| #!/usr/bin/env bash |
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| set -uo pipefail |
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| ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu |
| CONDA=$ROOT/miniconda3 |
| RUN=$ROOT/1027_run |
| LOG=$RUN/logs/setup_fix5.log |
| exec > >(tee -a $LOG) 2>&1 |
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| export PATH=$CONDA/bin:/usr/local/bin:/usr/bin:/bin |
| export HOME=/root |
| source $CONDA/etc/profile.d/conda.sh |
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| log() { echo "== $(date '+%F %T') $*"; } |
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| SP=$CONDA/envs/simfoundry/bin/python |
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| log "Setting up /home/yu symlink" |
| mkdir -p /home |
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| ln -sfn $ROOT /home/yu 2>/dev/null || true |
| if [ -L /home/yu ]; then |
| log "Created /home/yu -> $ROOT" |
| else |
| log "/home/yu already exists or failed" |
| fi |
| |
| mkdir -p $ROOT/ur5_sim2real_v5 |
| ln -sfn $ROOT/1027_sim_tasks/share_v5_sim2real_20260929 $ROOT/ur5_sim2real_v5/share_v5_sim2real_20260929 2>/dev/null || true |
| ln -sfn $ROOT/1027_sim_tasks/ringpeg $ROOT/ur5_sim2real_v5/ringpeg 2>/dev/null || true |
| ln -sfn $ROOT/1027_sim_tasks/toaster_lever $ROOT/ur5_sim2real_v5/toaster_lever 2>/dev/null || true |
| ln -sfn $ROOT/1027_sim_tasks/yu_parts_tasks $ROOT/ur5_sim2real_v5/yu_parts_tasks 2>/dev/null || true |
| ln -sfn $ROOT/1027_sim_tasks/assets/yuasset_v1_docs_only $ROOT/ur5_sim2real_v5/yuasset 2>/dev/null || true |
| ln -sfn $ROOT/SimFoundry $ROOT/ur5_sim2real_v5/SimFoundry 2>/dev/null || true |
| ln -sfn $CONDA $ROOT/miniconda3 2>/dev/null || true |
| log "ur5_sim2real_v5 contents: $(ls $ROOT/ur5_sim2real_v5/)" |
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| log "Installing git-lfs via conda" |
| conda install -y -p $CONDA/envs/simfoundry git-lfs -c conda-forge --override-channels 2>&1 | tail -5 |
| conda run -p $CONDA/envs/simfoundry git lfs install --skip-repo |
| conda run -p $CONDA/envs/simfoundry git lfs version |
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| log "Installing lerobot" |
| $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" |
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| log "Verify lerobot" |
| $SP -c "import lerobot; print('lerobot ok')" |
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| log "Verify omnigibson" |
| OMNI_KIT_ACCEPT_EULA=YES $SP -c "import omnigibson; print('omnigibson ok')" 2>&1 | tail -3 |
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| log "Video smoke test: package_d5, seed 1, with video" |
| TASKS=$ROOT/1027_sim_tasks |
| V5CODE=$TASKS/share_v5_sim2real_20260929/code |
| PKG=$TASKS/package_d5 |
| B1K=$ROOT/SimFoundry/deps/BEHAVIOR-1K |
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| OG_DATA=$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" "$OG_DATA" |
| fi |
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| SMOKE_OUT=$RUN/data/smoke_package_d5 |
| rm -rf $SMOKE_OUT; mkdir -p $SMOKE_OUT |
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| export OMNIGIBSON_DATA_PATH=$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 |
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| log "Starting collection" |
| 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 $RUN/logs/smoke_package_d5.log |
| COLL_RC=$? |
| log "Collect exit $COLL_RC" |
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| VID=$(find $SMOKE_OUT -name "*.mp4" 2>/dev/null | head -1) |
| if [ -n "${VID:-}" ] && [ -f "$VID" ]; then |
| SZ=$(stat -c%s "$VID") |
| log "VIDEO: $VID size=${SZ}B" |
| if [ "$SZ" -gt 10000 ]; then |
| log "VIDEO OK" |
| else |
| log "WARNING: video too small (${SZ}B)" |
| fi |
| else |
| log "ERROR: no video found" |
| ls -la $SMOKE_OUT/ 2>/dev/null || true |
| grep -E "Error|error|Traceback|Exception" $RUN/logs/smoke_package_d5.log | tail -10 || true |
| fi |
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| log "ALL DONE" |
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