Installation

Install uv.

curl -LsSf https://astral.sh/uv/install.sh | sh

Create virtual environment

UV_HTTP_TIMEOUT=3000 GIT_LFS_SKIP_SMUDGE=1 uv sync --all-groups --index-strategy unsafe-best-match

Check if installation is done. You should see version number printed.

python -c "import simple; print(simple.__version__)"

Activate virtual env to start hacking!

source .venv/bin/activate

Install CuRobo

Currently, CuRobo is a must-have dependency, but we might remove it in the future.

Some modules use CuRobo for GPU-accelerated motion planning, forward-kinematics and inverse kinematics.

CuRobo requires git-lfs.

sudo apt install git-lfs

Then install CUDA. We tested versions 11.8 and 12.4. Similar versions should also work.

Now install CuRobo, run:

💡 Compiling cuda kernels for every compute capability can significantly increase the install time of CuRobo, it’s reccommended to set the environment variable TORCH_CUDA_ARCH_LIST to the correct computablity according to offical doc

export TORCH_CUDA_ARCH_LIST=12.0+PTX # for 5090 etc., 
# export TORCH_CUDA_ARCH_LIST=8.9+PTX # for 4090 etc., 

./scripts/install_curobo.sh

Test CuRobo installation:

If you happen to have a display then you can run the official arm reacher example with GUI. Please refer to the official cuRobo doc to learn more about operating the examples.

Hint: It may take a while the first time you launch Isaac Sim.

python examples/multi_arm_reacher.py

Test SIMPLE installation

python scripts/list_env.py

[Optional] Download Resource Files

Many scripts in this project requires downloading extra data and files. Most of them will be downloaded automatically when running the script. However, if you want to pre-download ALL neccessary the resources and data, run the following command:

scripts/pre-minimal-download.sh

Optionally, append --cleanup to delete the zip files once extracted.

Whenever a download is interrupted, simply re-run the script to resume from where it left off.

The structure of the data folder should be like this:

data
├── assets
│   ├── graspnet
│   └── ...
├── robots
│   ├── [robot_1]
│   ├── [robot_2]
│   └── ...
├── scenes
└── vMaterials
└── ...