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INSTALLATION.md

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INSTALLATION

To install the dependencies execute the scripts/install_dependencies.sh

scripts/install_conda.sh # Skip this step if you already have conda installed.
scripts/install_dependencies.sh

Please see the README for a quick start instruction.

Alternatively, you can follow the detailed instructions to setup the software from scratch

1. Environment

Install miniconda if not already present on the current system.You can use scripts/install_conda.sh for this step:

sudo apt install curl 

curl -L -O https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
chmod +x Miniconda3-latest-Linux-x86_64.sh 
./Miniconda3-latest-Linux-x86_64.sh

SHELL_NAME=`basename $SHELL`
eval "$($HOME/miniconda3/bin/conda shell.${SHELL_NAME} hook)"
conda init ${SHELL_NAME}
conda install mamba -c conda-forge
conda config --set auto_activate_base false

Next, create the rlbench environment and install the dependencies

conda create -n rlbench python=3.8
conda activate rlbench
conda install pytorch torchvision torchaudio pytorch-cuda=12.1 -c pytorch -c nvidia

2. PyRep and Coppelia Simulator

Follow instructions from the PyRep fork; reproduced here for convenience:

PyRep requires version 4.1 of CoppeliaSim. Download:

Once you have downloaded CoppeliaSim, you can pull PyRep from git:

cd third_party
cd PyRep

Add the following to your ~/.bashrc file: (NOTE: the 'EDIT ME' in the first line)

export COPPELIASIM_ROOT=<EDIT ME>/PATH/TO/COPPELIASIM/INSTALL/DIR
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT
export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT

Remember to source your bashrc (source ~/.bashrc) or zshrc (source ~/.zshrc) after this.

Warning: CoppeliaSim might cause conflicts with ROS workspaces.

Finally install the python library:

pip install -e .

You should be good to go! You could try running one of the examples in the examples/ folder.

3. RLBench

PerAct^2 uses the RLBench fork.

cd third_party
cd RLBench
pip install -e .

For running in headless mode, tasks setups, and other issues, please refer to the official repo.

4. YARR

PerAct^2 uses the YARR fork.

cd third_party
cd YARR
pip install -e .

5. pytorch3d

cd third_party
cd pytorch3d
conda install -c fvcore -c iopath -c conda-forge fvcore iopath
pip install -e .

6. wandb

pip install wandb==0.14.0