Install

Setup Python

1. Download and install Anaconda to manage python environment. If you are using Linux, you can download it by

wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh

Run Miniconda3-latest-Linux-x86_64.sh and install.

2. Create a python 3.12 virtual env

conda create -n madgs312 python=3.12

3. Activate this environment

conda activate madgs312

Clone Madrona and Genesis

mkdir gs_render
cd gs_render
git clone --recurse-submodules [email protected]:yuhongyi/madrona.git
git clone [email protected]:yuhongyi/Genesis.git

Install Madrona

1. Install the following libraries: sudo apt install libx11-dev libxrandr-dev libxinerama-dev libxcursor-dev libxi-dev mesa-common-dev

2. Install

cd  madrona
mkdir  build
cd  build
cmake ..
make -j
cd ..
pip install -e .
cd ..

Install Genesis

1. Install PyTorch first following the official instructions.

2. Install Genesis locally

cd Genesis
pip install -e ".[dev]"

Render

1. In gs_render/Genesis, run

python examples/rigid/single_franka_batch_render.py

Images will be generated in image_output

2. To use ray tracer, change the use_rasterizer=False in single_franka_batch_render.py

        renderer = gs.options.renderers.BatchRenderer(
            use_rasterizer=True,
            batch_render_res=(512, 512),
        )