manual-install.md

Install the Real-to-Sim environment mannally

We suppose the Re3Sim folder is in <project root>.

1. Install isaac-sim:4.0.0 following offical instructions in <project root>/isaac-sim

2. Install isaac-lab:v1.1.0 following offical instructions in <project root>/IsaacLab

3. Install OpenMVS in <project root>/OpenMVS following offical instructions in <project root>/OpenMVS. (If you want to use OpenMVS to get the geometry of the scene, you need to install it.)

4. In <project root> run the following command:

   mkdir dev
   cd dev
   ln -s ../Re3Sim/re3sim real2sim2real
   cp ../Re3Sim/re3sim/setup.py .
   pip install -e .

5. Install cuda-11.8.

6. Install other dependencies:

   # in <project root>/isaac-sim/
   ln -s ../Re3Sim/re3sim src
   pip install src/gaussian_splatting/submodules/diff-gaussian-rasterization/
   pip install src/gaussian_splatting/submodules/simple-knn/
   pip install -r src/requirements.txt

Note: Then you should modify the data_log_root_path in the config file to the path of the data you want to use. You can also change the headless to False in the config file if you want to visualize the simulation.