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eust-w 2025-07-03 10:06:41 +00:00
parent 97386b139e
commit 9192985534
9 changed files with 521 additions and 2 deletions
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44
environment_check.log
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@ -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)

2
environment_check_results.json
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@ -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"}]}
{"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)"}]}

291
environment_setup.log
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@ -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

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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

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{
"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"
}
]
}

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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

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third_party/pytorch3d_simplified/pytorch3d.egg-info/PKG-INFO vendored
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@ -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

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