File size: 2,668 Bytes
7fca91f | 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 | #!/usr/bin/env bash
# Fix ur5dp env: install torch first, then rest of deps
# Also fix simfoundry lerobot
set -uo pipefail
ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu
CONDA=$ROOT/miniconda3
ENV_SRC=/lustre/fsw/portfolios/nvr/users/jtremblay/1027_sim_tasks_dl/1027_sim_tasks/env/yu_workstation_2026-10-27
LOG=$ROOT/1027_run/logs/setup_fix.log
exec > >(tee -a $LOG) 2>&1
export PATH=$CONDA/bin:/usr/local/bin:/usr/bin:/bin
export HOME=/root
source $CONDA/etc/profile.d/conda.sh
log() { echo "== $(date '+%F %T') $*"; }
# ── Fix ur5dp: install torch first, then everything else ──────────────────────
log "Fixing ur5dp env"
P=$CONDA/envs/ur5dp/bin/python
log "Installing torch 2.8.0+cu128 first"
$P -m pip install --no-cache-dir \
torch==2.8.0+cu128 torchvision torchaudio \
--extra-index-url https://download.pytorch.org/whl/cu128
log "Installing remaining ur5dp deps"
# Install key packages individually to avoid --no-deps conflicts
$P -m pip install --no-cache-dir \
diffusers==0.35.2 \
hydra-core==1.2.0 \
omegaconf==2.2.3 \
dill==0.3.5.1 \
zarr==2.12.0 \
einops==0.4.1 \
numcodecs \
imagecodecs \
av \
numba \
pandas \
tqdm \
wandb \
scipy \
opencv-python-headless \
robomimic==0.3.0
log "Installing robomimic from git if version mismatch"
$P -c "import robomimic; print('robomimic', robomimic.__version__)" 2>/dev/null || \
$P -m pip install --no-cache-dir \
"robomimic @ git+https://github.com/BoceHu/robomimic.git@6737667"
log "Verifying ur5dp"
$P -c "import torch, diffusers, robomimic, hydra, zarr; \
print('torch', torch.__version__, torch.cuda.is_available(), \
torch.cuda.get_device_name(0) if torch.cuda.is_available() else 'no-gpu')"
# ── Fix simfoundry lerobot ─────────────────────────────────────────────────────
log "Fixing simfoundry lerobot"
SP=$CONDA/envs/simfoundry/bin/python
$SP -m pip install --no-deps \
"lerobot @ git+https://github.com/huggingface/lerobot.git@577cd10974b84bea1f06b6472eb9e5e74e07f77a"
$SP -m 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
$SP -m pip install "numpy==1.26.4" "coverage==7.6.1" "typing_extensions>=4.15.0" "psutil==5.9.8"
log "Verifying simfoundry"
$SP -c "import torch, omnigibson, isaacsim, lerobot; \
print('torch', torch.__version__, torch.cuda.is_available()); \
print('omnigibson + lerobot ok')"
log "ALL DONE"
|