RAMMP

Requirements

• OS: Ubuntu 22.04
• Python: 3.10+
• ROS 2: Humble

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Installation

1. Create and activate Conda environment

conda create -n compute python=3.10
conda activate compute

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2. Install PyTorch (CUDA 12.1)

conda install pytorch==2.1.0 torchvision==0.16.0 torchaudio==2.1.0 \
    pytorch-cuda=12.1 numpy=1.26.4 numpy-base=1.26.4 \
    -c pytorch -c nvidia -c defaults

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3. Install PyTorch3D

pip install pytorch3d \
    -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py310_cu121_pyt210/download.html

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4. Create ROS 2 workspace and clone repository

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/empriselab/RAMMP
cd RAMMP

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5. Install additional Python dependencies

pip install --no-build-isolation chumpy

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6. Install RAMMP

pip install -e ".[full]"

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7. Install Pinocchio

conda install -c conda-forge "pinocchio=3.1.*"

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8. Configure environment variables

Add the following to your ~/.bashrc:

export LD_LIBRARY_PATH=/lib/x86_64-linux-gnu:/usr/lib/x86_64-linux-gnu:/lib:/usr/local/cuda-12.1/lib64:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu
export LD_PRELOAD="/lib/x86_64-linux-gnu/libffi.so.7 /lib/x86_64-linux-gnu/libtiff.so.5"

Then reload:

source ~/.bashrc

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9. Build ROS 2 workspace

cd ~/ros2_ws
colcon build
source install/setup.bash

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Running

ros2 launch drink_actions_test real.launch.py

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