RoboTwin_image/environment_setup.log

2025-07-01 11:57:38,110 - INFO - === 获取conda基础路径 ===
2025-07-01 11:57:38,110 - INFO - 执行: conda info --base
2025-07-01 11:57:38,769 - INFO - 命令执行成功: conda info --base
2025-07-01 11:57:38,769 - INFO - Conda 基础路径: /opt/conda
2025-07-01 11:57:38,769 - INFO - === 安装Vulkan ===
2025-07-01 11:57:38,769 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-01 11:57:38,770 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-01 11:57:38,770 - INFO - === 检查是否存在RoboTwin环境 ===
2025-07-01 11:57:38,770 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
2025-07-01 11:57:39,441 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
2025-07-01 11:57:39,441 - INFO - RoboTwin环境不存在，将创建新环境
2025-07-01 11:57:39,441 - INFO - === 创建conda环境 ===
2025-07-01 11:57:39,441 - INFO - 执行: conda create -n RoboTwin python=3.8 -y
2025-07-01 11:58:47,064 - INFO - 命令执行成功: conda create -n RoboTwin python=3.8 -y
2025-07-01 11:58:47,064 - INFO - 开始安装基本依赖包...
2025-07-01 11:58:47,064 - INFO - === 安装基本依赖 ===
2025-07-01 11:58:47,064 - 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
2025-07-01 12:04:14,516 - 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
2025-07-01 12:04:14,517 - INFO - 开始安装pytorch3d...
2025-07-01 12:04:14,517 - INFO - === 安装pytorch3d ===
2025-07-01 12:04:14,517 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
2025-07-01 12:04:15,237 - 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 ../..
2025-07-01 12:04:15,237 - INFO - === 检查资源文件是否已存在 ===
2025-07-01 12:04:15,237 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
2025-07-01 12:04:15,239 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
2025-07-01 12:04:15,239 - INFO - 开始下载资源文件...
2025-07-01 12:04:15,239 - INFO - === 下载资源 ===
2025-07-01 12:04:15,239 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
2025-07-01 12:04:15,600 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(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
2025-07-01 12:04:15,600 - INFO - 开始修改 mplib 库代码...
2025-07-01 12:04:15,600 - INFO - === 查找mplib位置 ===
2025-07-01 12:04:15,600 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
2025-07-01 12:04:16,096 - 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}'
2025-07-01 12:04:16,096 - INFO - mplib planner.py 路径: WARNING: Package(s) not found: mplib/mplib/planner.py
2025-07-01 12:04:16,096 - ERROR - mplib planner.py 文件不存在: WARNING: Package(s) not found: mplib/mplib/planner.py
2025-07-01 12:04:16,096 - INFO - 
=== 环境配置总结 ===
2025-07-01 12:04:16,096 - INFO - 总步骤: 6, 成功: 1, 失败: 5
2025-07-01 12:04:16,096 - INFO - ✗ 安装Vulkan
2025-07-01 12:04:16,096 - INFO - ✓ 创建conda环境
2025-07-01 12:04:16,096 - INFO - ✗ 安装基本依赖
2025-07-01 12:04:16,096 - INFO - ✗ 安装pytorch3d
2025-07-01 12:04:16,096 - INFO - ✗ 下载资源
2025-07-01 12:04:16,096 - INFO - ✗ 查找mplib文件
2025-07-01 12:05:20,926 - INFO - === 获取conda基础路径 ===
2025-07-01 12:05:20,926 - INFO - 执行: conda info --base
2025-07-01 12:05:21,584 - INFO - 命令执行成功: conda info --base
2025-07-01 12:05:21,584 - INFO - Conda 基础路径: /opt/conda
2025-07-01 12:05:21,584 - INFO - === 安装Vulkan ===
2025-07-01 12:05:21,585 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-01 12:05:21,586 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-01 12:05:21,586 - INFO - === 检查是否存在RoboTwin环境 ===
2025-07-01 12:05:21,586 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
2025-07-01 12:05:22,241 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
2025-07-01 12:05:22,242 - INFO - === 验证RoboTwin环境 ===
2025-07-01 12:05:22,242 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
2025-07-01 12:05:23,039 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
2025-07-01 12:05:23,039 - INFO - RoboTwin环境验证成功，将直接激活
2025-07-01 12:05:23,039 - INFO - 开始安装基本依赖包...
2025-07-01 12:05:23,039 - INFO - === 安装基本依赖 ===
2025-07-01 12:05:23,039 - 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
2025-07-01 12:07:22,747 - 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
2025-07-01 12:07:22,747 - INFO - 开始安装pytorch3d...
2025-07-01 12:07:22,747 - INFO - === 安装pytorch3d ===
2025-07-01 12:07:22,747 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
2025-07-01 12:07:23,464 - 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 ../..
2025-07-01 12:07:23,464 - INFO - === 检查资源文件是否已存在 ===
2025-07-01 12:07:23,464 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
2025-07-01 12:07:23,466 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
2025-07-01 12:07:23,466 - INFO - 开始下载资源文件...
2025-07-01 12:07:23,466 - INFO - === 下载资源 ===
2025-07-01 12:07:23,466 - 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
2025-07-01 12:07:23,825 - 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
2025-07-01 12:07:23,825 - INFO - 开始修改 mplib 库代码...
2025-07-01 12:07:23,825 - INFO - === 查找mplib位置 ===
2025-07-01 12:07:23,825 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
2025-07-01 12:07:24,324 - 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}'
2025-07-01 12:07:24,324 - INFO - mplib planner.py 路径: WARNING: Package(s) not found: mplib/mplib/planner.py
2025-07-01 12:07:24,324 - ERROR - mplib planner.py 文件不存在: WARNING: Package(s) not found: mplib/mplib/planner.py
2025-07-01 12:07:24,324 - INFO - 
=== 环境配置总结 ===
2025-07-01 12:07:24,324 - INFO - 总步骤: 6, 成功: 1, 失败: 5
2025-07-01 12:07:24,324 - INFO - ✗ 安装Vulkan
2025-07-01 12:07:24,324 - INFO - ✓ 检查conda环境
2025-07-01 12:07:24,324 - INFO - ✗ 安装基本依赖
2025-07-01 12:07:24,324 - INFO - ✗ 安装pytorch3d
2025-07-01 12:07:24,324 - INFO - ✗ 下载资源
2025-07-01 12:07:24,324 - INFO - ✗ 查找mplib文件
2025-07-01 12:08:39,967 - INFO - === 获取conda基础路径 ===
2025-07-01 12:08:39,967 - INFO - 执行: conda info --base
2025-07-01 12:08:40,628 - INFO - 命令执行成功: conda info --base
2025-07-01 12:08:40,628 - INFO - Conda 基础路径: /opt/conda
2025-07-01 12:08:40,628 - INFO - === 安装Vulkan ===
2025-07-01 12:08:40,629 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-01 12:08:40,630 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-01 12:08:40,630 - INFO - === 检查是否存在RoboTwin环境 ===
2025-07-01 12:08:40,630 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
2025-07-01 12:08:41,272 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
2025-07-01 12:08:41,273 - INFO - === 验证RoboTwin环境 ===
2025-07-01 12:08:41,273 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
2025-07-01 12:08:42,074 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
2025-07-01 12:08:42,074 - INFO - RoboTwin环境验证成功，将直接激活
2025-07-01 12:08:42,074 - INFO - 开始安装基本依赖包...
2025-07-01 12:08:42,074 - INFO - === 安装基本依赖 ===
2025-07-01 12:08:42,074 - 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
2025-07-01 12:09:57,461 - 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
2025-07-01 12:09:57,461 - INFO - 开始安装pytorch3d...
2025-07-01 12:09:57,461 - INFO - === 安装pytorch3d ===
2025-07-01 12:09:57,461 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
2025-07-01 12:09:58,178 - 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 ../..
2025-07-01 12:09:58,178 - INFO - === 检查资源文件是否已存在 ===
2025-07-01 12:09:58,178 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
2025-07-01 12:09:58,180 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
2025-07-01 12:09:58,180 - INFO - 开始下载资源文件...
2025-07-01 12:09:58,180 - INFO - === 下载资源 ===
2025-07-01 12:09:58,180 - 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
2025-07-01 12:09:58,538 - 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
2025-07-01 12:09:58,538 - INFO - 开始修改 mplib 库代码...
2025-07-01 12:09:58,538 - INFO - === 查找mplib位置 ===
2025-07-01 12:09:58,538 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
2025-07-01 12:09:59,041 - 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}'
2025-07-01 12:09:59,041 - INFO - mplib planner.py 路径: WARNING: Package(s) not found: mplib/mplib/planner.py
2025-07-01 12:09:59,041 - ERROR - mplib planner.py 文件不存在: WARNING: Package(s) not found: mplib/mplib/planner.py
2025-07-01 12:09:59,041 - INFO - 
=== 环境配置总结 ===
2025-07-01 12:09:59,041 - INFO - 总步骤: 6, 成功: 1, 失败: 5
2025-07-01 12:09:59,041 - INFO - ✗ 安装Vulkan
2025-07-01 12:09:59,041 - INFO - ✓ 检查conda环境
2025-07-01 12:09:59,041 - INFO - ✗ 安装基本依赖
2025-07-01 12:09:59,041 - INFO - ✗ 安装pytorch3d
2025-07-01 12:09:59,041 - INFO - ✗ 下载资源
2025-07-01 12:09:59,041 - INFO - ✗ 查找mplib文件
2025-07-01 12:10:15,968 - INFO - === 获取conda基础路径 ===
2025-07-01 12:10:15,968 - INFO - 执行: conda info --base
2025-07-01 12:10:16,629 - INFO - 命令执行成功: conda info --base
2025-07-01 12:10:16,629 - INFO - Conda 基础路径: /opt/conda
2025-07-01 12:10:16,629 - INFO - === 安装Vulkan ===
2025-07-01 12:10:16,629 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-01 12:10:16,630 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-01 12:10:16,630 - INFO - === 检查是否存在RoboTwin环境 ===
2025-07-01 12:10:16,630 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
2025-07-01 12:10:17,296 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
2025-07-01 12:10:17,297 - INFO - === 验证RoboTwin环境 ===
2025-07-01 12:10:17,297 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
2025-07-01 12:10:18,098 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
2025-07-01 12:10:18,098 - INFO - RoboTwin环境验证成功，将直接激活
2025-07-01 12:10:18,098 - INFO - 开始安装基本依赖包...
2025-07-01 12:10:18,098 - INFO - === 安装基本依赖 ===
2025-07-01 12:10:18,098 - 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
2025-07-01 12:11:23,003 - 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
2025-07-01 12:11:23,003 - INFO - 开始安装pytorch3d...
2025-07-01 12:11:23,003 - INFO - === 安装pytorch3d ===
2025-07-01 12:11:23,003 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
2025-07-01 12:11:23,723 - 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 ../..
2025-07-01 12:11:23,723 - INFO - === 检查资源文件是否已存在 ===
2025-07-01 12:11:23,723 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
2025-07-01 12:11:23,724 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
2025-07-01 12:11:23,725 - INFO - 开始下载资源文件...
2025-07-01 12:11:23,725 - INFO - === 下载资源 ===
2025-07-01 12:11:23,725 - 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
2025-07-01 12:11:24,086 - 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
2025-07-01 12:11:24,086 - INFO - 开始修改 mplib 库代码...
2025-07-01 12:11:24,086 - INFO - === 查找mplib位置 ===
2025-07-01 12:11:24,086 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
2025-07-01 12:11:24,581 - 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}'
2025-07-01 12:11:24,581 - INFO - mplib planner.py 路径: WARNING: Package(s) not found: mplib/mplib/planner.py
2025-07-01 12:11:24,581 - ERROR - mplib planner.py 文件不存在: WARNING: Package(s) not found: mplib/mplib/planner.py
2025-07-01 12:11:24,581 - INFO - 
=== 环境配置总结 ===
2025-07-01 12:11:24,581 - INFO - 总步骤: 6, 成功: 1, 失败: 5
2025-07-01 12:11:24,581 - INFO - ✗ 安装Vulkan
2025-07-01 12:11:24,581 - INFO - ✓ 检查conda环境
2025-07-01 12:11:24,582 - INFO - ✗ 安装基本依赖
2025-07-01 12:11:24,582 - INFO - ✗ 安装pytorch3d
2025-07-01 12:11:24,582 - INFO - ✗ 下载资源
2025-07-01 12:11:24,582 - INFO - ✗ 查找mplib文件
2025-07-01 12:12:27,893 - INFO - === 获取conda基础路径 ===
2025-07-01 12:12:27,893 - INFO - 执行: conda info --base
2025-07-01 12:12:28,554 - INFO - 命令执行成功: conda info --base
2025-07-01 12:12:28,554 - INFO - Conda 基础路径: /opt/conda
2025-07-01 12:12:28,554 - INFO - === 安装Vulkan ===
2025-07-01 12:12:28,554 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-01 12:12:28,555 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-01 12:12:28,555 - INFO - === 检查是否存在RoboTwin环境 ===
2025-07-01 12:12:28,555 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
2025-07-01 12:12:29,217 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
2025-07-01 12:12:29,217 - INFO - === 验证RoboTwin环境 ===
2025-07-01 12:12:29,217 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
2025-07-01 12:12:30,020 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
2025-07-01 12:12:30,020 - INFO - RoboTwin环境验证成功，将直接激活
2025-07-01 12:12:30,020 - INFO - 开始安装基本依赖包...
2025-07-01 12:12:30,020 - INFO - === 安装基本依赖 ===
2025-07-01 12:12:30,020 - 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
2025-07-01 12:17:00,005 - 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
2025-07-01 12:17:00,005 - INFO - 开始安装pytorch3d...
2025-07-01 12:17:00,005 - INFO - === 安装pytorch3d ===
2025-07-01 12:17:00,005 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
2025-07-01 12:18:12,666 - 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 ../..
2025-07-01 12:18:12,666 - INFO - === 检查资源文件是否已存在 ===
2025-07-01 12:18:12,666 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
2025-07-01 12:18:12,669 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
2025-07-01 12:18:12,669 - INFO - 开始下载资源文件...
2025-07-01 12:18:12,669 - INFO - === 下载资源 ===
2025-07-01 12:18:12,669 - 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
2025-07-01 12:18:27,464 - 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
2025-07-01 12:18:27,465 - INFO - 开始修改 mplib 库代码...
2025-07-01 12:18:27,465 - INFO - === 查找mplib位置 ===
2025-07-01 12:18:27,465 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
2025-07-01 12:18:28,233 - 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}'
2025-07-01 12:18:28,233 - INFO - mplib planner.py 路径: /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
2025-07-01 12:18:28,233 - INFO - === 检查mplib代码内容 ===
2025-07-01 12:18:28,233 - INFO - 执行: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
2025-07-01 12:18:28,236 - INFO - 命令执行成功: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
2025-07-01 12:18:28,236 - INFO - 正在移除 convex=True 参数...
2025-07-01 12:18:28,237 - INFO - === 修改mplib库代码 - 移除convex=True ===
2025-07-01 12:18:28,237 - INFO - 执行: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
2025-07-01 12:18:28,238 - 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
2025-07-01 12:18:28,238 - INFO - 正在移除 or collide 条件...
2025-07-01 12:18:28,238 - INFO - === 修改mplib库代码 - 移除 or collide ===
2025-07-01 12:18:28,238 - 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
2025-07-01 12:18:28,240 - 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
2025-07-01 12:18:28,240 - INFO - 
=== 环境配置总结 ===
2025-07-01 12:18:28,240 - INFO - 总步骤: 7, 成功: 6, 失败: 1
2025-07-01 12:18:28,240 - INFO - ✗ 安装Vulkan
2025-07-01 12:18:28,240 - INFO - ✓ 检查conda环境
2025-07-01 12:18:28,240 - INFO - ✓ 安装基本依赖
2025-07-01 12:18:28,240 - INFO - ✓ 安装pytorch3d
2025-07-01 12:18:28,240 - INFO - ✓ 下载资源
2025-07-01 12:18:28,240 - INFO - ✓ 修改mplib - 移除convex=True
2025-07-01 12:18:28,240 - INFO - ✓ 修改mplib - 移除 or collide
2025-07-01 12:23:32,219 - INFO - === 获取conda基础路径 ===
2025-07-01 12:23:32,219 - INFO - 执行: conda info --base
2025-07-01 12:23:32,886 - INFO - 命令执行成功: conda info --base
2025-07-01 12:23:32,886 - INFO - Conda 基础路径: /opt/conda
2025-07-01 12:23:32,886 - INFO - === 安装Vulkan ===
2025-07-01 12:23:32,886 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-01 12:23:32,887 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-01 12:23:32,887 - INFO - === 检查是否存在RoboTwin环境 ===
2025-07-01 12:23:32,887 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
2025-07-01 12:23:33,533 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
2025-07-01 12:23:33,533 - INFO - === 验证RoboTwin环境 ===
2025-07-01 12:23:33,533 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
2025-07-01 12:23:35,636 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
2025-07-01 12:23:35,636 - INFO - RoboTwin环境验证成功，将直接激活
2025-07-01 12:23:35,636 - INFO - 开始安装基本依赖包...
2025-07-01 12:23:35,636 - INFO - === 安装基本依赖 ===
2025-07-01 12:23:35,636 - 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
2025-07-01 12:23:36,739 - 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
2025-07-01 12:23:36,740 - INFO - 开始安装pytorch3d...
2025-07-01 12:23:36,740 - INFO - === 安装pytorch3d ===
2025-07-01 12:23:36,740 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
2025-07-01 12:23:41,484 - 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 ../..
2025-07-01 12:23:41,485 - INFO - === 检查资源文件是否已存在 ===
2025-07-01 12:23:41,485 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
2025-07-01 12:23:41,487 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
2025-07-01 12:23:41,487 - INFO - 开始下载资源文件...
2025-07-01 12:23:41,487 - INFO - === 下载资源 ===
2025-07-01 12:23:41,487 - 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 02:51:41,498 - INFO - === 获取conda基础路径 ===
2025-07-02 02:51:41,498 - INFO - 执行: conda info --base
2025-07-02 02:51:42,155 - INFO - 命令执行成功: conda info --base
2025-07-02 02:51:42,155 - INFO - Conda 基础路径: /opt/conda
2025-07-02 02:51:42,155 - INFO - === 安装Vulkan ===
2025-07-02 02:51:42,155 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-02 02:51:42,156 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
2025-07-02 02:51:42,156 - INFO - === 检查是否存在RoboTwin环境 ===
2025-07-02 02:51:42,156 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
2025-07-02 02:51:42,801 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
2025-07-02 02:51:42,801 - INFO - === 验证RoboTwin环境 ===
2025-07-02 02:51:42,801 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
2025-07-02 02:51:44,882 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
2025-07-02 02:51:44,882 - INFO - RoboTwin环境验证成功，将直接激活
2025-07-02 02:51:44,882 - INFO - 开始安装基本依赖包...
2025-07-02 02:51:44,882 - INFO - === 安装基本依赖 ===
2025-07-02 02:51:44,882 - 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 02:51:45,972 - 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
2025-07-02 02:51:45,972 - INFO - 开始安装pytorch3d...
2025-07-02 02:51:45,972 - INFO - === 安装pytorch3d ===
2025-07-02 02:51:45,972 - 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 02:51:50,798 - 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 ../..
2025-07-02 02:51:50,798 - INFO - === 检查资源文件是否已存在 ===
2025-07-02 02:51:50,798 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
2025-07-02 02:51:50,800 - 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 02:51:50,800 - INFO - 开始下载资源文件...
2025-07-02 02:51:50,800 - INFO - === 下载资源 ===
2025-07-02 02:51:50,800 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
2025-07-02 02:54:02,834 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(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 02:54:02,834 - INFO - 开始修改 mplib 库代码...
2025-07-02 02:54:02,834 - INFO - === 查找mplib位置 ===
2025-07-02 02:54:02,834 - 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 02:54:03,604 - 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 02:54:03,604 - INFO - mplib planner.py 路径: /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
2025-07-02 02:54:03,604 - INFO - === 检查mplib代码内容 ===
2025-07-02 02:54:03,604 - INFO - 执行: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
2025-07-02 02:54:03,608 - INFO - 命令执行成功: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
2025-07-02 02:54:03,608 - INFO - 正在移除 convex=True 参数...
2025-07-02 02:54:03,608 - INFO - === 修改mplib库代码 - 移除convex=True ===
2025-07-02 02:54:03,608 - INFO - 执行: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
2025-07-02 02:54:03,610 - 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
2025-07-02 02:54:03,610 - INFO - mplib中的'or collide'已经被移除，跳过此步骤
2025-07-02 02:54:03,610 - INFO - 
=== 环境配置总结 ===
2025-07-02 02:54:03,610 - INFO - 总步骤: 7, 成功: 5, 失败: 2
2025-07-02 02:54:03,610 - INFO - ✗ 安装Vulkan
2025-07-02 02:54:03,610 - INFO - ✓ 检查conda环境
2025-07-02 02:54:03,610 - INFO - ✓ 安装基本依赖
2025-07-02 02:54:03,610 - INFO - ✓ 安装pytorch3d
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