packages:$PYTHONPATH # Adapt your desired python version here
export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH
fi