01仿真配置文档

论文地址

https://drive.google.com/file/d/1637XPqWMajfC_ZqKfCGxDxzRMrsJQA1g/view

项目网站DISCOVERSE

Installation 安装

git clone https://github.com/TATP-233/DISCOVERSE.git --recursive
cd DISCOVERSE
pip install -r requirements.txt
pip install -e .
​

Download Resource Files 下载资源文件

Download the meshes and textures folders from Baidu Netdisk or Tsinghua Netdisk and place them under the models directory. After downloading the model files, the models directory will contain the following contents.
从百度网盘或清华网盘下载meshes和textures文件夹，放在models目录下。下载模型文件后，模型目录将包含以下内容。

models
├── meshes
├── mjcf
├── textures
└── urdf
​

Photorealistic Rendering

真实感渲染

Preparation 制备

The physical engine of DISCOVERSE is mujoco. If the user does not need the high-fidelity rendering function based on 3DGS, this section can be skipped. If photorealistic rendering is required, please follow the instructions in this subsection.
DISCOVERSE的物理引擎是mujoco。如果用户不需要基于3DGS的高保真渲染功能，可以跳过本节。如果需要真实感渲染，请遵循本小节中的说明。

1. Install CUDA. Please install the corresponding version of CUDA according to your graphics card model from the download link.
   安装CUDA。请根据您的显卡型号从下载链接安装相应版本的CUDA。

2. pip install -r requirements_gs.txt

3. Install diff-gaussian-rasterization
   安装diff-gaussian-rasterization

   cd submodules/diff-gaussian-rasterization/
   git checkout 8829d14
   ​

   Modify line 154 of submodules/diff-gaussian-rasterization/cuda_rasterizer/auxiliary.h, change (p_view.z <= 0.2f) to (p_view.z <= 0.01f).
   修改 submodules/diff-gaussian-rasterization/cuda_rasterizer/auxiliary.h 的第154行，将（p_view.z <= 0.2f）更改为（p_view.z <= 0.01f）。

   cd ../..
   pip install submodules/diff-gaussian-rasterization
   ​

4. Prepare 3DGS model files. The high-fidelity visual effect of DISCOVERSE depends on 3DGS technology and corresponding model files. The pre-reconstructed robot, object, and scene models are placed on Baidu Netdisk link and Tsinghua Netdisk link. After downloading the model files, the models directory will contain the following contents. (Note: Not all models are necessary. Users can download according to their own needs. It is recommended to download all ply models except those in the scene directory, and for the models in the scene folder, only download the ones that will be used.)
   准备3DGS模型文件。DISCOVERSE的高保真视觉效果依赖于3DGS技术和相应的模型文件。将重构后的机器人、物体和场景模型分别放置在百度网盘和清华网盘上。下载模型文件后，模型目录将包含以下内容。(Note：并非所有的模型都是必需的。用户可以根据自己的需要进行下载。建议下载除场景目录中的模型外的所有层模型，对于场景文件夹中的模型，仅下载将使用的模型。）

models
├── 3dgs
│   ├── airbot_play
│   ├── mmk2
│   ├── tok2
│   ├── skyrover
│   ├── hinge
│   ├── object
│   └── scene
├── meshes
├── mjcf
├── textures
└── urdf
​

配置cuda

在网站CUDA Toolkit 12.8 Update 1 Downloads | NVIDIA Developer

wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-ubuntu2204.pin
sudo mv cuda-ubuntu2204.pin /etc/apt/preferences.d/cuda-repository-pin-600
wget https://developer.download.nvidia.com/compute/cuda/12.8.1/local_installers/cuda-repo-ubuntu2204-12-8-local_12.8.1-570.124.06-1_amd64.deb
sudo dpkg -i cuda-repo-ubuntu2204-12-8-local_12.8.1-570.124.06-1_amd64.deb
sudo cp /var/cuda-repo-ubuntu2204-12-8-local/cuda-*-keyring.gpg /usr/share/keyrings/
sudo apt-get update
sudo apt-get -y install cuda-toolkit-12-8
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https://superspl.at/editor

SuperSplat

在线观看仿真建模

查看渲染效果

pip install mujoco==2.3.7
sudo apt-get install libosmesa6-dev freeglut3-dev
sudo apt install libglew-dev
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放咖啡杯的也很不错

室内3D高斯重建 非常厉害