INSTALLATION
April 27, 2025 ยท View on GitHub
PPI Env
conda create -n ppi python=3.8
conda activate ppi
git clone https://github.com/OpenRobotLab/PPI.git
cd PPI
pip install -e .
(1) PyTorch
conda install pytorch torchvision torchaudio pytorch-cuda=11.8 -c pytorch -c nvidia
We recommend using CUDA 11.8. Please install the torch version that matches your cuda version.
(2) Third Party Packages
pip install -r requirements.txt
(3) pytorch3D
conda install gxx_linux-64
mkdir repos
cd repos
git clone https://github.com/facebookresearch/pytorch3d.git pytorch3d
cd pytorch3d
pip install .
cd ..
Building wheels for pytorch3d may take a while.
(4) SAM and GroundingDINO (for data preprocession)
# install sam
# cd repos
git clone https://github.com/facebookresearch/segment-anything.git
cd segment-anything
pip install .
cd ..
# install groundingdino
git clone https://github.com/IDEA-Research/GroundingDINO.git
cd GroundingDINO
pip install .
cd ..
RLBench2 Env
(1) PyRep and Coppelia Simulator
PyRep requires version 4.1 of CoppeliaSim. Download:
Once you have downloaded CoppeliaSim, you can pull PyRep from git.
# cd repos
git clone https://github.com/markusgrotz/PyRep.git
cd PyRep
Add the following to your ~/.bashrc file: (NOTE: modify PATH_TO_YOUR_COPPELIASIM to your path)
export COPPELIASIM_ROOT=PATH_TO_YOUR_COPPELIASIM
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 .
cd ..
(2) Extended RLBench
Please use my RLBench fork.
# cd repos
git clone https://github.com/yuyinyang3y/RLBench.git
cd RLBench
pip install -e .
cd ..
For running in headless mode, tasks setups, and other issues, please refer to the official repo.
(3) YARR
Please use my YARR fork.
# cd repos
git clone https://github.com/yuyinyang3y/YARR.git
cd YARR
pip install -e .
cd ..
You should be ready to go!