Environment setup fixes

[swtyree]

The current conda environment is a bit brittle and did not work for my system (Ubuntu 22.04, CUDA 11.8, RTX 3090). So I've suggested three changes in this pull request:

• Installing the most recent torch and torchvision via pip
• Installing the latest pybullet instead of building ./deps/bullet3
• Adding urdfdom=1.0.4 to support pinocchio

I have tested this setup using cosypose.scripts.run_cosypose_eval and cosypose.scripts.run_bop_eval, but it's certainly possible that other scripts may fail. If you have other tests that you would like me to perform to validate this PR, please let me know!

[ylabbe]

Thank you!

• Which datasets did you test the more recent pybullet version with ? Also, did you have access to a display in your experiment ? I remember that upstream had bugs for rendering certain textures with EGL. This is pretty criticial for rendering and performance so I would first ensure that the bugs I fixed in the deps/bullet3 are properly fixed in upstream. On the long term I think the real solution is to use another renderer like Panda3D in megapose.
• Can we relax the constraint on pinocchio to use the latest version from conda? It should install the urdfdom dependency.

[swtyree]

Hi Yann,

Here are the two datasets that I tested:

• TLESS via cosypose.scripts.run_cosypose_eval; verified that there are no crashes and the scores seem reasonable, but didn't scrutinize the accuracy
• HOPE (as described in Add HOPE dataset #13) via the BOP scripts; verified the accuracy by submitting the test predictions on the BOP evaluation server; metrics were actually slightly better than my previous CosyPose submission 🤷‍♂️

Is there a dataset that you know failed with prior versions of PyBullet? I can try to test a known failure case. As noted in a reply to #2 (#2 (comment)), I wasn't able to build the fork in deps/bullet3, which motivated trying the latest version.

I will try to install the latest pinocchio and report back about the urdfdom dependency...

[KushnirDmytro]

Thank you for your contribution, @swtyree!
These environment setup fixes are very useful indeed.
The previous setup update was working fine only on Ubuntu 20.04, while yours indeed fixes the setup for Ubuntu 22.04.
So I have tested it and the setup is functional. Not only evaluation scripts, but data visualization notebooks are working well as well (which is even more painful in package setup).

[ylabbe]

The modifications that differ between my fork of bullet and upstream were:

• EGL device selection for handling the case with multiple gpus. This has been fixed in upstream EGL device selection by environment variable bulletphysics/bullet3#4024
• Improper rendering when a link in the urdf has multiple visual textures. This is not actually not a problem for BOP objects. It affects the renderer for some robots I used in another project but this does not affect cosypose.
• An bug in the b3ComputeViewMatrixFromYawPitchRoll function that I had fixed here in my fork. It looks correct in upstream.

I am quite confident we can merge your PR now. Thanks again @swtyree !