Include cosmos transfer1 dependency

tools/env_setup/bash_utils.sh

@@ -0,0 +1,57 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+# http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# --- Utility Functions ---
+
+check_conda_env() {
+    if [ -z "$CONDA_DEFAULT_ENV" ]; then
+        echo "Error: No active conda environment detected"
+        echo "Please activate a conda environment before running this script"
+        exit 1
+    fi
+    echo "Using conda environment: $CONDA_DEFAULT_ENV"
+}
+
+check_nvidia_gpu() {
+    if ! nvidia-smi &> /dev/null; then
+        echo "Error: NVIDIA GPU not found or driver not installed"
+        exit 1
+    fi
+    echo "NVIDIA GPU detected."
+}
+
+check_project_root() {
+    if [ -z "$PROJECT_ROOT" ]; then
+        echo "Error: PROJECT_ROOT is not set. This script should be sourced by a parent script that defines PROJECT_ROOT."
+        exit 1
+    fi
+    echo "PROJECT_ROOT is set to: $PROJECT_ROOT"
+}
+
+ensure_fresh_third_party_dir() {
+    check_project_root # Ensure PROJECT_ROOT is available
+    THIRDPARTY_DIR="$PROJECT_ROOT/third_party"
+
+    if [ -d "$THIRDPARTY_DIR" ]; then
+        echo "Error: third_party directory already exists at $THIRDPARTY_DIR"
+        echo "Please remove the third_party directory before running this script with policies that require a fresh setup (e.g., pi0, gr00tn1)."
+        exit 1
+    else
+        mkdir "$THIRDPARTY_DIR"
+        echo "Created directory: $THIRDPARTY_DIR"
+    fi
+}

tools/env_setup/install_cosmos_transfer1.sh

@@ -0,0 +1,53 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+# http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -e
+
+# Get the parent directory of the current script
+# Assuming this script is in tools/env_setup/
+PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd ../.. && pwd)"
+
+# Source utility functions
+source "$PROJECT_ROOT/tools/env_setup/bash_utils.sh"
+
+check_project_root
+check_conda_env
+
+conda install -c conda-forge ninja libgl ffmpeg gcc=12.4.0 gxx=12.4.0 -y
+
+COSMOS_TRANSFER_DIR="$PROJECT_ROOT/third_party/cosmos-transfer1"
+
+if [ -d "$COSMOS_TRANSFER_DIR" ]; then
+    echo "Cosmos Transfer directory already exists at $COSMOS_TRANSFER_DIR. Skipping clone."
+else
+    echo "Cloning Cosmos Transfer repository into $COSMOS_TRANSFER_DIR..."
+    git clone [email protected]:nvidia-cosmos/cosmos-transfer1.git "$COSMOS_TRANSFER_DIR"
+fi
+
+pushd "$COSMOS_TRANSFER_DIR"
+git checkout bf54a70a8c44d615620728c493ee26b4376ccfd6
+git submodule update --init --recursive
+pip install -r requirements.txt
+# Patch Transformer engine linking issues in conda environments.
+ln -sf $CONDA_PREFIX/lib/python3.10/site-packages/nvidia/*/include/* $CONDA_PREFIX/include/
+ln -sf $CONDA_PREFIX/lib/python3.10/site-packages/nvidia/*/include/* $CONDA_PREFIX/include/python3.10
+pip install transformer-engine[pytorch]==1.12.0
+
+CUDA_HOME=$CONDA_PREFIX PYTHONPATH=$(pwd) python scripts/test_environment.py
+popd
+
+echo "Cosmos Transfer Dependencies Installation Finished"

tools/env_setup/install_gr00tn1.sh

@@ -0,0 +1,57 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+# http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -e
+
+# Get the parent directory of the current script
+# Assuming this script is in tools/env_setup/
+PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd ../.. && pwd)"
+
+# Assuming bash_utils.sh is in $PROJECT_ROOT/tools/env_setup/bash_utils.sh
+source "$PROJECT_ROOT/tools/env_setup/bash_utils.sh"
+
+check_project_root
+
+echo "--- Installing GR00T N1 Policy Dependencies ---"
+
+GR00T_DIR="$PROJECT_ROOT/third_party/Isaac-GR00T"
+
+if [ -d "$GR00T_DIR" ]; then
+    echo "Isaac-GR00T directory already exists at $GR00T_DIR. Using existing clone."
+else
+    echo "Cloning Isaac-GR00T repository into $GR00T_DIR..."
+    # Ensure parent third_party dir exists
+    mkdir -p "$PROJECT_ROOT/third_party"
+    git clone https://github.com/NVIDIA/Isaac-GR00T "$GR00T_DIR"
+fi
+
+pushd "$GR00T_DIR"
+
+# Update pyav dependency in pyproject.toml if not already done
+if grep -q "pyav" pyproject.toml; then
+    echo "Updating pyav to av in Isaac-GR00T's pyproject.toml..."
+    sed -i 's/pyav/av/' pyproject.toml
+else
+    echo "pyav already updated to av or not found in Isaac-GR00T's pyproject.toml."
+fi
+
+pip install -e .
+popd
+
+pip install --no-build-isolation flash-attn==2.7.1.post4
+
+echo "GR00T N1 Policy Dependencies installed."

tools/env_setup/install_holoscan.sh

@@ -0,0 +1,47 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+# http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -e
+
+# Get the parent directory of the current script
+# Assuming this script is in tools/env_setup/
+PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd ../.. && pwd)"
+
+# Assuming bash_utils.sh is in $PROJECT_ROOT/tools/env_setup/bash_utils.sh
+source "$PROJECT_ROOT/tools/env_setup/bash_utils.sh"
+
+check_project_root
+check_conda_env
+
+conda install -c conda-forge gcc=13.3.0 -y
+pip install holoscan==2.9.0
+
+HOLOSCAN_DIR=$PROJECT_ROOT/workflows/robotic_ultrasound/scripts/holoscan_apps/
+
+echo "Building Holoscan Apps..."
+pushd $HOLOSCAN_DIR
+
+# clean previous downloads and builds
+rm -rf build
+rm -rf clarius_solum/include
+rm -rf clarius_solum/lib
+rm -rf clarius_cast/include
+rm -rf clarius_cast/lib
+cmake -B build -S . && cmake --build build
+
+popd
+echo "Holoscan Apps build completed!"

tools/env_setup/install_isaac.sh

@@ -20,41 +20,34 @@ set -e
 # Get the parent directory of the current script
 PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd ../.. && pwd)"
 
+# Source utility functions
+source "$PROJECT_ROOT/tools/env_setup/bash_utils.sh"
+
 # Check if running in a conda environment
-if [ -z "$CONDA_DEFAULT_ENV" ]; then
-    echo "Error: No active conda environment detected"
-    echo "Please activate a conda environment before running this script"
-    exit 1
-fi
-echo "Using conda environment: $CONDA_DEFAULT_ENV"
+check_conda_env
 
 # Check if NVIDIA GPU is available
-if ! nvidia-smi &> /dev/null; then
-    echo "Error: NVIDIA GPU not found or driver not installed"
-    exit 1
-fi
-
-# Check if the third_party directory exists, if yes, then exit
-if [ -d "$PROJECT_ROOT/third_party" ]; then
-    echo "Error: third_party directory already exists"
-    echo "Please remove the third_party directory before running this script"
-    exit 1
-fi
+check_nvidia_gpu
 
-# ---- Clone IsaacLab ----
-echo "Cloning IsaacLab..."
-# CLONING REPOSITORIES INTO PROJECT_ROOT/third_party
-echo "Cloning repositories into $PROJECT_ROOT/third_party..."
-mkdir $PROJECT_ROOT/third_party
-git clone -b v2.0.2 [email protected]:isaac-sim/IsaacLab.git $PROJECT_ROOT/third_party/IsaacLab
-pushd $PROJECT_ROOT/third_party/IsaacLab
+# Ensure the parent third_party directory exists
+mkdir -p "$PROJECT_ROOT/third_party"
 
-# ---- Install IsaacSim and necessary dependencies ----
+# ---- Install IsaacSim ----
 echo "Installing IsaacSim..."
 pip install 'isaacsim[all,extscache]==4.5.0' \
     git+ssh://[email protected]/isaac-for-healthcare/[email protected] \
     --extra-index-url https://pypi.nvidia.com
 
+ISAACLAB_DIR="$PROJECT_ROOT/third_party/IsaacLab"
+
+if [ -d "$ISAACLAB_DIR" ]; then
+    echo "IsaacLab directory already exists at $ISAACLAB_DIR. Skipping clone. Will use existing."
+else
+    echo "Cloning IsaacLab repository into $ISAACLAB_DIR..."
+    git clone -b v2.0.2 [email protected]:isaac-sim/IsaacLab.git "$ISAACLAB_DIR"
+fi
+
+pushd "$ISAACLAB_DIR"
 echo "Installing IsaacLab ..."
 yes Yes | ./isaaclab.sh --install
 popd

tools/env_setup/install_pi0.sh

@@ -0,0 +1,97 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+# http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -e
+
+# Assuming this script is in tools/env_setup/
+PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd ../.. && pwd)"
+
+# Assuming bash_utils.sh is in $PROJECT_ROOT/tools/env_setup/bash_utils.sh
+source "$PROJECT_ROOT/tools/env_setup/bash_utils.sh"
+
+check_project_root
+
+echo "Cloning OpenPI repository..."
+OPENPI_DIR="$PROJECT_ROOT/third_party/openpi"
+
+if [ -d "$OPENPI_DIR" ]; then
+    echo "OpenPI directory already exists at $OPENPI_DIR. Skipping clone."
+    exit 1
+else
+    git clone [email protected]:Physical-Intelligence/openpi.git "$OPENPI_DIR"
+fi
+
+pushd "$OPENPI_DIR"
+git checkout 581e07d73af36d336cef1ec9d7172553b2332193
+
+# Update python version in pyproject.toml
+pyproject_path="$OPENPI_DIR/pyproject.toml"
+echo "Patching OpenPI pyproject.toml..."
+sed -i.bak \
+    -e 's/requires-python = ">=3.11"/requires-python = ">=3.10"/' \
+    -e 's/"s3fs>=2024.9.0"/"s3fs==2024.9.0"/' \
+    "$pyproject_path"
+
+# Apply temporary workaround for openpi/src/openpi/shared/download.py
+file_path="$OPENPI_DIR/src/openpi/shared/download.py"
+echo "Patching OpenPI download.py..."
+# Comment out specific import lines
+sed -i.bak \
+    -e 's/^import boto3\.s3\.transfer as s3_transfer/# import boto3.s3.transfer as s3_transfer/' \
+    -e 's/^import s3transfer\.futures as s3_transfer_futures/# import s3transfer.futures as s3_transfer_futures/' \
+    -e 's/^from types_boto3_s3\.service_resource import ObjectSummary/# from types_boto3_s3.service_resource import ObjectSummary/' \
+    "$file_path"
+# Remove the type hint
+sed -i.bak -e 's/)[[:space:]]*-> s3_transfer\.TransferManager[[:space:]]*:/):/' "$file_path"
+# Modify the datetime line
+sed -i.bak -e 's/datetime\.UTC/datetime.timezone.utc/' "$file_path"
+
+# Modify the type hints in training/utils.py to use Any instead of optax types
+utils_path="$OPENPI_DIR/src/openpi/training/utils.py"
+echo "Patching OpenPI utils.py..."
+sed -i.bak \
+    -e 's/opt_state: optax\.OptState/opt_state: Any/' \
+    "$utils_path"
+
+# Remove the backup files
+rm "$pyproject_path.bak" "$file_path.bak" "$utils_path.bak"
+
+# Add training script to openpi module
+echo "Copying OpenPI utility scripts..."
+if [ ! -f src/openpi/train.py ]; then
+    cp scripts/train.py src/openpi/train.py
+fi
+if [ ! -f src/openpi/compute_norm_stats.py ]; then
+    cp scripts/compute_norm_stats.py src/openpi/compute_norm_stats.py
+fi
+
+popd # Back to PROJECT_ROOT
+
+echo "Installing OpenPI Client..."
+pip install -e $OPENPI_DIR/packages/openpi-client/
+echo "Installing OpenPI Core..."
+pip install -e $OPENPI_DIR/
+
+# Revert the "import changes of "$file_path after installation to prevent errors
+echo "Reverting temporary patches in OpenPI download.py..."
+file_path_revert="$OPENPI_DIR/src/openpi/shared/download.py"
+sed -i \
+    -e 's/^# import boto3\.s3\.transfer as s3_transfer/import boto3.s3.transfer as s3_transfer/' \
+    -e 's/^# import s3transfer\.futures as s3_transfer_futures/import s3transfer.futures as s3_transfer_futures/' \
+    -e 's/^# from types_boto3_s3\.service_resource import ObjectSummary/from types_boto3_s3.service_resource import ObjectSummary/' \
+    "$file_path_revert"
+echo "PI0 Dependencies installed."