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Installation

Setup conda environment

```python
conda create -n nexus python=3.9
conda activate nexus

git clone https://github.com/OpenDriveLab/Nexus.git && cd Nexus
pip install -r requirements.txt
```

Install ALF

To simplify installation, we directly provide a stable version of ALF here. Follow these steps to install ALF:

  1. Navigate to the third_party/alf directory:

    cd Nexus/third_party/alf

  2. Install ALF:

    pip install -e .

Install Nuplan Devkit

  1. Navigate to the third_party directory:

    cd Nexus/third_party

  2. Clone the Nuplan Devkit repository:

    git clone --branch feat-v1.3_gump https://github.com/HorizonRobotics/nuplan-devkit.git

  3. Install the Nuplan Devkit:

    cd nuplan-devkit
pip install -e .

  4. Set the NUPLAN_DEVKIT_PATH environment variable:

    export NUPLAN_DEVKIT_PATH=$YOUR_PATH_TO_Nexus/Nexus/third_party/nuplan-devkit

Install MTR

  1. Navigate to the third_party directory:

    cd Nexus/third_party

  2. Clone the MTR repository:

    git clone https://github.com/sshaoshuai/MTR.git

  3. Install the MTR:

    cd MTR
pip install -e .