| #!/usr/bin/env bash |
| |
| set -uo pipefail |
|
|
| ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu |
| CONDA=$ROOT/miniconda3 |
| RUN=$ROOT/1027_run |
| LOG=$RUN/logs/setup_fix7.log |
| exec > >(tee -a $LOG) 2>&1 |
|
|
| export PATH=$CONDA/envs/simfoundry/bin:$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 |
|
|
| |
| mkdir -p /home && ln -sfn $ROOT /home/yu 2>/dev/null || true |
| mkdir -p $ROOT/ur5_sim2real_v5 |
| for x in share_v5_sim2real_20260929 ringpeg yu_parts_tasks toaster_lever; do |
| ln -sfn $ROOT/1027_sim_tasks/$x $ROOT/ur5_sim2real_v5/$x 2>/dev/null || true |
| done |
| ln -sfn $ROOT/1027_sim_tasks $ROOT/ur5_sim2real_v5/bread_lean 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 "Installing lerobot from $ROOT/lerobot_src" |
| $SP -m pip install --no-cache-dir --no-build-isolation "$ROOT/lerobot_src" |
| $SP -m pip install --no-cache-dir "numpy==1.26.4" "psutil==5.9.8" |
|
|
| log "Verify lerobot + omnigibson" |
| $SP -c "import lerobot; print('lerobot', lerobot.__version__ if hasattr(lerobot,'__version__') else 'ok')" |
| OMNI_KIT_ACCEPT_EULA=YES $SP -c "import omnigibson; print('omnigibson ok')" 2>&1 | tail -3 |
|
|
| |
| log "Video smoke test: package_d5 seed 1" |
| TASKS=$ROOT/1027_sim_tasks |
| V5CODE=$TASKS/share_v5_sim2real_20260929/code |
| PKG=$TASKS/package_d5 |
| B1K=$ROOT/SimFoundry/deps/BEHAVIOR-1K |
|
|
| OG_DATA=$RUN/og_data/package_d5 |
| rm -rf $OG_DATA |
| bash $PKG/setup_og_data.sh "$B1K/datasets" "$OG_DATA" |
| |
| DS_FSW=/lustre/fsw/portfolios/nvr/users/jtremblay/yu/SimFoundry/deps/BEHAVIOR-1K/datasets |
| for x in behavior-1k-assets omnigibson-robot-assets omnigibson.key; do |
| rm -f $OG_DATA/$x && ln -sfn $DS_FSW/$x $OG_DATA/$x |
| done |
| for c in $DS_FSW/real2sim-assets/objects/*; do |
| nm=$(basename $c); tgt=$OG_DATA/real2sim-assets/objects/$nm |
| [ -L "$tgt" ] && rm -f "$tgt" && ln -sfn "$c" "$tgt" || true |
| done |
|
|
| SMOKE_OUT=$RUN/data/smoke_package_d5 |
| rm -rf $SMOKE_OUT; mkdir -p $SMOKE_OUT |
|
|
| export OMNIGIBSON_DATA_PATH=$OG_DATA STEP40_OG_DATA=$OG_DATA |
| export UR5_IMPORT=$V5CODE/ur5_import OBJECT_ASSETS=$PKG/object_assets |
| export STEP40_DATA=$PKG/data OMNIGIBSON_APPDATA_PATH=$PKG/og_appdata |
| export OMNIGIBSON_HEADLESS=1 OMNI_KIT_ACCEPT_EULA=YES PYTHONUNBUFFERED=1 |
| export OMNIGIBSON_RENDER_VIEWER_CAMERA=0 |
| export TORCH_COMPILE_DISABLE=1 |
| export TORCHDYNAMO_DISABLE=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 1-10 --max-kept 1 \ |
| --expert-cfg $PKG/cfg/expert_lean.json \ |
| 2>&1 | tee $RUN/logs/smoke_package_d5.log |
| log "Collect exit $?" |
|
|
| VID=$(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" |
| [ "$SZ" -gt 10000 ] && log "VIDEO OK" || log "WARNING: too small (${SZ}B)" |
| else |
| log "ERROR: no video found" |
| tail -20 $RUN/logs/smoke_package_d5.log |
| fi |
| log "ALL DONE" |
|
|
