PyRep Installation

This instruction is tested on Ubuntu 22.04LTS. For other system versions, 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