| #!/usr/bin/env bash |
| |
| |
| 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') $*"; } |
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|
| |
| log "Fixing ur5dp env" |
| P=$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" |
| |
| $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" |
| $P -c "import torch, diffusers, robomimic, hydra, zarr; \ |
| print('torch', torch.__version__, torch.cuda.is_available(), \ |
| torch.cuda.get_device_name(0) if torch.cuda.is_available() else 'no-gpu')" |
|
|
| |
| log "Fixing simfoundry lerobot" |
| SP=$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" |
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|
