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Spot Setup with demo branch

Installation

Requirements

  • Home robot
  • Spot sim2real

Steps

Home-Robot

git clone https://github.com/facebookresearch/home-robot.git --recursive
cd home-robot

echo 'export HOME_ROBOT_ROOT=<path/to/home-robot>' >> ~/.bashrc 
source ~/.bashrc

git submodule update --init --recursive src/home_robot/home_robot/perception/detection/detic/Detic src/third_party/detectron2 src/third_party/contact_graspnet  src/third_party/habitat-lab src/third_party/spot-sim2real src/third_party/MiDaS src/home_robot/home_robot/agent/imagenav_agent/SuperGluePretrainedNetwork
  • If this command doesn't add all the submodules
git submodule update -f src/home_robot/home_robot/perception/detection/detic/Detic src/third_party/detectron2 src/third_party/contact_graspnet  src/third_party/habitat-lab src/third_party/spot-sim2real src/third_party/MiDaS src/home_robot/home_robot/agent/imagenav_agent/SuperGluePretrainedNetwork

mamba env create -n home-robot -f src/home_robot_spot/env.yaml

If mamba not found, conda install -c conda-forge mamba --yes

conda activate home-robot
pip install -e src/home_robot/. 
pip install -e src/home_robot_hw/.
pip install -e src/home_robot_spot/.

Change this env variable to your cuda -- CUDA_HOME=/usr/local/cuda-<version_tag>

Install spot sim2real

cd src/third_party/spot-sim2real
git checkout main
Installing spot sim2real packages
cd bd_spot_wrapper/
python generate_executables.py
pip install -e .

cd ../spot_rl_experiments
python generate_executables.py
pip install -e .

# Generate module
cd ../perception_and_utils_root/
pip install -e . && cd ../

pip install bosdyn-api  bosdyn-client transforms3d einops gym==0.23.1 vtk scikit-image open3d natsort scikit-fmm pandas==2.1.1 atomicwrites loguru

Install MiDaS

  • Make sure you are on the master branch
cd $HOME_ROBOT_ROOT/src/third_party/MiDaS
git checkout master
git pull origin
  • Install weights
cd weights
wget https://github.com/isl-org/MiDaS/releases/download/v3_1/dpt_beit_large_512.pt
  • Packages
cd ../
pip install -e .
pip install imutils

Install Habitat-sim

cd $HOME_ROBOT_ROOT/src/third_party/habitat-lab
pip install -e habitat-lab
mamba install habitat-sim headless -c conda-forge -c aihabitat --yes

Install SuperGLUE

pip install -r src/home_robot/home_robot/agent/imagenav_agent/SuperGluePretrainedNetwork/requirements.txt

Install Detic

cd src/home_robot/home_robot/perception/detection/detic/Detic
pip install -r requirements.txt
mkdir models
wget https://dl.fbaipublicfiles.com/detic/Detic_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x_max-size.pth -O models/Detic_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x_max-size.pth
wget https://eecs.engin.umich.edu/~fouhey/fun/desk/desk.jpg
python demo.py --config-file configs/Detic_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x_max-size.yaml --input desk.jpg --output out.jpg --vocabulary lvis --opts MODEL.WEIGHTS models/Detic_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x_max-size.pth

Additional installtions

cd $HOME_ROBOT_ROOT
pip install -e src/third_party/detectron2/.
Issues with installing detectron2

Set CUDA_HOME=/usr/local/cuda-<VERSION>/ and install again

If getting a version_mismatch error
  • Install cuda from this website and select the correct version tag when installing cuda.
For qObject: movToThread errors/warnings when running the demo
pip install --no-binary opencv-python opencv-python
Attribute error for SE3 with sophuspy
git clone https://github.com/pybind/pybind11.git
cd pybind11
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install/
make -j8
make install
pybind11_DIR=$PWD/../install/share/cmake/pybind11/ pip3 install --user sophuspy