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code/1027_run/setup_fix.sh

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+#!/usr/bin/env bash
+# Fix ur5dp env: install torch first, then rest of deps
+# Also fix simfoundry lerobot
+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') $*"; }
+
+# ── Fix ur5dp: install torch first, then everything else ──────────────────────
+log "Fixing ur5dp env"
+P=$CONDA/envs/ur5dp/bin/python
+
+log "Installing torch 2.8.0+cu128 first"
+$P -m pip install --no-cache-dir \
+    torch==2.8.0+cu128 torchvision torchaudio \
+    --extra-index-url https://download.pytorch.org/whl/cu128
+
+log "Installing remaining ur5dp deps"
+# Install key packages individually to avoid --no-deps conflicts
+$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')"
+
+# ── Fix simfoundry lerobot ─────────────────────────────────────────────────────
+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"