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iPlanner and Imperative Training Installation Guide

This guide provides step-by-step instructions on how to setup your environment and install all necessary packages required for iPlanner and Imperative Training.

Manual Installation Steps

If you're opting for a manual installation, follow these steps:

  1. Create a new conda environment named 'iplanner' with Python 3.8 using the command:

    conda create -n iplanner python=3.8

  2. Activate the 'iplanner' conda environment with the following command:

    conda activate iplanner

  3. Install PyTorch and Torchvision using the command:

    conda install pytorch torchvision pytorch-cuda=11.8 -c pytorch -c nvidia

  4. Install numpy version 1.23.5 using conda:

    conda install -c anaconda numpy==1.23.5 nbconvert

  5. Install rospkg, wandb, and PyYAML from the conda-forge channel using the command:

    conda install -c conda-forge rospkg wandb pyyaml==6.0

  6. Install additional necessary packages using pip3:

    pip3 install pypose open3d opencv-python rosnumpy empy

Installation Using a YAML File

As an alternative to the manual installation, you can set up your environment and install all necessary packages at once using the iplanner_env.yaml file:

  1. Create and activate the environment from the iplanner_env.yml file using the command: 
    conda env create -f iplanner_env.yml

If you encounter any issues during the installation process, please open an issue on the project's GitHub page.