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Install

Common installation

Install RoboManipBaselines:

$ git clone [email protected]:isri-aist/RoboManipBaselines.git --recursive
$ cd RoboManipBaselines
$ pip install -e .

Note: If you have problems installing the Pinocchio library (pin module) from pip in certain environments (e.g. Ubuntu 20.04), you can also install it via apt. See here for details.

This common installation enables data collection by teleoperation in the MuJoCo environments.

Installation of each policy

Complete the common installation first.

SARNN

Install dependent libraries including EIPL:

# Go to the top directory of this repository
$ pip install -e .[sarnn]

# Go to the top directory of this repository
$ cd third_party/eipl
$ pip install -e .

ACT

Install dependent libraries including ACT:

# Go to the top directory of this repository
$ pip install -e .[act]

# Go to the top directory of this repository
$ cd third_party/act/detr
$ pip install -e .

Diffusion policy

Install dependent libraries including r3m and diffusion policy:

$ sudo apt install -y libosmesa6-dev libgl1-mesa-glx libglfw3 patchelf

# Go to the top directory of this repository
$ pip install -e .[diffusion-policy]

# Go to the top directory of this repository
$ cd third_party/r3m
$ pip install -e .

# Go to the top directory of this repository
$ cd third_party/diffusion_policy
$ pip install -e .

Note: If you encounter the following error,

pip._vendor.packaging.requirements.InvalidRequirement: Expected end or semicolon (after version specifier)
    opencv-python>=3.

replace all opencv-python>=3. with opencv-python>=3.0 in <venv_directory>/lib/python3.8/site-packages/gym-0.21.0-py3.8.egg-info/requires.txt.

Installation of each environment

Complete the common installation first.

MuJoCo environments

The MuJoCo environment can be used with only a common installation.

Isaac environments

Isaac Gym supports only Python 3.6, 3.7 and 3.8. In Ubuntu 22.04, use Python 3.8 with pyenv.

Download and unpack the Isaac Gym package from here.

Install Isaac Gym according to IsaacGym_Preview_4_Package/isaacgym/doc/install.html:

$ cd IsaacGym_Preview_4_Package/isaacgym/python
$ pip install -e .

Confirm that the sample program can be executed.

$ cd IsaacGym_Preview_4_Package/isaacgym/python/examples
$ python joint_monkey.py

Isaac Gym and MuJoCo version 3 are conflicted by a file of the same name, libsdf.so, which triggers the following error: undefined symbol: _ZN32pxrInternal_v0_19__pxrReserved__17 SdfValueTypeNamesE. Downgrade MuJoCo:

$ pip install mujoco==2.3.7

Real UR5e environments

Install dependent libraries including gello_software:

# Go to the top directory of this repository
$ pip install -e .[real-ur5e]

# Go to the top directory of this repository
$ cd third_party/gello_software
$ pip install -e .

See here for instructions on how to operate real robot.

Real xArm7 environments

Install dependent libraries including gello_software:

# Go to the top directory of this repository
$ pip install -e .[real-xarm7]

# Go to the top directory of this repository
$ cd third_party/gello_software
$ pip install -e .