Install & Download¶

1. Dependencies¶

Python versions:

Python 3.10

Operating systems:

Linux: Ubuntu 18.04+, Centos 7+

Hardware:

Rendering: NVIDIA or AMD GPU
Ray tracing: NVIDIA RTX GPU or AMD equivalent
Ray-tracing Denoising: NVIDIA GPU
GPU Simulation: NVIDIA GPU

Software:

Ray tracing: NVIDIA Driver >= 470
Denoising (OIDN): NVIDIA Driver >= 520

2. Install Vulkan (if not installed)¶

Check vulkaninfo

sudo apt install libvulkan1 mesa-vulkan-drivers vulkan-tools

3. Basic Env¶

First, prepare a conda environment.

conda create -n RoboTwin python=3.10 -y
conda activate RoboTwin

RoboTwin 2.0 Code Repo: https://github.com/RoboTwin-Platform/RoboTwin

git clone https://github.com/RoboTwin-Platform/RoboTwin.git

Then, run script/_install.sh to install basic envs and CuRobo:

bash script/_install.sh

If you encounter any problems, please refer to the manual installation section. If you are not using 3D data, a failed installation of pytorch3d will not affect the functionality of the project.

4. Download Assert (RoboTwin-OD, Texture Library and Embodiments)¶

You can download the assets by running the following command:

bash script/_download_assets.sh

The structure of the assets folder should be like this:

assets
├── background_texture
├── embodiments
│   ├── embodiment_1
│   │   ├── config.yml
│   │   └── ...
│   └── ...
├── objects
└── ...

5. Manual Installation (Only when step 2 failed)¶

Install requirements
```
pip install -r requirements.txt
```

Install pytorch3d

pip install "git+https://github.com/facebookresearch/pytorch3d.git@stable"

Install CuRobo

cd envs
git clone https://github.com/NVlabs/curobo.git
cd curobo
pip install -e . --no-build-isolation
cd ../..

Adjust code in mplib (Important)
You can use pip show mplib to find where the mplib installed.
Remove or collide

# mplib.planner (mplib/planner.py) line 807
# remove `or collide`

if np.linalg.norm(delta_twist) < 1e-4 or collide or not within_joint_limit:
                return {"status": "screw plan failed"}
=>
if np.linalg.norm(delta_twist) < 1e-4 or not within_joint_limit:
                return {"status": "screw plan failed"}