From cc03791ac6bc0d9d35304c8bb0c4a5e93908f26d Mon Sep 17 00:00:00 2001 From: Joao Carvalho Date: Mon, 20 Nov 2023 09:03:03 +0100 Subject: [PATCH 1/8] Fix installation --- setup.sh | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/setup.sh b/setup.sh index a46393d..b5cde8a 100644 --- a/setup.sh +++ b/setup.sh @@ -8,9 +8,18 @@ if [ ! -d $ISAACGYM_DIR ]; then exit fi + +cd $DEPS_DIR +find . ! -name 'isaacgym' -type f -exec rm -rf {} + + +cd $ROOT_DIR + +git submodule sync +git pull --recurse-submodules git submodule update --init --recursive --remote --progress + export SKLEARN_ALLOW_DEPRECATED_SKLEARN_PACKAGE_INSTALL=True eval "$(~/miniconda3/bin/conda shell.bash hook)" From f284785df0d24d2a636533e650f5f928eb0e0c39 Mon Sep 17 00:00:00 2001 From: Joao Carvalho Date: Mon, 20 Nov 2023 09:11:39 +0100 Subject: [PATCH 2/8] Change url submodules --- .gitmodules | 6 +++--- requirements.txt | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.gitmodules b/.gitmodules index ec66eee..423230a 100644 --- a/.gitmodules +++ b/.gitmodules @@ -3,10 +3,10 @@ url = https://git.ias.informatik.tu-darmstadt.de/common/experiment_launcher.git [submodule "deps/motion_planning_baselines"] path = deps/motion_planning_baselines - url = git@github.com:anindex/motion_planning_baselines.git + url = https://github.com/anindex/motion_planning_baselines.git [submodule "deps/torch_robotics"] path = deps/torch_robotics - url = git@github.com:anindex/torch_robotics.git + url = https://github.com/anindex/torch_robotics.git [submodule "deps/storm"] path = deps/storm - url = git@github.com:jacarvalho/storm.git + url = https://github.com/jacarvalho/storm.git diff --git a/requirements.txt b/requirements.txt index d6147cd..c7ea5f3 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,4 +1,4 @@ -numpy==1.19.5 +numpy tensorboard tqdm ConfigArgParse From 8b8274cec0fdb92c2fba0becced0a8f911edac77 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jo=C3=A3o=20Carvalho?= Date: Mon, 20 Nov 2023 09:27:04 +0100 Subject: [PATCH 3/8] Update README.md --- README.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/README.md b/README.md index d7ac1d7..55bce41 100644 --- a/README.md +++ b/README.md @@ -27,6 +27,12 @@ If you have any questions please let me know -- [joao@robot-learning.de](mailto: --- ## Installation +Clone this repository with +```bash +git clone --recurse-submodules https://github.com/jacarvalho/mpd-public.git +cd mpd-public +``` + Download [IsaacGym Preview 4](https://developer.nvidia.com/isaac-gym) and extract it under `deps/isaacgym`. Run the bash setup script to install everything. From 7a233941418a04b923ab43d8e804d8a9c501f96e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jo=C3=A3o=20Carvalho?= Date: Mon, 20 Nov 2023 09:27:15 +0100 Subject: [PATCH 4/8] Update setup.sh --- setup.sh | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/setup.sh b/setup.sh index b5cde8a..45bb4df 100644 --- a/setup.sh +++ b/setup.sh @@ -8,18 +8,6 @@ if [ ! -d $ISAACGYM_DIR ]; then exit fi - -cd $DEPS_DIR -find . ! -name 'isaacgym' -type f -exec rm -rf {} + - -cd $ROOT_DIR - -git submodule sync -git pull --recurse-submodules -git submodule update --init --recursive --remote --progress - - - export SKLEARN_ALLOW_DEPRECATED_SKLEARN_PACKAGE_INSTALL=True eval "$(~/miniconda3/bin/conda shell.bash hook)" From 6411443420ba9d807d2d217c12f949a990d9bff5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jo=C3=A3o=20Carvalho?= Date: Mon, 20 Nov 2023 09:39:23 +0100 Subject: [PATCH 5/8] Update README.md --- README.md | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 55bce41..04bf1d2 100644 --- a/README.md +++ b/README.md @@ -27,16 +27,27 @@ If you have any questions please let me know -- [joao@robot-learning.de](mailto: --- ## Installation +Pre-requisites: +- Ubuntu 20.04 (maybe works with other OS) +- [miniconda](https://docs.conda.io/projects/miniconda/en/latest/index.html) + Clone this repository with ```bash +cd ~ git clone --recurse-submodules https://github.com/jacarvalho/mpd-public.git cd mpd-public ``` -Download [IsaacGym Preview 4](https://developer.nvidia.com/isaac-gym) and extract it under `deps/isaacgym`. +Download [IsaacGym Preview 4](https://developer.nvidia.com/isaac-gym) and extract it under `deps/isaacgym` +```bash +mv ~/Downloads/IsaacGym_Preview_4_Package.tar.gz ~/mpd-public/deps/ +cd ~/mpd-public/deps +tar -xvf IsaacGym_Preview_4_Package.tar.gz +``` Run the bash setup script to install everything. ``` +cd ~/mpd-public bash setup.sh ``` From 5d4e8267b7843844b95625c22eb6beb4ccb43788 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jo=C3=A3o=20Carvalho?= Date: Mon, 20 Nov 2023 09:52:52 +0100 Subject: [PATCH 6/8] Update README.md --- README.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/README.md b/README.md index 04bf1d2..a20643b 100644 --- a/README.md +++ b/README.md @@ -56,6 +56,10 @@ bash setup.sh To try out the MPD inference, first download the data and the trained models. +```bash +conda activate mpd +``` + ```bash gdown 1mmJAFg6M2I1OozZcyueKp_AP0HHkCq2k tar -xvf data_trajectories.tar.gz @@ -90,6 +94,10 @@ The results will be saved under `data_trained_models/[model_id]/results_inferenc We recommend running the follwowing in a SLURM cluster. +```bash +conda activate mpd +``` + To regenerate the data: ```bash cd scripts/generate_data From 3de05b4271f87ec146b3b95381601695cd34aabd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jo=C3=A3o=20Carvalho?= Date: Mon, 20 Nov 2023 09:55:11 +0100 Subject: [PATCH 7/8] Update README.md --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index a20643b..deaaa03 100644 --- a/README.md +++ b/README.md @@ -61,9 +61,9 @@ conda activate mpd ``` ```bash -gdown 1mmJAFg6M2I1OozZcyueKp_AP0HHkCq2k +gdown --id 1mmJAFg6M2I1OozZcyueKp_AP0HHkCq2k tar -xvf data_trajectories.tar.gz -gdown 1I66PJ5QudCqIZ2Xy4P8e-iRBA8-e2zO1 +gdown --id 1I66PJ5QudCqIZ2Xy4P8e-iRBA8-e2zO1 tar -xvf data_trained_models.tar.gz ``` From 72c82618fedc8910555d1c58d5dde6c84712f6b1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jo=C3=A3o=20Carvalho?= Date: Mon, 20 Nov 2023 09:55:33 +0100 Subject: [PATCH 8/8] Update setup.sh --- setup.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/setup.sh b/setup.sh index 45bb4df..b801289 100644 --- a/setup.sh +++ b/setup.sh @@ -46,4 +46,5 @@ cd ${ROOT_DIR} && pip install -e . conda remove --force ncurses --yes conda install -c "conda-forge/label/cf202003" gdown --yes +pip install --upgrade --no-cache-dir gdown