File size: 2,282 Bytes
0d89eb9 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 | #!/bin/bash
# edit this line if you want to install the dependencies to another directory
WORKSPACE_DIR=${HOME}/code
ENVIRONMENT_NAME=rlbench
basedir=$(dirname $0)
basedir=$(readlink -f $basedir)
if ! [ -x "$(command -v curl)" ]; then
echo "Unable to find curl. installing."
sudo apt install curl
fi
if ! [ -x "$(command -v git)" ]; then
echo "Unable to find git. installing."
sudo apt install git
fi
if ! [ -x "$(command -v conda)" ]; then
echo "Unable to find conda"
exit 1
fi
conda create -n ${ENVIRONMENT_NAME} python=3.8
mamba install -n ${ENVIRONMENT_NAME} pytorch torchvision torchaudio pytorch-cuda=12.1 -c pytorch -c nvidia
export COPPELIASIM_ROOT=${WORKSPACE_DIR}/coppelia_sim
mkdir -p $COPPELIASIM_ROOT
TEMP_DIR=$(mktemp --tmpdir -d coppelia_XXXXXXXXXX)
cd $TEMP_DIR
curl -L -O https://www.coppeliarobotics.com/files/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
tar -xvf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz -C $COPPELIASIM_ROOT --strip-components 1
rm -rf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
CONDA_PREFIX=$(conda info --envs | grep -e "^${ENVIRONMENT_NAME}\ " | awk '{print $2}')
mkdir -p ${CONDA_PREFIX}/etc/conda/activate.d/
cat > ${CONDA_PREFIX}/etc/conda/activate.d/coppelia_sim.sh <<EOF
export COPPELIASIM_ROOT=$COPPELIASIM_ROOT
export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:\$COPPELIASIM_ROOT
export QT_QPA_PLATFORM_PLUGIN_PATH=\$COPPELIASIM_ROOT
EOF
cd ${WORKSPACE_DIR}
# pytorch3d
conda install -n ${ENVIRONMENT_NAME} gxx_linux-64
git clone --depth 1 https://github.com/facebookresearch/pytorch3d.git pytorch3d
cd pytorch3d
sed -i "s/c++14/c++17/" setup.py
echo "Installing pytorch3d this might take a while"
conda run -n ${ENVIRONMENT_NAME} pip install .
cd ..
cd ${WORKSPACE_DIR}
# YARR
git clone https://github.com/markusgrotz/YARR.git yarr
cd yarr
conda run -n ${ENVIRONMENT_NAME} pip install -e .
cd ..
# Pyrep
mamba install cffi==1.14.2
git clone https://github.com/markusgrotz/PyRep.git pyrep
cd pyrep
conda run -n ${ENVIRONMENT_NAME} pip install -e .
cd ..
# RLBench
git clone https://github.com/markusgrotz/RLBench.git rlbench
cd rlbench
conda run -n ${ENVIRONMENT_NAME} pip install -e .
cd ..
# PerAct Bimanual
cd $basedir/..
conda run -n ${ENVIRONMENT_NAME} pip install -e .
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