File size: 5,164 Bytes
8359472 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 | #!/usr/bin/env bash
# One-time setup: run INSIDE the robolab-isaacsim5.sqsh container on a cluster node.
# Installs miniconda3 + simfoundry env + ur5dp env into $ROOT (Lustre, persistent).
#
# Submit:
# sbatch setup_envs_job.sh
set -uo pipefail
ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu
CONDA=$ROOT/miniconda3
SIMFOUNDRY=$ROOT/SimFoundry
B1K=$SIMFOUNDRY/deps/BEHAVIOR-1K
ENV_SRC=/lustre/fsw/portfolios/nvr/users/jtremblay/1027_sim_tasks_dl/1027_sim_tasks/env/yu_workstation_2026-10-27
LOG_DIR=$ROOT/1027_run/logs
mkdir -p $LOG_DIR
exec > >(tee -a $LOG_DIR/setup_envs.log) 2>&1
export PATH=$CONDA/bin:/usr/local/bin:/usr/bin:/bin
export HOME=/root
log() { echo "== $(date '+%F %T') $*"; }
# ── 1. Miniconda ─────────────────────────────────────────────────────────────
if [ ! -f $CONDA/bin/conda ]; then
log "Installing miniconda3 to $CONDA"
curl -fsSL "https://repo.anaconda.com/miniconda/Miniconda3-py311_24.11.1-0-Linux-x86_64.sh" -o /tmp/miniconda.sh
bash /tmp/miniconda.sh -b -p $CONDA
rm /tmp/miniconda.sh
fi
source $CONDA/etc/profile.d/conda.sh
log "conda $(conda --version)"
# ── 2. Clone SimFoundry + BEHAVIOR-1K ────────────────────────────────────────
if [ ! -d $SIMFOUNDRY/.git ]; then
log "Cloning SimFoundry @ 617faccd"
git clone https://github.com/NVlabs/SimFoundry.git $SIMFOUNDRY
cd $SIMFOUNDRY && git checkout 617faccd36b07017def30db84ea897c91c577eae
fi
if [ ! -d $B1K/.git ]; then
log "Cloning BEHAVIOR-1K @ d89aae4e"
git clone --recursive https://github.com/StanfordVL/BEHAVIOR-1K.git $B1K
cd $B1K && git checkout d89aae4e0e9a1de3cf8285cb9669c11d8c8bb864
fi
# ── 3. simfoundry env ─────────────────────────────────────────────────────────
if [ ! -d $CONDA/envs/simfoundry ]; then
log "Creating simfoundry env (Python 3.11.14)"
conda create -y -p $CONDA/envs/simfoundry python=3.11.14 -c conda-forge --override-channels
conda activate $CONDA/envs/simfoundry
export PIP_NO_CACHE_DIR=1
log "Running BEHAVIOR-1K setup.sh"
cd $B1K
./setup.sh --omnigibson --bddl --cuda-version 12.8 \
--accept-conda-tos --accept-nvidia-eula --accept-dataset-tos
log "Extra pip pins from workstation freeze"
PINS=$(grep -iE "^(scipy|imageio|opencv-python|opencv-python-headless|pyyaml|pandas|zarr|numcodecs|numpy)==" \
$ENV_SRC/simfoundry.pip_freeze.txt)
echo "$PINS"
pip install $PINS
log "Installing lerobot + extras"
conda install -y --freeze-installed ffmpeg=7.1.1 -c conda-forge --override-channels
pip install --no-deps \
"lerobot@git+https://github.com/huggingface/lerobot.git@577cd10974b84bea1f06b6472eb9e5e74e07f77a"
pip install "datasets>=2.19.0,<3" jsonlines "av>=14.2.0" cmake \
"deepdiff>=7.0.1,<9" draccus==0.10.0 pynput pyserial \
"rerun-sdk>=0.21.0,<0.23.0" zmq
pip install "numpy==1.26.4" "coverage==7.6.1" "typing_extensions>=4.15.0" "psutil==5.9.8"
conda env config vars set -p $CONDA/envs/simfoundry \
OMNI_KIT_ACCEPT_EULA=YES MUJOCO_GL=egl PYOPENGL_PLATFORM=egl \
OMNIGIBSON_DATA_PATH=$B1K/datasets
log "Verifying simfoundry"
python -c "import torch,omnigibson,isaacsim; \
print('torch', torch.__version__, torch.cuda.is_available()); \
print('omnigibson import ok')"
conda deactivate
else
log "simfoundry env already exists, skipping"
fi
# ── 4. ur5dp env ──────────────────────────────────────────────────────────────
if [ ! -d $CONDA/envs/ur5dp ]; then
log "Creating ur5dp env"
# try conda_explicit first, fall back to plain python env
conda create -y -p $CONDA/envs/ur5dp python=3.10.13 -c conda-forge --override-channels
conda activate $CONDA/envs/ur5dp
P=$CONDA/envs/ur5dp/bin/python
log "pip install ur5dp deps"
grep -vE "file://|^-e |^pytorch3d" $ENV_SRC/ur5dp.pip_freeze.txt > /tmp/ur5dp.pip.txt
$P -m pip install --no-cache-dir --no-deps -r /tmp/ur5dp.pip.txt \
--extra-index-url https://download.pytorch.org/whl/cu128
log "pytorch3d (CPU-only build)"
PT3D=$(grep "^pytorch3d" $ENV_SRC/ur5dp.pip_freeze.txt || echo "pytorch3d")
CUDA_VISIBLE_DEVICES="" FORCE_CUDA=0 $P -m pip install --no-cache-dir --no-deps \
--no-build-isolation "$PT3D" || log "pytorch3d install failed (non-fatal)"
conda env config vars set -p $CONDA/envs/ur5dp MUJOCO_GL=egl PYOPENGL_PLATFORM=egl
log "Verifying ur5dp"
$P -c "import torch,diffusers,robomimic,hydra,zarr; \
print('torch', torch.__version__, torch.cuda.is_available(), \
torch.cuda.get_device_name(0) if torch.cuda.is_available() else '')"
conda deactivate
else
log "ur5dp env already exists, skipping"
fi
log "ALL DONE"
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