diff --git a/locomotion/setup_libraries.sh b/locomotion/setup_libraries.sh
new file mode 100755
index 0000000..c12cfc2
--- /dev/null
+++ b/locomotion/setup_libraries.sh
@@ -0,0 +1,52 @@
+SOURCE_DIR=$PWD
+INSTALL_DIR=$SOURCE_DIR/custom/install
+
+# install eigen3.4
+cd $SOURCE_DIR/src/third_party/eigen
+mkdir build
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release 
+make -j$(($(nproc) - 2))
+make install
+
+
+# install pinocchio without python and install locally
+cd $SOURCE_DIR/src/third_party/pinocchio
+mkdir build
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_UNIT_TESTS=OFF -DBUILD_PYTHON_INTERFACE=OFF -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR
+make -j$(($(nproc) - 2))
+make install
+
+# install mujoco locally
+cd $SOURCE_DIR/src/third_party/mujoco
+mkdir build
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR
+cmake --build . -j$(($(nproc) - 2))
+make install
+
+cd $SOURCE_DIR/src/third_party/iir
+mkdir build
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR
+make -j$(($(nproc) - 2))
+make install
+
+cd $SOURCE_DIR/src/third_party/cyclonedds
+mkdir build
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR # -DENABLE_TYPE_DISCOVERY=ON -DENABLE_TOPIC_DISCOVERY=ON
+cmake --build . 
+cmake --build . --target install
+
+cd $SOURCE_DIR/src/third_party/cyclonedds-cxx
+mkdir build
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR -DCMAKE_PREFIX_PATH=$INSTALL_DIR
+cmake --build . 
+cmake --build . --target install
+
+cd $SOURCE_DIR
+# chmod +x compile.sh
+# ./compile.sh