installation.md

Step-by-step Installation

0. Clone the repository

   git clone https://github.com/GenSim2/GenSim2.git --recursive
   cd gensim2    ```
   

1. Create a conda environment

   conda create -n gensim2 python=3.9 -y
   conda activate gensim2
   

2. Install PyTorch which matches your cuda version (check with nvcc --version), or you may meet with errors when installing pytorch3d later. Please refer to the PyTorch website for the installation commands. For example, for cuda 11.8 :

   
   conda install pytorch==2.1.0 torchvision==0.16.0 torchaudio==2.1.0 pytorch-cuda=11.8 -c pytorch -c nvidia
   

3. Install PyTorch3D

   conda install -c iopath iopath
   
   # use conda
   conda install pytorch3d -c pytorch3d
   # or use pip
   pip install "git+https://github.com/facebookresearch/pytorch3d.git"
   

   Please refer to the PyTorch3D installation tutorial for more installation commands.

4. Install other dependencies

   sudo apt install libzmq3-dev # For ubuntu
   pip install -r requirements.txt
   pip install -e .
   
   # test sapien installation (remove --render if you are on a headless server)
   python misc/test/test_env.py --render
   

   You may refer to the "Troubleshooting" part in the documentation of ManiSkill for more details on the installation of Vulkan if the test script fails.

5. Install OpenPoints

   cd gensim2/agent/third_party/openpoints/cpp/pointnet2_batch
   python setup.py install
   cd ../
   cd subsampling
   python setup.py build_ext --inplace
   cd ..
   cd pointops/
   python setup.py install
   cd ..
   cd chamfer_dist
   python setup.py install --user
   cd ../emd
   python setup.py install --user
   cd ../../../../../..