Installation¶

We recommend mamba as a faster drop-in replacement for conda. After installing mamba (conda install mamba -n base -c conda-forge), simply substitute mamba for conda in all of the following instructions.

Simple¶

From Anaconda¶

Activate a conda environment with python=3.8:
```
conda activate polymetis
```
- If you don’t have one yet, create one with the proper Python version:
```
conda create -n polymetis python=3.8
```
Install polymetis using conda. This should pull the latest successful build from main branch.
```
conda install -c pytorch -c fair-robotics -c aihabitat -c conda-forge polymetis
```
Note: We build the conda package with the libfranka v0.9.0, which requires Franka Control Interface (FCI) version >=4.2.1. If you have a different version of FCI, consider building from source with the compatible version of libfranka (see below).

For advanced users & developers¶

From source¶

Clone repo:

git clone git@github.com:facebookresearch/fairo
cd fairo/polymetis

Create environment

conda env create -f ./polymetis/environment.yml
conda activate polymetis-local

Install Python package in editable mode:
```
pip install -e ./polymetis
```

Build from source:

Optionally, build libfranka for use on Franka Panda hardware:

# Build libfranka
./scripts/build_libfranka.sh

# OPTIONAL: Build custom version of libfranka instead
./scripts/build_libfranka.sh <version_tag_or_commit_hash>

Optionally, install the CUDA-enabled version of PyTorch (by default, only the CPU version is enabled).

Build Polymetis from source:

mkdir -p ./polymetis/build
cd ./polymetis/build

cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_FRANKA=[OFF/ON] -DBUILD_TESTS=[OFF/ON] -DBUILD_DOCS=[OFF/ON]
make -j

Start developing! Remember to rebuild if modifying C++ source code. When updating, you may need to do a conda env update --file ./polymetis/environment.yml --prune to update dependencies.

From a local conda package¶

We rebuild a new conda package during CI on every pushed commit, and store it as an artifact in CircleCI. If you’re trying to debug a particular commit, you may want to install the generated Conda package locally.

For the commit you’re interested in, select the “Details” of the conda-pkg-create-and-test test:
Click the “Artifacts” tab, and download the polymetis*.tar.bz2 file generated by CircleCI:

In a fresh conda environment, install the package:

Create a fresh conda environment:

conda create -n polymetis-test python=3.8
conda activate polymetis-test

Update the local channel:

cd polymetis/polymetis
PKG_PATH=/path/to/downloaded/polymetis*.tar.bz2 ./conda/build_conda_package.sh

Install polymetis from the local channel:

conda install -c file://$(eval pwd)/conda/channel \
    -c pytorch \
    -c fair-robotics \
    -c aihabitat \
    -c conda-forge \
    polymetis

Prerequisites Usage

Polymetis documentation