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Installation guide

This is to provide a complete installation guide on GPT-Fabric-Smoothing if you haven't installed SoftGym

Install Softgym

1

After clone this repo, create the gptfab-smoothing environment by running conda env create -f environment.yml

2

Make sure you have replaced PATH_TO_GPT_FABRIC and PATH_TO_CONDA with the corresponding paths (make sure to use absolute path!). If you are running on Ubuntu 22.04 same as I do, you can use the following command to recompile Softgym via running:

docker run \
    -v PATH_TO_GPT_FABRIC:/workspace/GPT-Fabric-Smoothing \
    -v PATH_TO_CONDA:PATH_TO_CONDA \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -e DISPLAY=$DISPLAY \
    -e QT_X11_NO_MITSHM=1 \
    -it xingyu/softgym:latest bash

for other Ubuntu versions, use the following command line:


nvidia-docker run \
    -v PATH_TO_GPT_FABRIC:/workspace/GPT-Fabric-Smoothing \
    -v PATH_TO_CONDA:PATH_TO_CONDA \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    --gpus all \
    -e DISPLAY=$DISPLAY \
    -e QT_X11_NO_MITSHM=1 \
    -it xingyu/softgym:latest bash

3

Then you should be entering the Docker and inside Docker:

root@9ac1efa91ca9:/workspace# cd GPT-Fabric-Smoothing /
root@9ac1efa91ca9:/workspace/GPT-Fabric-Smoothing# export PATH="PATH_TO_CONDA/bin:$PATH"
root@9ac1efa91ca9:/workspace/GPT-Fabric-Smoothing# . ./prepare_1.0.sh 
(gptfab-smoothing) root@9ac1efa91ca9:/workspace/GPT-Fabric-Smoothing# . ./compile_1.0.sh

You are all set when seeing at the end.

[100%] Linking CXX shared module pyflex.cpython-38-x86_64-linux-gnu.so
[100%] Built target pyflex

Then you can quit the docker by typing exit

4

To run from the "normal" command lines, one can input such lines:

conda activate gptfab-smoothing
export PYFLEXROOT=${PWD}/PyFlex
export PYTHONPATH=${PYFLEXROOT}/bindings/build:$PYTHONPATH
export LD_LIBRARY_PATH=${PYFLEXROOT}/external/SDL2-2.0.4/lib/x64:$LD_LIBRARY_PATH

A good alternative to this is to put them in a .sh file, my version is prepare_gpt.sh in the GPT-FABRIC folder. I execute by running . ./prepare_gpt.sh (it's also in the repo). The expected command lines should look like this:

(base) enyuzhao@blackcoffee:~/code/GPT-Fabric-Smoothing$ . ./prepare_gpt.sh
(gptfab-smoothing) enyuzhao@blackcoffee:~/code/GPT-Fabric-Smoothing$

5

Then you can verify the installation by executing python RGBD_manipulation

Installation guide for users who have installed "SoftGym"

1: Install GPT-Fabric smoothing repo.

2: Make changes to the SoftGym original folder

  1. Copy paste essential files into SoftGym folder:

    • cloth_flatten_states_40_test
    • cloth_flatten_states_40_test_22
    • demo
    • system_prompts
    • tests
    • cached_config_test_RGB.py
    • GPT-API-Key.txt
    • manipulation.py
    • prepare_gpt.sh (Change the conda environment in the first line conda activate gptfab-smoothing to your conda environment for running SoftGym)
    • RGBD_manipulation.py

  2. Replace several files inside the orginal SoftGym folder:

    • GPT_Fabric FOLDER/softgym/registered_env.py -> Softgym FOLDER/softgym/registered_env.py
    • GPT_Fabric FOLDER/softgym/envs/cloth_env.py -> Softgym FOLDER/softgym/env/close_env.py
    • GPT_Fabric FOLDER/softgym/envs/cloth_flatten.py -> Softgym FOLDER/softgym/env/close_flatten.py
    • GPT_Fabric FOLDER/softgym/utils/camera_utils.py -> Softgym FOLDER/softgym/utils/camera_utils.py

  3. Install OpenAI: pip install OpenAI

  4. Setting the working directory to the original SoftGym folder, run . ./prepare_gpt.sh, then verify the installation by executing python RGBD_manipulation.