install.md

Environment Setting

Our code implemented on Ubuntu 20.04 and Conda virtual environment.

Please follow below instruction.

Clone UOP-Net repository & thirdparty repository

git clone --recursive https://github.com/gist-ailab/uop-net.git
cd ./uop-net

Create conda env & python requirements

# create conda env
conda create -n uop_net python=3.8
conda activate uop_net

# install python requirements 
pip install --upgrade pip setuptools wheel
pip install trimesh plotly pyyaml open3d point_cloud_utils natsort tqdm scipy
pip install warmup-scheduler

# install pytorch with compatible CUDA version
conda install pytorch==1.12.1 torchvision==0.13.1 torchaudio==0.12.1 cudatoolkit=11.3 -c pytorch

Simulation Setup

uop data generation code built in CoppeliaSim and PyRep. Please install CoppeliaSim and pyrep first PyRep github

# download coppelia sim(check ubuntu version)
wget https://www.coppeliarobotics.com/files/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz --no-check-certificate
tar -xvf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz

# at first, you must run with GUI monitor setup
cd CoppeliaSim_Edu_V4_1_0_Ubuntu20_04/
./coppeliaSim.sh

# edit ~/.bashrc file
export COPPELIASIM_ROOT=EDIT/ME/PATH/TO/COPPELIASIM/INSTALL/DIR
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT
export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT

# install pyrep
cd setups/thirdparty/PyRep
pip3 install -r requirements.txt
pip3 install .

cd ../../..

Troubleshooting

You shold follow below thing to run and visualize our simulation scenes

• video compressin library issue CoppeliaSim issue

  • build vvcl and copy them to coppeliasim root

  # start from uop-net folder
  cd setups/thirdparty/videoRecorder/vvcl
  mkdir build
  cd build
  cmake ..
  make
  
  # apply to CoppeliaSim
  cp ./libvvcl.so $COPPELIASIM_ROOT

• custom simulation parameter warning(gui)

  • For visualize simulation (headless=False), you should check the below gui box three times for each environments (./uop_sim/coppeliasim/*.ttt)

  

Build Manifold

uop sim data use shapenet, 3dnet, ycb with watertight method Manifold.

# start from uop-net folder
cd setups/thirdparty/Manifold
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make