| #!/usr/bin/env bash |
| |
| set -uo pipefail |
|
|
| ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu |
| CONDA=$ROOT/miniconda3 |
| LOG=$ROOT/1027_run/logs/setup_fix4.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 |
|
|
| |
| log "Installing git-lfs" |
| apt-get install -y git-lfs 2>&1 | tail -3 |
| git lfs install --skip-repo 2>&1 || true |
| git lfs version |
|
|
| |
| log "Installing lerobot into simfoundry" |
| $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 "Verify lerobot in simfoundry" |
| $SP -c "import lerobot; print('lerobot', lerobot.__version__ if hasattr(lerobot,'__version__') else 'ok')" |
|
|
| log "Verify omnigibson (no EULA prompt, headless)" |
| OMNI_KIT_ACCEPT_EULA=YES $SP -c " |
| import omnigibson |
| print('omnigibson ok') |
| " 2>&1 | tail -4 |
|
|
| |
| |
| log "Running quick video smoke test (package_d5, 1 seed, with video)" |
| TASKS=$ROOT/1027_sim_tasks |
| V5CODE=$TASKS/share_v5_sim2real_20260929/code |
| PKG=$TASKS/package_d5 |
| B1K=$ROOT/SimFoundry/deps/BEHAVIOR-1K |
| HOME_FAKE=$ROOT/1027_run/home_fake |
| RUN=$ROOT/1027_run |
|
|
| mkdir -p $HOME_FAKE/ur5_sim2real_v5 |
| ln -sfn $CONDA $HOME_FAKE/miniconda3 2>/dev/null || true |
| ln -sfn $TASKS/share_v5_sim2real_20260929 $HOME_FAKE/ur5_sim2real_v5/share_v5_sim2real_20260929 2>/dev/null || true |
| export HOME=$HOME_FAKE |
|
|
| |
| OG_DATA=$RUN/og_data/package_d5 |
| if [ ! -d $OG_DATA ]; then |
| log "Setting up package_d5 OG data" |
| bash $PKG/setup_og_data.sh "$B1K/datasets" "$OG_DATA" |
| fi |
|
|
| SMOKE_OUT=$RUN/data/smoke_package_d5 |
| mkdir -p $SMOKE_OUT |
| export OMNIGIBSON_DATA_PATH=$OG_DATA STEP40_OG_DATA=$OG_DATA |
| export UR5_IMPORT=$V5CODE/ur5_import |
| export OBJECT_ASSETS=$PKG/object_assets |
| export STEP40_DATA=$PKG/data |
| export OMNIGIBSON_APPDATA_PATH=$PKG/og_appdata |
| export OMNIGIBSON_HEADLESS=1 OMNI_KIT_ACCEPT_EULA=YES PYTHONUNBUFFERED=1 |
| export TORCHINDUCTOR_COMPILE_THREADS=1 |
|
|
| log "Collecting 1 demo with video" |
| timeout 600 $SP -u $PKG/scripts/t40_collect.py \ |
| --out $SMOKE_OUT \ |
| --seeds 1-5 \ |
| --max-kept 1 \ |
| --expert-cfg $PKG/cfg/expert_lean.json \ |
| 2>&1 | tee $RUN/logs/smoke_package_d5.log |
| log "Smoke collect exit $?" |
|
|
| |
| VID=$(find $SMOKE_OUT/videos -name "*.mp4" 2>/dev/null | head -1) |
| if [ -n "$VID" ]; then |
| log "Video found: $VID" |
| |
| SIZE=$(stat -c%s "$VID" 2>/dev/null || echo 0) |
| log "Video size: $SIZE bytes" |
| if [ "$SIZE" -gt 10000 ]; then |
| log "VIDEO OK: $VID ($SIZE bytes)" |
| else |
| log "WARNING: video too small ($SIZE bytes)" |
| fi |
| |
| ffprobe -v quiet -print_format json -show_streams "$VID" 2>/dev/null | \ |
| python3 -c "import json,sys; s=json.load(sys.stdin)['streams'][0]; \ |
| print(f' codec={s[\"codec_name\"]} {s[\"width\"]}x{s[\"height\"]} {s[\"nb_frames\"]} frames')" 2>/dev/null || true |
| else |
| log "WARNING: no video found in $SMOKE_OUT/videos" |
| ls $SMOKE_OUT/ 2>/dev/null |
| fi |
|
|
| log "ALL DONE" |
|
|
