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INSTALL.md

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🛠️ Installation

💻 Environments

Please follow the instructions to install the conda environments and the dependencies of the codebase. We recommend using CUDA 11.x during installations to avoid compatibility issues (remember to replace 11.x in the following commands with your own CUDA version like 11.4).

  1. Create a new conda environment and activate the environment.

    conda create -n rise python=3.8
conda activate rise

  2. Install necessary dependencies.

    conda install cudatoolkit=11.x
pip install -r requirements.txt

  3. Install MinkowskiEngine manually following the official instsallation instructions.

    mkdir dependencies && cd dependencies
conda install openblas-devel -c anaconda
export CUDA_HOME=/usr/local/cuda-11.x
git clone git@github.com:NVIDIA/MinkowskiEngine.git
cd MinkowskiEngine
python setup.py install --blas_include_dirs=${CONDA_PREFIX}/include --blas=openblas
cd ../..

  4. Install Pytorch3D manually.

    cd dependencies
git clone git@github.com:facebookresearch/pytorch3d.git
cd pytorch3d
pip install -e .
cd ../..

🦾 Real Robot

Hardwares.

  • Flexiv Rizon 4 Robotic Arm (or other robotic arms)
  • Dahuan AG-95 Gripper (or other grippers)
  • Intel RealSense RGB-D Camera (D415/D435/L515)

Softwares.

  • Ubuntu 20.04 (tested) with previous environment installed.
  • If you are using Flexiv Rizon robotic arm, install the Flexiv RDK to allow the remote control of the arm. Specifically, download FlexivRDK v0.9 and copy lib_py/flexivrdk.cpython-38-[arch].so to the device/robot/ directory. Please specify [arch] according to your settings. For our platform, [arch] is x86_64-linux-gnu.
  • If you are using Dahuan AG-95 gripper, install the following python packages for communications. 
    pip install pyserial==3.5 modbus_tk==1.1.3
  • If you are using Intel RealSense RGB-D camera, install the python wrapper pyrealsense2 of librealsense according to the official installation instructions.