installation.md

Robo-GS Installation Guidance

Official Release - Updated for gsplat 1.0 and the newest mesh reconstruction method: 2DGS + Normal Constraint

Installation

1. Install Python dependencies:

   pip install -r requirements.txt

   This installs all real2sim necessary packages except for StableNormal and COLMAP

2. Install FFmpeg:

   # Ubuntu/Debian
   sudo apt install ffmpeg
   
   # macOS
   brew install ffmpeg
   
   # Windows
   # Download from https://ffmpeg.org/download.html

📦 Reconstructed Assets

Sample Results

We provide a pre-reconstructed object to help you understand the real2sim video capture process:

🔗 Download Sample Reconstructed Object

Asset Structure

The final cleaned result is located at:

spray/spray/results/train/ours_7000/spray.ply

🎯 Workflow

1. Capture a 360° surrounded video of your target object
2. Process using Gaussian Splat and Mesh Extraction
3. Generate digital assets for simulation
4. Deploy with policy training and sim2real applications

📋 TODO

• Fix configuration and dataloader structure
• Improve gripper functionality
• Enhance object integration with MuJoCo backend