From 91929855347224db5fbaaf897b709ad75163e299 Mon Sep 17 00:00:00 2001 From: eust-w Date: Thu, 3 Jul 2025 10:06:41 +0000 Subject: [PATCH] add env --- environment_check.log | 44 +++ environment_check_results.json | 2 +- environment_setup.log | 291 ++++++++++++++++++ environment_verify.log | 48 +++ environment_verify_results.json | 105 +++++++ task_config/empty_cup_place.yml | 26 ++ .../pytorch3d.egg-info/PKG-INFO | 7 +- .../_C.cpython-310-x86_64-linux-gnu.so | Bin 0 -> 167272 bytes .../_C.cpython-38-x86_64-linux-gnu.so | Bin 19132296 -> 19132296 bytes 9 files changed, 521 insertions(+), 2 deletions(-) create mode 100644 environment_verify.log create mode 100644 environment_verify_results.json create mode 100644 task_config/empty_cup_place.yml create mode 100755 third_party/pytorch3d_simplified/pytorch3d/_C.cpython-310-x86_64-linux-gnu.so diff --git a/environment_check.log b/environment_check.log index 484d23f..0575818 100644 --- a/environment_check.log +++ b/environment_check.log @@ -44,3 +44,47 @@ Software: 2025-07-01 11:57:08,308 - INFO - ✓ GPU检查: 检测到NVIDIA GPU 2025-07-01 11:57:08,308 - INFO - ✓ NVIDIA驱动版本检查: NVIDIA驱动版本 570.124，满足要求 (>=470)，同时满足去噪要求 (>=520) 2025-07-01 11:57:08,308 - INFO - ✓ CUDA版本检查: CUDA版本 12.8，不是推荐的 12.1，可能会遇到兼容性问题 +2025-07-03 09:54:02,875 - INFO - +=== RoboTwin Dependencies === +2025-07-03 09:54:02,875 - INFO - +Python versions: +* Python 3.8, 3.10 + +Operating systems: +* Linux: Ubuntu 18.04+, Centos 7+ + +Hardware: +* Rendering: NVIDIA or AMD GPU + * Recommended CUDA Version: 12.1 +* Ray tracing: NVIDIA RTX GPU or AMD equivalent +* Ray-tracing Denoising: NVIDIA GPU +* GPU Simulation: NVIDIA GPU + +Software: +* Ray tracing: NVIDIA Driver >= 470 +* Denoising (OIDN): NVIDIA Driver >= 520 +* CUDA Version: 12.1 +* Conda: Required + +2025-07-03 09:54:02,876 - INFO - 执行: cat /etc/os-release +2025-07-03 09:54:02,878 - INFO - 命令执行成功: cat /etc/os-release +2025-07-03 09:54:02,878 - INFO - === 检查Conda是否已安装 === +2025-07-03 09:54:02,878 - INFO - 执行: conda --version +2025-07-03 09:54:03,259 - INFO - 命令执行成功: conda --version +2025-07-03 09:54:03,259 - INFO - === 检查Conda初始化状态 === +2025-07-03 09:54:03,259 - INFO - 执行: conda info | grep -i 'initialized' +2025-07-03 09:54:03,908 - ERROR - 命令执行失败: conda info | grep -i 'initialized' +2025-07-03 09:54:03,908 - ERROR - 错误信息: +2025-07-03 09:54:03,908 - INFO - === 检查NVIDIA GPU === +2025-07-03 09:54:03,908 - INFO - 执行: nvidia-smi +2025-07-03 09:54:04,025 - INFO - 命令执行成功: nvidia-smi +2025-07-03 09:54:04,025 - INFO - === 检查CUDA版本 === +2025-07-03 09:54:04,025 - INFO - 执行: nvcc --version +2025-07-03 09:54:04,028 - INFO - 命令执行成功: nvcc --version +2025-07-03 09:54:04,028 - INFO - +=== 环境依赖检查结果 === +2025-07-03 09:54:04,028 - INFO - ✓ 操作系统检查: Ubuntu 20.04，满足要求 (Ubuntu 18.04+) +2025-07-03 09:54:04,028 - INFO - ✓ Conda检查: Conda已安装 (版本 25.3.0), 但可能未正确初始化，请运行 'conda init bash' +2025-07-03 09:54:04,028 - INFO - ✓ GPU检查: 检测到NVIDIA GPU +2025-07-03 09:54:04,028 - INFO - ✓ NVIDIA驱动版本检查: NVIDIA驱动版本 570.124，满足要求 (>=470)，同时满足去噪要求 (>=520) +2025-07-03 09:54:04,028 - INFO - ✓ CUDA版本检查: CUDA版本 12.1，满足建议版本 (12.1) diff --git a/environment_check_results.json b/environment_check_results.json index 8a278ee..11ea9c4 100644 --- a/environment_check_results.json +++ b/environment_check_results.json @@ -1 +1 @@ -{"dependencies_met": true, "check_results": [{"name": "\u64cd\u4f5c\u7cfb\u7edf\u68c0\u67e5", "passed": true, "details": "Ubuntu 20.04\uff0c\u6ee1\u8db3\u8981\u6c42 (Ubuntu 18.04+)"}, {"name": "Conda\u68c0\u67e5", "passed": true, "details": "Conda\u5df2\u5b89\u88c5 (\u7248\u672c 25.3.0), \u4f46\u53ef\u80fd\u672a\u6b63\u786e\u521d\u59cb\u5316\uff0c\u8bf7\u8fd0\u884c 'conda init bash'"}, {"name": "GPU\u68c0\u67e5", "passed": true, "details": "\u68c0\u6d4b\u5230NVIDIA GPU"}, {"name": "NVIDIA\u9a71\u52a8\u7248\u672c\u68c0\u67e5", "passed": true, "details": "NVIDIA\u9a71\u52a8\u7248\u672c 570.124\uff0c\u6ee1\u8db3\u8981\u6c42 (>=470)\uff0c\u540c\u65f6\u6ee1\u8db3\u53bb\u566a\u8981\u6c42 (>=520)"}, {"name": "CUDA\u7248\u672c\u68c0\u67e5", "passed": true, "details": "CUDA\u7248\u672c 12.8\uff0c\u4e0d\u662f\u63a8\u8350\u7684 12.1\uff0c\u53ef\u80fd\u4f1a\u9047\u5230\u517c\u5bb9\u6027\u95ee\u9898"}]} \ No newline at end of file +{"dependencies_met": true, "check_results": [{"name": "\u64cd\u4f5c\u7cfb\u7edf\u68c0\u67e5", "passed": true, "details": "Ubuntu 20.04\uff0c\u6ee1\u8db3\u8981\u6c42 (Ubuntu 18.04+)"}, {"name": "Conda\u68c0\u67e5", "passed": true, "details": "Conda\u5df2\u5b89\u88c5 (\u7248\u672c 25.3.0), \u4f46\u53ef\u80fd\u672a\u6b63\u786e\u521d\u59cb\u5316\uff0c\u8bf7\u8fd0\u884c 'conda init bash'"}, {"name": "GPU\u68c0\u67e5", "passed": true, "details": "\u68c0\u6d4b\u5230NVIDIA GPU"}, {"name": "NVIDIA\u9a71\u52a8\u7248\u672c\u68c0\u67e5", "passed": true, "details": "NVIDIA\u9a71\u52a8\u7248\u672c 570.124\uff0c\u6ee1\u8db3\u8981\u6c42 (>=470)\uff0c\u540c\u65f6\u6ee1\u8db3\u53bb\u566a\u8981\u6c42 (>=520)"}, {"name": "CUDA\u7248\u672c\u68c0\u67e5", "passed": true, "details": "CUDA\u7248\u672c 12.1\uff0c\u6ee1\u8db3\u5efa\u8bae\u7248\u672c (12.1)"}]} \ No newline at end of file diff --git a/environment_setup.log b/environment_setup.log index 4c37f7d..17669f7 100644 --- a/environment_setup.log +++ b/environment_setup.log @@ -309,3 +309,294 @@ 2025-07-02 02:54:03,610 - INFO - ✗ 下载资源 2025-07-02 02:54:03,610 - INFO - ✓ 修改mplib - 移除convex=True 2025-07-02 02:54:03,610 - INFO - ✓ 修改mplib - 移除 or collide +2025-07-02 07:28:37,687 - INFO - === 获取conda基础路径 === +2025-07-02 07:28:37,687 - INFO - 执行: conda info --base +2025-07-02 07:28:38,267 - INFO - 命令执行成功: conda info --base +2025-07-02 07:28:38,267 - INFO - Conda 基础路径: /opt/conda +2025-07-02 07:28:38,267 - INFO - === 安装Vulkan === +2025-07-02 07:28:38,267 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools +2025-07-02 07:28:38,268 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools +2025-07-02 07:28:38,268 - INFO - === 检查是否存在RoboTwin环境 === +2025-07-02 07:28:38,268 - INFO - 执行: conda env list | grep -w RoboTwin || echo '' +2025-07-02 07:28:38,842 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo '' +2025-07-02 07:28:38,842 - INFO - RoboTwin环境不存在，将创建新环境 +2025-07-02 07:28:38,842 - INFO - === 创建conda环境 === +2025-07-02 07:28:38,842 - INFO - 执行: conda create -n RoboTwin python=3.8 -y +2025-07-02 07:30:50,205 - INFO - 命令执行成功: conda create -n RoboTwin python=3.8 -y +2025-07-02 07:30:50,205 - INFO - 开始安装基本依赖包... +2025-07-02 07:30:50,205 - INFO - === 安装基本依赖 === +2025-07-02 07:30:50,205 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0 +2025-07-02 07:32:27,098 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0 +2025-07-02 07:32:27,098 - INFO - 开始安装pytorch3d... +2025-07-02 07:32:27,098 - INFO - === 安装pytorch3d === +2025-07-02 07:32:27,098 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../.. +2025-07-02 07:32:27,825 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../.. +2025-07-02 07:32:27,825 - INFO - === 检查资源文件是否已存在 === +2025-07-02 07:32:27,825 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在' +2025-07-02 07:32:27,827 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在' +2025-07-02 07:32:27,828 - INFO - 开始下载资源文件... +2025-07-02 07:32:27,828 - INFO - === 下载资源 === +2025-07-02 07:32:27,828 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi +2025-07-02 07:32:28,197 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi +2025-07-02 07:32:28,197 - INFO - 开始修改 mplib 库代码... +2025-07-02 07:32:28,197 - INFO - === 查找mplib位置 === +2025-07-02 07:32:28,197 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}' +2025-07-02 07:32:28,701 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}' +2025-07-02 07:32:28,701 - INFO - mplib planner.py 路径: WARNING: Package(s) not found: mplib/mplib/planner.py +2025-07-02 07:32:28,702 - ERROR - mplib planner.py 文件不存在: WARNING: Package(s) not found: mplib/mplib/planner.py +2025-07-02 07:32:28,702 - INFO - +=== 环境配置总结 === +2025-07-02 07:32:28,702 - INFO - 总步骤: 6, 成功: 1, 失败: 5 +2025-07-02 07:32:28,702 - INFO - ✗ 安装Vulkan +2025-07-02 07:32:28,702 - INFO - ✓ 创建conda环境 +2025-07-02 07:32:28,702 - INFO - ✗ 安装基本依赖 +2025-07-02 07:32:28,702 - INFO - ✗ 安装pytorch3d +2025-07-02 07:32:28,702 - INFO - ✗ 下载资源 +2025-07-02 07:32:28,702 - INFO - ✗ 查找mplib文件 +2025-07-03 08:24:02,070 - INFO - === 获取conda基础路径 === +2025-07-03 08:24:02,070 - INFO - 执行: conda info --base +2025-07-03 08:24:02,684 - INFO - 命令执行成功: conda info --base +2025-07-03 08:24:02,684 - INFO - Conda 基础路径: /opt/conda +2025-07-03 08:24:02,684 - INFO - === 安装Vulkan === +2025-07-03 08:24:02,684 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools +2025-07-03 08:24:02,685 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools +2025-07-03 08:24:02,685 - INFO - === 检查是否存在RoboTwin环境 === +2025-07-03 08:24:02,685 - INFO - 执行: conda env list | grep -w RoboTwin || echo '' +2025-07-03 08:24:03,295 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo '' +2025-07-03 08:24:03,295 - INFO - === 验证RoboTwin环境 === +2025-07-03 08:24:03,295 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail' +2025-07-03 08:24:04,129 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail' +2025-07-03 08:24:04,129 - INFO - RoboTwin环境验证成功，将直接激活 +2025-07-03 08:24:04,129 - INFO - 开始安装基本依赖包... +2025-07-03 08:24:04,129 - INFO - === 安装基本依赖 === +2025-07-03 08:24:04,129 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0 +2025-07-03 08:28:47,293 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0 +2025-07-03 08:28:47,293 - INFO - 开始安装pytorch3d... +2025-07-03 08:28:47,293 - INFO - === 安装pytorch3d === +2025-07-03 08:28:47,293 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../.. +2025-07-03 08:28:48,032 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../.. +2025-07-03 08:28:48,032 - INFO - === 检查资源文件是否已存在 === +2025-07-03 08:28:48,033 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在' +2025-07-03 08:28:48,035 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在' +2025-07-03 08:28:48,035 - INFO - 开始下载资源文件... +2025-07-03 08:28:48,035 - INFO - === 下载资源 === +2025-07-03 08:28:48,035 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi +2025-07-03 08:28:48,417 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi +2025-07-03 08:28:48,417 - INFO - 开始修改 mplib 库代码... +2025-07-03 08:28:48,417 - INFO - === 查找mplib位置 === +2025-07-03 08:28:48,417 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}' +2025-07-03 08:28:48,951 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}' +2025-07-03 08:28:48,951 - INFO - mplib planner.py 路径: WARNING: Package(s) not found: mplib/mplib/planner.py +2025-07-03 08:28:48,951 - ERROR - mplib planner.py 文件不存在: WARNING: Package(s) not found: mplib/mplib/planner.py +2025-07-03 08:28:48,951 - INFO - +=== 环境配置总结 === +2025-07-03 08:28:48,951 - INFO - 总步骤: 6, 成功: 1, 失败: 5 +2025-07-03 08:28:48,951 - INFO - ✗ 安装Vulkan +2025-07-03 08:28:48,951 - INFO - ✓ 检查conda环境 +2025-07-03 08:28:48,951 - INFO - ✗ 安装基本依赖 +2025-07-03 08:28:48,951 - INFO - ✗ 安装pytorch3d +2025-07-03 08:28:48,951 - INFO - ✗ 下载资源 +2025-07-03 08:28:48,951 - INFO - ✗ 查找mplib文件 +2025-07-03 08:56:46,195 - INFO - === 获取conda基础路径 === +2025-07-03 08:56:46,195 - INFO - 执行: conda info --base +2025-07-03 08:56:46,831 - INFO - 命令执行成功: conda info --base +2025-07-03 08:56:46,831 - INFO - Conda 基础路径: /opt/conda +2025-07-03 08:56:46,831 - INFO - === 安装Vulkan === +2025-07-03 08:56:46,831 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools +2025-07-03 08:56:46,832 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools +2025-07-03 08:56:46,832 - INFO - === 检查是否存在RoboTwin环境 === +2025-07-03 08:56:46,833 - INFO - 执行: conda env list | grep -w RoboTwin || echo '' +2025-07-03 08:56:47,452 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo '' +2025-07-03 08:56:47,452 - INFO - === 验证RoboTwin环境 === +2025-07-03 08:56:47,452 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail' +2025-07-03 08:56:48,293 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail' +2025-07-03 08:56:48,293 - INFO - RoboTwin环境验证成功，将直接激活 +2025-07-03 08:56:48,293 - INFO - 开始安装基本依赖包... +2025-07-03 08:56:48,293 - INFO - === 安装基本依赖 === +2025-07-03 08:56:48,293 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0 +2025-07-03 08:57:41,659 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0 +2025-07-03 08:57:41,659 - INFO - 开始安装pytorch3d... +2025-07-03 08:57:41,659 - INFO - === 安装pytorch3d === +2025-07-03 08:57:41,659 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../.. +2025-07-03 08:57:42,404 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../.. +2025-07-03 08:57:42,404 - INFO - === 检查资源文件是否已存在 === +2025-07-03 08:57:42,405 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在' +2025-07-03 08:57:42,406 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在' +2025-07-03 08:57:42,407 - INFO - 开始下载资源文件... +2025-07-03 08:57:42,407 - INFO - === 下载资源 === +2025-07-03 08:57:42,407 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi +2025-07-03 08:57:42,798 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi +2025-07-03 08:57:42,798 - INFO - 开始修改 mplib 库代码... +2025-07-03 08:57:42,798 - INFO - === 查找mplib位置 === +2025-07-03 08:57:42,798 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}' +2025-07-03 08:57:43,330 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}' +2025-07-03 08:57:43,330 - INFO - mplib planner.py 路径: WARNING: Package(s) not found: mplib/mplib/planner.py +2025-07-03 08:57:43,330 - ERROR - mplib planner.py 文件不存在: WARNING: Package(s) not found: mplib/mplib/planner.py +2025-07-03 08:57:43,330 - INFO - +=== 环境配置总结 === +2025-07-03 08:57:43,330 - INFO - 总步骤: 6, 成功: 1, 失败: 5 +2025-07-03 08:57:43,330 - INFO - ✗ 安装Vulkan +2025-07-03 08:57:43,330 - INFO - ✓ 检查conda环境 +2025-07-03 08:57:43,330 - INFO - ✗ 安装基本依赖 +2025-07-03 08:57:43,330 - INFO - ✗ 安装pytorch3d +2025-07-03 08:57:43,330 - INFO - ✗ 下载资源 +2025-07-03 08:57:43,330 - INFO - ✗ 查找mplib文件 +2025-07-03 08:58:14,283 - INFO - === 获取conda基础路径 === +2025-07-03 08:58:14,283 - INFO - 执行: conda info --base +2025-07-03 08:58:14,917 - INFO - 命令执行成功: conda info --base +2025-07-03 08:58:14,917 - INFO - Conda 基础路径: /opt/conda +2025-07-03 08:58:14,917 - INFO - === 安装Vulkan === +2025-07-03 08:58:14,917 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools +2025-07-03 08:58:14,919 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools +2025-07-03 08:58:14,919 - INFO - === 检查是否存在RoboTwin环境 === +2025-07-03 08:58:14,919 - INFO - 执行: conda env list | grep -w RoboTwin || echo '' +2025-07-03 08:58:15,543 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo '' +2025-07-03 08:58:15,543 - INFO - === 验证RoboTwin环境 === +2025-07-03 08:58:15,543 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail' +2025-07-03 08:58:16,369 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail' +2025-07-03 08:58:16,370 - INFO - RoboTwin环境验证成功，将直接激活 +2025-07-03 08:58:16,370 - INFO - 开始安装基本依赖包... +2025-07-03 08:58:16,370 - INFO - === 安装基本依赖 === +2025-07-03 08:58:16,370 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0 +2025-07-03 09:01:13,777 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0 +2025-07-03 09:01:13,778 - INFO - 开始安装pytorch3d... +2025-07-03 09:01:13,778 - INFO - === 安装pytorch3d === +2025-07-03 09:01:13,778 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../.. +2025-07-03 09:02:25,054 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../.. +2025-07-03 09:02:25,054 - INFO - === 检查资源文件是否已存在 === +2025-07-03 09:02:25,054 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在' +2025-07-03 09:02:25,056 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在' +2025-07-03 09:02:25,056 - INFO - 开始下载资源文件... +2025-07-03 09:02:25,056 - INFO - === 下载资源 === +2025-07-03 09:02:25,056 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi +2025-07-03 09:02:32,825 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi +2025-07-03 09:02:32,826 - INFO - 开始修改 mplib 库代码... +2025-07-03 09:02:32,826 - INFO - === 查找mplib位置 === +2025-07-03 09:02:32,826 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}' +2025-07-03 09:02:33,605 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}' +2025-07-03 09:02:33,606 - INFO - mplib planner.py 路径: /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:02:33,606 - INFO - === 检查mplib代码内容 === +2025-07-03 09:02:33,606 - INFO - 执行: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:02:33,610 - INFO - 命令执行成功: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:02:33,610 - INFO - 正在移除 convex=True 参数... +2025-07-03 09:02:33,610 - INFO - === 修改mplib库代码 - 移除convex=True === +2025-07-03 09:02:33,610 - INFO - 执行: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:02:33,612 - INFO - 命令执行成功: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:02:33,612 - INFO - 正在移除 or collide 条件... +2025-07-03 09:02:33,612 - INFO - === 修改mplib库代码 - 移除 or collide === +2025-07-03 09:02:33,612 - INFO - 执行: sed -i 's/or collide or not within_joint_limit/or not within_joint_limit/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:02:33,614 - INFO - 命令执行成功: sed -i 's/or collide or not within_joint_limit/or not within_joint_limit/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:02:33,614 - INFO - +=== 环境配置总结 === +2025-07-03 09:02:33,614 - INFO - 总步骤: 7, 成功: 6, 失败: 1 +2025-07-03 09:02:33,614 - INFO - ✗ 安装Vulkan +2025-07-03 09:02:33,614 - INFO - ✓ 检查conda环境 +2025-07-03 09:02:33,614 - INFO - ✓ 安装基本依赖 +2025-07-03 09:02:33,614 - INFO - ✓ 安装pytorch3d +2025-07-03 09:02:33,614 - INFO - ✓ 下载资源 +2025-07-03 09:02:33,614 - INFO - ✓ 修改mplib - 移除convex=True +2025-07-03 09:02:33,614 - INFO - ✓ 修改mplib - 移除 or collide +2025-07-03 09:48:18,682 - INFO - === 获取conda基础路径 === +2025-07-03 09:48:18,682 - INFO - 执行: conda info --base +2025-07-03 09:48:19,350 - INFO - 命令执行成功: conda info --base +2025-07-03 09:48:19,350 - INFO - Conda 基础路径: /opt/conda +2025-07-03 09:48:19,350 - INFO - === 安装Vulkan === +2025-07-03 09:48:19,350 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools +2025-07-03 09:48:19,352 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools +2025-07-03 09:48:19,352 - INFO - === 检查是否存在RoboTwin环境 === +2025-07-03 09:48:19,352 - INFO - 执行: conda env list | grep -w RoboTwin || echo '' +2025-07-03 09:48:19,982 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo '' +2025-07-03 09:48:19,982 - INFO - === 验证RoboTwin环境 === +2025-07-03 09:48:19,983 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail' +2025-07-03 09:48:22,087 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail' +2025-07-03 09:48:22,088 - INFO - RoboTwin环境验证成功，将直接激活 +2025-07-03 09:48:22,088 - INFO - 开始安装基本依赖包... +2025-07-03 09:48:22,088 - INFO - === 安装基本依赖 === +2025-07-03 09:48:22,088 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0 +2025-07-03 09:48:23,192 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0 +2025-07-03 09:48:23,192 - INFO - 开始安装pytorch3d... +2025-07-03 09:48:23,192 - INFO - === 安装pytorch3d === +2025-07-03 09:48:23,192 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../.. +2025-07-03 09:48:27,965 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../.. +2025-07-03 09:48:27,965 - INFO - === 检查资源文件是否已存在 === +2025-07-03 09:48:27,965 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在' +2025-07-03 09:48:27,967 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在' +2025-07-03 09:48:27,968 - INFO - 开始下载资源文件... +2025-07-03 09:48:27,968 - INFO - === 下载资源 === +2025-07-03 09:48:27,968 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi +2025-07-03 09:48:35,315 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi +2025-07-03 09:48:35,315 - INFO - 开始修改 mplib 库代码... +2025-07-03 09:48:35,315 - INFO - === 查找mplib位置 === +2025-07-03 09:48:35,315 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}' +2025-07-03 09:48:36,099 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}' +2025-07-03 09:48:36,100 - INFO - mplib planner.py 路径: /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:48:36,100 - INFO - === 检查mplib代码内容 === +2025-07-03 09:48:36,100 - INFO - 执行: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:48:36,104 - INFO - 命令执行成功: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:48:36,104 - INFO - 正在移除 convex=True 参数... +2025-07-03 09:48:36,104 - INFO - === 修改mplib库代码 - 移除convex=True === +2025-07-03 09:48:36,104 - INFO - 执行: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:48:36,107 - INFO - 命令执行成功: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:48:36,107 - INFO - mplib中的'or collide'已经被移除，跳过此步骤 +2025-07-03 09:48:36,107 - INFO - +=== 环境配置总结 === +2025-07-03 09:48:36,107 - INFO - 总步骤: 7, 成功: 6, 失败: 1 +2025-07-03 09:48:36,107 - INFO - ✗ 安装Vulkan +2025-07-03 09:48:36,107 - INFO - ✓ 检查conda环境 +2025-07-03 09:48:36,107 - INFO - ✓ 安装基本依赖 +2025-07-03 09:48:36,107 - INFO - ✓ 安装pytorch3d +2025-07-03 09:48:36,107 - INFO - ✓ 下载资源 +2025-07-03 09:48:36,107 - INFO - ✓ 修改mplib - 移除convex=True +2025-07-03 09:48:36,107 - INFO - ✓ 修改mplib - 移除 or collide +2025-07-03 09:54:24,156 - INFO - === 获取conda基础路径 === +2025-07-03 09:54:24,156 - INFO - 执行: conda info --base +2025-07-03 09:54:24,811 - INFO - 命令执行成功: conda info --base +2025-07-03 09:54:24,811 - INFO - Conda 基础路径: /opt/conda +2025-07-03 09:54:24,811 - INFO - === 安装Vulkan === +2025-07-03 09:54:24,811 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools +2025-07-03 09:54:24,813 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools +2025-07-03 09:54:24,813 - INFO - === 检查是否存在RoboTwin环境 === +2025-07-03 09:54:24,813 - INFO - 执行: conda env list | grep -w RoboTwin || echo '' +2025-07-03 09:54:25,462 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo '' +2025-07-03 09:54:25,462 - INFO - === 验证RoboTwin环境 === +2025-07-03 09:54:25,463 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail' +2025-07-03 09:54:27,550 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail' +2025-07-03 09:54:27,550 - INFO - RoboTwin环境验证成功，将直接激活 +2025-07-03 09:54:27,550 - INFO - 开始安装基本依赖包... +2025-07-03 09:54:27,551 - INFO - === 安装基本依赖 === +2025-07-03 09:54:27,551 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0 +2025-07-03 09:54:28,651 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0 +2025-07-03 09:54:28,651 - INFO - 开始安装pytorch3d... +2025-07-03 09:54:28,651 - INFO - === 安装pytorch3d === +2025-07-03 09:54:28,651 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../.. +2025-07-03 09:54:33,465 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../.. +2025-07-03 09:54:33,465 - INFO - === 检查资源文件是否已存在 === +2025-07-03 09:54:33,465 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在' +2025-07-03 09:54:33,468 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在' +2025-07-03 09:54:33,468 - INFO - 开始下载资源文件... +2025-07-03 09:54:33,468 - INFO - === 下载资源 === +2025-07-03 09:54:33,468 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi +2025-07-03 09:54:40,740 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi +2025-07-03 09:54:40,741 - INFO - 开始修改 mplib 库代码... +2025-07-03 09:54:40,741 - INFO - === 查找mplib位置 === +2025-07-03 09:54:40,741 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}' +2025-07-03 09:54:41,520 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}' +2025-07-03 09:54:41,520 - INFO - mplib planner.py 路径: /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:54:41,520 - INFO - === 检查mplib代码内容 === +2025-07-03 09:54:41,520 - INFO - 执行: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:54:41,525 - INFO - 命令执行成功: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:54:41,525 - INFO - 正在移除 convex=True 参数... +2025-07-03 09:54:41,525 - INFO - === 修改mplib库代码 - 移除convex=True === +2025-07-03 09:54:41,525 - INFO - 执行: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:54:41,527 - INFO - 命令执行成功: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py +2025-07-03 09:54:41,527 - INFO - mplib中的'or collide'已经被移除，跳过此步骤 +2025-07-03 09:54:41,527 - INFO - +=== 环境配置总结 === +2025-07-03 09:54:41,527 - INFO - 总步骤: 7, 成功: 6, 失败: 1 +2025-07-03 09:54:41,527 - INFO - ✗ 安装Vulkan +2025-07-03 09:54:41,527 - INFO - ✓ 检查conda环境 +2025-07-03 09:54:41,527 - INFO - ✓ 安装基本依赖 +2025-07-03 09:54:41,527 - INFO - ✓ 安装pytorch3d +2025-07-03 09:54:41,527 - INFO - ✓ 下载资源 +2025-07-03 09:54:41,527 - INFO - ✓ 修改mplib - 移除convex=True +2025-07-03 09:54:41,527 - INFO - ✓ 修改mplib - 移除 or collide diff --git a/environment_verify.log b/environment_verify.log new file mode 100644 index 0000000..d94175f --- /dev/null +++ b/environment_verify.log @@ -0,0 +1,48 @@ +2025-07-03 09:53:52,397 - INFO - === 获取conda基础路径 === +2025-07-03 09:53:52,397 - INFO - 执行: conda info --base +2025-07-03 09:53:53,069 - INFO - 命令执行成功: conda info --base +2025-07-03 09:53:53,069 - INFO - Conda 基础路径: /opt/conda +2025-07-03 09:53:53,069 - INFO - === 检查RoboTwin环境是否存在 === +2025-07-03 09:53:53,069 - INFO - 执行: conda env list | grep -w RoboTwin || echo '' +2025-07-03 09:53:53,710 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo '' +2025-07-03 09:53:53,710 - INFO - === 激活RoboTwin环境 === +2025-07-03 09:53:53,710 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda info --envs +2025-07-03 09:53:54,716 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda info --envs +2025-07-03 09:53:54,716 - INFO - === 检查Python版本 === +2025-07-03 09:53:54,716 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python --version +2025-07-03 09:53:55,075 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python --version +2025-07-03 09:53:55,075 - INFO - === 检查核心依赖包 === +2025-07-03 09:53:55,076 - INFO - === 核心依赖包检查完成 (总耗时: 0.00秒) === +2025-07-03 09:53:55,076 - INFO - === 检查Vulkan === +2025-07-03 09:53:55,076 - INFO - 执行: DISPLAY='' vulkaninfo --summary 2>/dev/null || echo 'Vulkan not installed' +2025-07-03 09:53:55,079 - INFO - 命令执行成功: DISPLAY='' vulkaninfo --summary 2>/dev/null || echo 'Vulkan not installed' +2025-07-03 09:53:55,080 - INFO - === 检查aloha_maniskill_sim资源目录 === +2025-07-03 09:53:55,080 - INFO - 执行: ls -la /workspace/aloha_maniskill_sim 2>/dev/null || echo 'not found' +2025-07-03 09:53:55,082 - INFO - 命令执行成功: ls -la /workspace/aloha_maniskill_sim 2>/dev/null || echo 'not found' +2025-07-03 09:53:55,082 - INFO - === 检查models资源目录 === +2025-07-03 09:53:55,082 - INFO - 执行: ls -la /workspace/models 2>/dev/null || echo 'not found' +2025-07-03 09:53:55,085 - INFO - 命令执行成功: ls -la /workspace/models 2>/dev/null || echo 'not found' +2025-07-03 09:53:55,085 - INFO - === 检查mplib修改 === +2025-07-03 09:53:55,085 - INFO - +=== RoboTwin环境验证总结 === +2025-07-03 09:53:55,085 - INFO - 总检查项: 20, 成功: 19, 失败: 1 +2025-07-03 09:53:55,085 - INFO - ✓ RoboTwin环境激活: 可以成功激活RoboTwin环境 +2025-07-03 09:53:55,085 - INFO - ✓ Python版本: Python版本 3.8.20 符合要求 +2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 torch: 已安装 torch +2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 torchvision: 已安装 torchvision +2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 sapien: 已安装 sapien +2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 scipy: 已安装 scipy +2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 mplib: 已安装 mplib +2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 gymnasium: 已安装 gymnasium +2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 trimesh: 已安装 trimesh +2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 open3d: 已安装 open3d +2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 imageio: 已安装 imageio +2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 pydantic: 已安装 pydantic +2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 zarr: 已安装 zarr +2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 huggingface_hub: 已安装 huggingface_hub +2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 pytorch3d: 已安装 pytorch3d +2025-07-03 09:53:55,085 - INFO - ✗ Vulkan: Vulkan 未安装或安装不正确 +2025-07-03 09:53:55,085 - INFO - ✓ 资源目录 aloha_maniskill_sim: aloha_maniskill_sim 目录存在 +2025-07-03 09:53:55,085 - INFO - ✓ 资源目录 models: models 目录存在 +2025-07-03 09:53:55,085 - INFO - ✓ mplib修改 - convex=True: convex=True 参数已经被注释或移除 +2025-07-03 09:53:55,085 - INFO - ✓ mplib修改 - or collide: 'or collide' 条件已被移除 diff --git a/environment_verify_results.json b/environment_verify_results.json new file mode 100644 index 0000000..98ec5a2 --- /dev/null +++ b/environment_verify_results.json @@ -0,0 +1,105 @@ +{ + "env_check_result": "unhealthy", + "check_result_message": [ + { + "component": "RoboTwin环境激活", + "status": "成功", + "message": "可以成功激活RoboTwin环境" + }, + { + "component": "Python版本", + "status": "成功", + "message": "Python版本 3.8.20 符合要求" + }, + { + "component": "依赖包 torch", + "status": "成功", + "message": "已安装 torch" + }, + { + "component": "依赖包 torchvision", + "status": "成功", + "message": "已安装 torchvision" + }, + { + "component": "依赖包 sapien", + "status": "成功", + "message": "已安装 sapien" + }, + { + "component": "依赖包 scipy", + "status": "成功", + "message": "已安装 scipy" + }, + { + "component": "依赖包 mplib", + "status": "成功", + "message": "已安装 mplib" + }, + { + "component": "依赖包 gymnasium", + "status": "成功", + "message": "已安装 gymnasium" + }, + { + "component": "依赖包 trimesh", + "status": "成功", + "message": "已安装 trimesh" + }, + { + "component": "依赖包 open3d", + "status": "成功", + "message": "已安装 open3d" + }, + { + "component": "依赖包 imageio", + "status": "成功", + "message": "已安装 imageio" + }, + { + "component": "依赖包 pydantic", + "status": "成功", + "message": "已安装 pydantic" + }, + { + "component": "依赖包 zarr", + "status": "成功", + "message": "已安装 zarr" + }, + { + "component": "依赖包 huggingface_hub", + "status": "成功", + "message": "已安装 huggingface_hub" + }, + { + "component": "依赖包 pytorch3d", + "status": "成功", + "message": "已安装 pytorch3d" + }, + { + "component": "Vulkan", + "status": "失败", + "message": "Vulkan 未安装或安装不正确" + }, + { + "component": "资源目录 aloha_maniskill_sim", + "status": "成功", + "message": "aloha_maniskill_sim 目录存在" + }, + { + "component": "资源目录 models", + "status": "成功", + "message": "models 目录存在" + }, + { + "component": "mplib修改 - convex=True", + "status": "成功", + "message": "convex=True 参数已经被注释或移除" + }, + { + "component": "mplib修改 - or collide", + "status": "成功", + "message": "'or collide' 条件已被移除" + } + ] +} \ No newline at end of file diff --git a/task_config/empty_cup_place.yml b/task_config/empty_cup_place.yml new file mode 100644 index 0000000..28decdd --- /dev/null +++ b/task_config/empty_cup_place.yml @@ -0,0 +1,26 @@ +task_name: empty_cup_place +render_freq: 0 +use_seed: false +collect_data: true +save_path: ./data +dual_arm: true +st_episode: 0 +camera_w: 320 +camera_h: 240 +pcd_crop: true +pcd_down_sample_num: 1024 +pose_type: gt +episode_num: 100 +save_type: + raw_data: false + pkl: true +data_type: + rgb: false + observer: false + depth: false + pointcloud: true + conbine: false + endpose: true + qpos: true + mesh_segmentation: false + actor_segmentation: false diff --git a/third_party/pytorch3d_simplified/pytorch3d.egg-info/PKG-INFO b/third_party/pytorch3d_simplified/pytorch3d.egg-info/PKG-INFO index 038a1f2..dd3d9ab 100644 --- a/third_party/pytorch3d_simplified/pytorch3d.egg-info/PKG-INFO +++ b/third_party/pytorch3d_simplified/pytorch3d.egg-info/PKG-INFO @@ -1,4 +1,4 @@ -Metadata-Version: 2.1 +Metadata-Version: 2.2 Name: pytorch3d Version: 0.7.6 Summary: PyTorch3D is FAIR's library of reusable components for deep Learning with 3D data. @@ -14,3 +14,8 @@ Requires-Dist: ipywidgets; extra == "all" Provides-Extra: dev Requires-Dist: flake8; extra == "dev" Requires-Dist: usort; extra == "dev" +Dynamic: author +Dynamic: home-page +Dynamic: provides-extra +Dynamic: requires-dist +Dynamic: summary diff --git 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