.. _advanced:

Installation w/o Docker
=======================

.. note:: 
   
   We strongly recommended using the Docker setup for ALVR. But if you want to use hand tracking, please build ALVR from source. 

This is the tutorial for installing ALVR without Docker, setting up WiFi-based streaming and configuring a conda environment for teleoperation.

Build ALVR from Source
-----------------------

1. Install Steam from package manager:

   .. code-block:: bash

      sudo apt install steam

   Launch it once and wait for update to finish. **Do not log in**.

.. warning::

    Do not download Steam from Snap or Flatpak since SteamVR does not work in a sandboxed environment.

2. Go into ``alvr_green`` folder, and run ``./install.sh``. Openvr config is installed to ``$HOME/.config/openvr``. 

.. note::
    In the future, if SteamVR blocks the ALVR plugin, delete the ``$HOME/.config/openvr/config``.

3. Edit ``./alvr/xtask/deb/cuda.pc`` to point at your CUDA toolkit path and run:

   .. code-block:: bash

      export PKG_CONFIG_PATH=./alvr/xtask/deb

4. Install the `build dependencies <https://github.com/alvr-org/ALVR/wiki/Building-From-Source>`_ of ALVR. For Ubuntu 20.04/22.04/24.04, run:

   .. code-block:: bash         

      sudo apt install build-essential pkg-config libclang-dev libssl-dev libasound2-dev libjack-dev libgtk-3-dev libvulkan-dev libunwind-dev gcc g++ yasm nasm curl libx264-dev libx265-dev libxcb-render0-dev libxcb-shape0-dev libxcb-xfixes0-dev libspeechd-dev libxkbcommon-dev libdrm-dev libva-dev libvulkan-dev

.. note::
    This step is crucial as ALVR streamer is released without dependencies. ALVR will fail silently if some dependency library is missing. 

5. (Skip this step if Rust is already installed) Install Rust by following the `official guide <https://www.rust-lang.org/tools/install>`_:

   .. code-block:: bash 

      curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh 

   After installation, verify that Rust is installed correctly:

   .. code-block:: bash

      rustc --version
        
6. Build ALVR streamer from source::
    
        cargo xtask prepare-deps --platform linux
        cargo xtask build-streamer --release

7. Launch ALVR dashboard::

        ./build/alvr_streamer_linux/bin/alvr_dashboard

8. In the dashboard, install ALVR by following the on-screen instructions (the default installation is sufficient). 

   After installation, go to  ``Settings`` → ``Connection`` in the ALVR dashboard and switch the streaming protocol to ``TCP``. 
   
   In the ``Connections`` tab of the ALVR dashboard, click ``Add device manually`` and enter the IP address ``127.0.0.1``.

9. Follow the connection steps shown in the tutorial video: 

.. video:: assets/ALVR_dashboard_connection_tutorial.mp4
   :align: center
   :width: 600
   :caption: ALVR connection setup tutorial

   Upon successful connection, you should see Steam's test scene with an empty floor and hand-held controllers in the VR headset.

.. figure:: assets/default_scene.png
   :width: 600
   :align: center
   
   Test scene in VR headset

.. note::

        You may need to launch SteamVR twice from ALVR to make it work.

.. warning::

        If you have two more GPU (like in laptop case where you have 1 integrated graphics and 1 NVIDIA GPU), you need to disable the integrated graphics in BIOS to make sure the Nvidia GPU is used for rendering. For LENOVO laptop, you can do this by going to BIOS -> Configuration -> Graphics Device -> Discrete Graphics.

.. note::

    SteamVR requires a clean shutdown. If *ImVR* is killed with a signal or by calling `exit`, SteamVR will fail to initialize in the next run. This can be fixed by closing SteamVR and launch again.



Connect to ALVR via Wifi Connection
----------------------------------------------

.. Warning:: 

        This set up might effect the system performance. If you experience significant delays in VR teleoperation, consider using a USB connection instead.

Make sure the VR headset and the host machine are connected to **the same 5G** Wifi network. A 2.4G Wifi or low-quality 5G Wifi connection will result in failure to connect or significant delays in video streaming.

Close SteamVR and click “Launch SteamVR” in ALVR streamer. This should open SteamVR and display the connected headset. Click “Trust” in ALVR streamer. If successfully connected, ALVR streamer will display “streaming” in green text, and Latency under 100 in Statistics.

.. note:: 

        Tutorial video is WIP. 

Conda Environment Setup
----------------------------------------------

.. code-block:: bash

   conda create -n teleop python=3.10 # this is the recommended version
   conda activate teleop
   python3 -m pip install -e . 
   cd 3rd_part/ManiSkill && python3 -m pip install -e . # install local maniskill 
   python3 -m pip install https://github.com/haosulab/SAPIEN/releases/download/nightly/sapien-3.0.0.dev20250303+291f6a77-cp310-cp310-manylinux_2_28_x86_64.whl # install the latest sapien version