File size: 2,405 Bytes
4be1e94 | 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 | #!/usr/bin/env bash
# Fix3: complete ur5dp install + fix lerobot in simfoundry
set -uo pipefail
ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu
CONDA=$ROOT/miniconda3
LOG=$ROOT/1027_run/logs/setup_fix3.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') $*"; }
SP=$CONDA/envs/simfoundry/bin/python
UP=$CONDA/envs/ur5dp/bin/python
# ── ur5dp: install all remaining deps ─────────────────────────────────────────
log "Installing ur5dp remaining packages"
$UP -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
log "Installing robomimic"
$UP -m pip install --no-cache-dir \
"robomimic @ git+https://github.com/BoceHu/robomimic.git@6737667" \
|| $UP -m pip install --no-cache-dir "robomimic==0.3.0"
log "Verifying ur5dp"
$UP -c "
import torch, diffusers, zarr, einops
print('torch', torch.__version__, torch.cuda.is_available(),
torch.cuda.get_device_name(0) if torch.cuda.is_available() else 'no-gpu')
print('diffusers', diffusers.__version__)
print('zarr', zarr.__version__)
print('einops', einops.__version__)
try:
import robomimic; print('robomimic', robomimic.__version__)
except: print('robomimic missing')
try:
import hydra; print('hydra ok')
except: print('hydra missing')
"
# ── simfoundry: fix lerobot ────────────────────────────────────────────────────
log "Installing lerobot into simfoundry (with deps this time)"
$SP -m pip install --no-cache-dir \
"lerobot @ git+https://github.com/huggingface/lerobot.git@577cd10974b84bea1f06b6472eb9e5e74e07f77a"
$SP -m pip install --no-cache-dir "numpy==1.26.4" "psutil==5.9.8"
log "Verifying simfoundry"
$SP -c "
import torch, lerobot
print('torch', torch.__version__, torch.cuda.is_available())
print('lerobot', lerobot.__version__ if hasattr(lerobot,'__version__') else 'ok')
"
$SP -c "
import omnigibson
print('omnigibson ok')
" 2>&1 | tail -3
log "ALL DONE"
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