PyRep Installation

Warning

PyRep is not fully supported by MetaSim yet. We are still actively developing with it.

This instruction is tested on Ubuntu 22.04LTS. For other platforms, please refer to the official guide.

Create a new conda environment

conda create -n pyrep python=3.10
conda activate pyrep

Install CoppeliaSim v4.1.0

cd third_party
wget 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
rm CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz

Install PyRep

# utils function to setup pyrep
setup_pyrep(){
   export COPPELIASIM_ROOT=/path/to/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04
   export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT
   export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT
}

# Install PyRep
cd third_party
git clone https://github.com/stepjam/PyRep.git pyrep && cd pyrep
setup_pyrep
pip install -e .
python examples/example_youbot_navigation.py  # test

# Install RLBench
cd ..
git clone https://github.com/stepjam/RLBench.git rlbench && cd rlbench
pip install -e .
pip install gymnasium
python rlbench/examples/imitation_learning.py  # test

Install MetaSim dependencies

pip install torch==2.4.0 torchvision==0.19.0 --index-url https://download.pytorch.org/whl/cu118
pip install rootutils loguru rich tyro tqdm huggingface-hub