File size: 4,571 Bytes
6fa1956 f69c0bb a9e0685 f69c0bb 6fa1956 f69c0bb 6fa1956 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 | #!/usr/bin/env bash
set -euo pipefail
ROOT_DIR="${ROOT_DIR:-/workspace}"
PROJECT_DIR="${ROOT_DIR}/reveal_vla_bimanual"
MAMBA_BIN="$("${PROJECT_DIR}/scripts/install_micromamba.sh")"
MAMBA_ROOT_PREFIX="${ROOT_DIR}/.micromamba"
ENV_PREFIX="${ROOT_DIR}/envs/rlbench"
ENV_YAML="${PROJECT_DIR}/envs/rlbench310.yaml"
COPPELIA_DIR="$("${PROJECT_DIR}/scripts/download_coppeliasim.sh")"
RUNTIME_DIR="${ROOT_DIR}/runtime"
mkdir -p "${ROOT_DIR}/envs"
mkdir -p "${RUNTIME_DIR}"
chmod 700 "${RUNTIME_DIR}"
run_in_env() {
local driver_version=""
local driver_branch=""
local shim_ld=""
if command -v nvidia-smi >/dev/null 2>&1; then
driver_version="$(nvidia-smi --query-gpu=driver_version --format=csv,noheader | head -n1 || true)"
driver_branch="${driver_version%%.*}"
if [[ -n "${driver_branch}" && -d "${ROOT_DIR}/system_shims/nvidia${driver_branch}/usr/lib/x86_64-linux-gnu" ]]; then
shim_ld="${ROOT_DIR}/system_shims/nvidia${driver_branch}/usr/lib/x86_64-linux-gnu"
fi
fi
env \
COPPELIASIM_ROOT="${COPPELIA_DIR}" \
XDG_RUNTIME_DIR="${RUNTIME_DIR}" \
LD_LIBRARY_PATH="${COPPELIA_DIR}${shim_ld:+:${shim_ld}}${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}" \
QT_QPA_PLATFORM_PLUGIN_PATH="${COPPELIA_DIR}" \
"${MAMBA_BIN}" run -r "${MAMBA_ROOT_PREFIX}" -p "${ENV_PREFIX}" "$@"
}
if [[ -x "${ENV_PREFIX}/bin/python" ]]; then
"${MAMBA_BIN}" install -y -r "${MAMBA_ROOT_PREFIX}" -p "${ENV_PREFIX}" -f "${ENV_YAML}"
else
"${MAMBA_BIN}" create -y -r "${MAMBA_ROOT_PREFIX}" -p "${ENV_PREFIX}" -f "${ENV_YAML}"
fi
mkdir -p "${ENV_PREFIX}/etc/conda/activate.d"
cat > "${ENV_PREFIX}/etc/conda/activate.d/coppeliasim.sh" <<EOF
export COPPELIASIM_ROOT=${COPPELIA_DIR}
export XDG_RUNTIME_DIR=${RUNTIME_DIR}
_codex_driver_version="\$(nvidia-smi --query-gpu=driver_version --format=csv,noheader | head -n1 2>/dev/null || true)"
_codex_driver_branch="\${_codex_driver_version%%.*}"
_codex_nvidia_ld=
if [[ -n "\${_codex_driver_branch}" && -d ${ROOT_DIR}/system_shims/nvidia\${_codex_driver_branch}/usr/lib/x86_64-linux-gnu ]]; then
_codex_nvidia_ld=${ROOT_DIR}/system_shims/nvidia\${_codex_driver_branch}/usr/lib/x86_64-linux-gnu
fi
export LD_LIBRARY_PATH=\${COPPELIASIM_ROOT}\${_codex_nvidia_ld:+:\${_codex_nvidia_ld}}\${LD_LIBRARY_PATH:+:\${LD_LIBRARY_PATH}}
export QT_QPA_PLATFORM_PLUGIN_PATH=\${COPPELIASIM_ROOT}
EOF
run_in_env python -m pip install -U pip setuptools wheel
run_in_env python -m pip install --force-reinstall --no-deps numpy==1.26.4 Pillow==12.1.1
run_in_env python -m pip install --no-deps moviepy==2.2.1 timeout-decorator==0.5.0 opencv-python==4.10.0.84 pyquaternion==0.9.9 click-prompt==0.5.1
run_in_env python -m pip install --no-deps poetry-core
run_in_env python -m pip install gymnasium==1.0.0a2 open3d==0.19.0 segment-anything==1.0 transforms3d==0.4.1 openai==0.28.1
first_existing_dir() {
local candidate=""
for candidate in "$@"; do
if [[ -d "${candidate}" ]]; then
printf '%s\n' "${candidate}"
return 0
fi
done
printf '%s\n' "$1"
}
PERACT_ROOT="$(first_existing_dir "${ROOT_DIR}/third_party/peract2_bimanual_probe_20260324" "${ROOT_DIR}/third_party/peract_bimanual")"
YARR_ROOT="$(first_existing_dir "${ROOT_DIR}/third_party/YARR_peract2_20260324" "${ROOT_DIR}/third_party/YARR")"
PYREP_ROOT="$(first_existing_dir "${ROOT_DIR}/third_party/PyRep_peract2_20260324" "${ROOT_DIR}/third_party/PyRep")"
RLBENCH_ROOT="$(first_existing_dir "${ROOT_DIR}/third_party/RLBench_peract2_20260324" "${ROOT_DIR}/third_party/RLBench")"
if [[ -f "${PERACT_ROOT}/YARR/setup.py" ]]; then
YARR_ROOT="${PERACT_ROOT}/YARR"
fi
if [[ -f "${PERACT_ROOT}/PyRep/setup.py" ]]; then
PYREP_ROOT="${PERACT_ROOT}/PyRep"
fi
if [[ -f "${PERACT_ROOT}/RLBench/setup.py" ]]; then
RLBENCH_ROOT="${PERACT_ROOT}/RLBench"
fi
if [[ ! -f "${PERACT_ROOT}/pyproject.toml" && ! -f "${PERACT_ROOT}/setup.py" && -f "${PERACT_ROOT}/peract/setup.py" ]]; then
PERACT_ROOT="${PERACT_ROOT}/peract"
fi
run_in_env python -m pip install --no-build-isolation -e "${PROJECT_DIR}"
run_in_env python -m pip install --no-build-isolation --no-deps -e "${YARR_ROOT}"
run_in_env python -m pip install --no-build-isolation --no-deps -e "${PYREP_ROOT}"
run_in_env python -m pip install --no-build-isolation --no-deps -e "${RLBENCH_ROOT}"
run_in_env python -m pip install --no-build-isolation --no-deps -e "${PERACT_ROOT}"
printf 'RLBench env ready at %s\n' "${ENV_PREFIX}"
printf 'Activate with:\n'
printf ' eval "$(%s shell hook -s bash -r %s)"\n' "${MAMBA_BIN}" "${MAMBA_ROOT_PREFIX}"
printf ' micromamba activate %s\n' "${ENV_PREFIX}"
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