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INSTALLATION.md

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Installation

Dependencies

Python versions:

  • Python 3.8, 3.10

Operating systems:

  • Linux: Ubuntu 18.04+, Centos 7+

Hardware:

  • Rendering: NVIDIA or AMD GPU

  • Ray tracing: NVIDIA RTX GPU or AMD equivalent

  • Ray-tracing Denoising: NVIDIA GPU

  • GPU Simulation: NVIDIA GPU

Software:

  • Ray tracing: NVIDIA Driver >= 470
  • Denoising (OIDN): NVIDIA Driver >= 520

Install Vulkan

sudo apt install libvulkan1 mesa-vulkan-drivers vulkan-tools

Basic env

First, prepare a conda environment.

conda create -n RoboTwin python=3.8
conda activate RoboTwin
pip install torch==2.3.1 sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic openai gdown

Then, install pytorch3d:

cd third_party/pytorch3d_simplified && pip install -e . && cd ../..

Assert download

gdown 'https://drive.google.com/uc?id=16rej25MdbWIqo1UC9Ph4xQ4irLXutdYb'
unzip asset.zip

REMOVE !!!!!!!!!

Remove convex=True

You can use pip show mplib to find where the mplib installed.

# mplib.planner (mplib/planner.py) line 72
# remove `convex=True`

self.robot = ArticulatedModel(
            urdf,
            srdf,
            [0, 0, -9.81],
            user_link_names,
            user_joint_names,
            convex=True,
            verbose=False,
        )
=> 
self.robot = ArticulatedModel(
            urdf,
            srdf,
            [0, 0, -9.81],
            user_link_names,
            user_joint_names,
            # convex=True,
            verbose=False,
        )

Remove or collide

# mplib.planner (mplib/planner.py) line 848
# remove `or collide`

if np.linalg.norm(delta_twist) < 1e-4 or collide or not within_joint_limit:
                return {"status": "screw plan failed"}
=>
if np.linalg.norm(delta_twist) < 1e-4 or not within_joint_limit:
                return {"status": "screw plan failed"}

Install DP3 (Optional)

5.1 Install torch

# if using cuda>=12.1
pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu121
# else, 
# just install the torch version that matches your cuda version

5.2 Install dp3

cd policy/3D-Diffusion-Policy && pip install -e . && cd ..

5.3 Install some necessary package

pip install zarr==2.12.0 wandb ipdb gpustat dm_control omegaconf hydra-core==1.2.0 dill==0.3.5.1 einops==0.4.1 diffusers==0.11.1 numba==0.56.4 moviepy imageio av matplotlib termcolor