gasv2

2.2. Download and Install

surrol

• Download and install Miniconda.

• Edit environment variables, go to init_surrol.sh and edit your environment variables.

• Create virtual environment in anaconda

  source bash/init_surrol.sh 
  source $ANACONDA_PATH/bin/activate 
  conda create -n $ENV_NAME python=3.9 -y

• Install package

  source bash/init_surrol.sh
  conda install cudnn=8.2 cudatoolkit=11.3 libffi==3.3 ffmpeg -c anaconda -c conda-forge -y
  pushd ext/SurRoL/ && python -m pip install -e . && popd # install surrol
  pushd ext/dreamerv2/ && python -m pip install -e . && popd # install dreamerv2
  python -m pip install -e . # install gym_ras

dvrk

• Download and install Miniconda.

• Download pretrain_models and unzip to current directory

• Edit environment variables, go to init_dvrk.sh and edit your environment variables.

• Create virtual environment in anaconda

  source bash/init_dvrk.sh 
  source $ANACONDA_PATH/bin/activate 
  conda create -n $ENV_NAME python=3.9 -y

• Install Conda Dependency

  source bash/init_dvrk.sh 
  conda install -c conda-forge ros-rospy wstool ros-sensor-msgs ros-geometry-msgs ros-diagnostic-msgs empy rospkg python-orocos-kdl -y 
  conda install pytorch==1.10.1 torchvision==0.11.2 torchaudio==0.10.1 -c pytorch -y
  conda install cudnn=8.2 cudatoolkit=11.3 -c anaconda -y 
  conda install ffmpeg libffi==3.3 -y
  

• dVRK Dependency

  • for melodic:

  sudo apt install libxml2-dev libraw1394-dev libncurses5-dev qtcreator swig sox espeak cmake-curses-gui cmake-qt-gui git subversion gfortran libcppunit-dev libqt5xmlpatterns5-dev  libbluetooth-dev python-wstool python-vcstool python-catkin-tools
  #conda install -c conda-forge ros-rospy wstool ros-sensor-msgs ros-geometry-msgs ros-diagnostic-msgs -y # additional install for melodic since it uses python2.7, need to reinstall all ros dependency

  • for noetic:

  sudo apt install libxml2-dev libraw1394-dev libncurses5-dev qtcreator swig sox espeak cmake-curses-gui cmake-qt-gui git subversion gfortran libcppunit-dev libqt5xmlpatterns5-dev libbluetooth-dev python3-pyudev python3-wstool python3-vcstool python3-catkin-tools python3-osrf-pycommon

• Install ROS dependency in Conda environment

  mkdir -p ext/ros_ws/src 
  pushd ext/ros_ws/src 
  git clone https://github.com/ros/geometry -b $ROS_DISTRO-devel 
  git clone https://github.com/ros/geometry2 -b $ROS_DISTRO-devel
  cd ..
  source /opt/ros/$ROS_DISTRO/setup.bash
  catkin config --cmake-args -DPYTHON_EXECUTABLE=$ANACONDA_PATH/envs/$ENV_NAME/bin/python3.9 -DPYTHON_INCLUDE_DIR=$ANACONDA_PATH/envs/$ENV_NAME/include/python3.9 -DPYTHON_LIBRARY=$ANACONDA_PATH/envs/$ENV_NAME/lib/libpython3.9.so
  catkin build # compile ros packages
  popd

• Install dVRK

  python -m pip install defusedxml numpy==1.23
  mkdir ./ext/dvrk_2_1/src
  pushd ./ext/dvrk_2_1/
  catkin init
  catkin config --cmake-args -DPYTHON_EXECUTABLE=$ANACONDA_PATH/envs/$ENV_NAME/bin/python3.9 -DPYTHON_INCLUDE_DIR=$ANACONDA_PATH/envs/$ENV_NAME/include/python3.9 -DPYTHON_LIBRARY=$ANACONDA_PATH/envs/$ENV_NAME/lib/libpython3.9.so
  cd src
  vcs import --input https://raw.githubusercontent.com/jhu-saw/vcs/main/ros1-dvrk-2.1.0.vcs --recursive
  catkin build --summary
  popd

• DualShock

  source ./init_dvrk.sh
  pushd ./ext/
  git clone https://github.com/naoki-mizuno/ds4drv --branch devel
  cd ./ds4drv
  python -m pip install -e .
  sudo cp udev/50-ds4drv.rules /etc/udev/rules.d/
  sudo udevadm control --reload-rules
  sudo udevadm trigger
  popd
  pushd ./ext/ros_ws/src
  git clone https://github.com/naoki-mizuno/ds4_driver.git -b noetic-devel # Do not need to modify for melodic user, use noetic branch to support python3
  catkin build
  popd

• Install package

  pip install timm==0.5.4 easydict opt-einsum
  conda install -c conda-forge  python-orocos-kdl -y
  python -m pip install -e . # install gym_ras

Run

Evaluate on dVRK

python ./run/dvrk_eval.py --reload-dir ./log/2024_10_02-19_18_51@ras-gasv2_surrol-dsa1@dreamerv2-gasv2-high_oracle-train_every1@seed0  --reload-envtag gasv2_dvrk dsa1 --online-eval --visualize --vis-tag obs rgb dsa mask --online-eps 20 --save-prefix xxx