| #!/usr/bin/env bash |
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| |
| |
| set -uo pipefail |
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| 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 |
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|
| mkdir -p $LOG_DIR |
| exec > >(tee -a $LOG_DIR/setup_envs.log) 2>&1 |
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| export PATH=$CONDA/bin:/usr/local/bin:/usr/bin:/bin |
| export HOME=/root |
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| log() { echo "== $(date '+%F %T') $*"; } |
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| |
| 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)" |
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| |
| 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 |
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| |
| 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 |
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|
| 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" |
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| 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 |
|
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| 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 |
|
|
| |
| if [ ! -d $CONDA/envs/ur5dp ]; then |
| log "Creating ur5dp 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 |
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| log "pip install ur5dp deps" |
| grep -vE "file://|^-e |^pytorch3d" $ENV_SRC/ur5dp.pip_freeze.txt > /tmp/ur5dp.pip.txt |
| $P -m pip install --no-cache-dir --no-deps -r /tmp/ur5dp.pip.txt \ |
| --extra-index-url https://download.pytorch.org/whl/cu128 |
|
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| log "pytorch3d (CPU-only build)" |
| PT3D=$(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)" |
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| conda env config vars set -p $CONDA/envs/ur5dp MUJOCO_GL=egl PYOPENGL_PLATFORM=egl |
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| 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 |
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|
| log "ALL DONE" |
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|
