Include cosmos transfer1 dependency

tools/env_setup/install_cosmos_transfer1.sh

@@ -22,10 +22,8 @@ set -e
 PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd ../.. && pwd)"
 
 # Source utility functions
-# Assuming bash_utils.sh is in $PROJECT_ROOT/tools/env_setup/bash_utils.sh
 source "$PROJECT_ROOT/tools/env_setup/bash_utils.sh"
 
-# Perform necessary checks if needed by this script, e.g.:
 check_project_root
 check_conda_env
 
@@ -44,6 +42,7 @@ 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

tools/env_setup/install_gr00tn1.sh

@@ -21,13 +21,11 @@ set -e
 # Assuming this script is in tools/env_setup/
 PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd ../.. && pwd)"
 
-# Source utility functions
 # Assuming bash_utils.sh is in $PROJECT_ROOT/tools/env_setup/bash_utils.sh
 source "$PROJECT_ROOT/tools/env_setup/bash_utils.sh"
 
-# Perform necessary checks
 check_project_root
-check_conda_env # Ensure conda environment is still active
+check_conda_env
 
 echo "--- Installing GR00T N1 Policy Dependencies ---"
 
@@ -43,8 +41,6 @@ else
 fi
 
 pushd "$GR00T_DIR"
-# Note: The original script did not specify a commit for Isaac-GR00T.
-# If a specific commit becomes necessary, add a git checkout here.
 
 # Update pyav dependency in pyproject.toml if not already done
 if grep -q "pyav" pyproject.toml; then

tools/env_setup/install_holoscan.sh

@@ -21,11 +21,9 @@ set -e
 # Assuming this script is in tools/env_setup/
 PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd ../.. && pwd)"
 
-# Source utility functions
 # Assuming bash_utils.sh is in $PROJECT_ROOT/tools/env_setup/bash_utils.sh
 source "$PROJECT_ROOT/tools/env_setup/bash_utils.sh"
 
-# Perform necessary checks if needed by this script, e.g.:
 check_project_root
 check_conda_env
 

tools/env_setup/install_isaac.sh

@@ -29,7 +29,6 @@ check_conda_env
 # Check if NVIDIA GPU is available
 check_nvidia_gpu
 
-
 # Ensure the parent third_party directory exists
 mkdir -p "$PROJECT_ROOT/third_party"
 

tools/env_setup/install_pi0.sh

@@ -17,50 +17,39 @@
 
 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
 # Assuming bash_utils.sh is in $PROJECT_ROOT/tools/env_setup/bash_utils.sh
 source "$PROJECT_ROOT/tools/env_setup/bash_utils.sh"
 
-# Perform necessary checks
 check_project_root
-check_conda_env # Ensure conda environment is still active
-
-echo "--- Installing PI0 Policy Dependencies ---" # Combined echo
+check_conda_env
 
+echo "Cloning OpenPI repository..."
 OPENPI_DIR="$PROJECT_ROOT/third_party/openpi"
 
 if [ -d "$OPENPI_DIR" ]; then
-    echo "OpenPI directory already exists at $OPENPI_DIR. Using existing clone."
-    # Optionally, you might want to add a git pull or reset --hard to a specific commit here
-    # For now, we assume if it exists, its state is managed or acceptable for re-running patches/install.
+    echo "OpenPI directory already exists at $OPENPI_DIR. Skipping clone."
+    exit 1
 else
-    echo "Cloning OpenPI repository into $OPENPI_DIR..."
-    # Ensure parent third_party dir exists
-    mkdir -p "$PROJECT_ROOT/third_party"
     git clone [email protected]:Physical-Intelligence/openpi.git "$OPENPI_DIR"
 fi
 
 pushd "$OPENPI_DIR"
-# Checkout the specific commit regardless of whether it was just cloned or already existed
-echo "Ensuring OpenPI is on commit 581e07d..."
-git fetch origin --tags # Ensure commit is available
 git checkout 581e07d73af36d336cef1ec9d7172553b2332193
 
 # Update python version in pyproject.toml
 pyproject_path="$OPENPI_DIR/pyproject.toml"
-echo "Patching OpenPI pyproject.toml ($pyproject_path)..."
+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="$OPENPI_DIR/src/openpi/shared/download.py"
-echo "Patching OpenPI download.py ($file_path)..."
+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/' \
@@ -74,13 +63,13 @@ 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="$OPENPI_DIR/src/openpi/training/utils.py"
-echo "Patching OpenPI utils.py ($utils_path)..."
+echo "Patching OpenPI utils.py..."
 sed -i.bak \
     -e 's/opt_state: optax\.OptState/opt_state: Any/' \
     "$utils_path"
 
-# Remove the backup files if they exist
-rm -f "$pyproject_path.bak" "$file_path.bak" "$utils_path.bak"
+# Remove the backup files
+rm "$pyproject_path.bak" "$file_path.bak" "$utils_path.bak"
 
 # Add training script to openpi module
 echo "Copying OpenPI utility scripts..."
@@ -91,18 +80,19 @@ if [ ! -f src/openpi/compute_norm_stats.py ]; then
     cp scripts/compute_norm_stats.py src/openpi/compute_norm_stats.py
 fi
 
-popd
+popd # Back to PROJECT_ROOT
 
 echo "Installing OpenPI Client..."
-pip install -e "$OPENPI_DIR/packages/openpi-client/"
+pip install -e $OPENPI_DIR/packages/openpi-client/
 echo "Installing OpenPI Core..."
-pip install -e "$OPENPI_DIR/"
+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)..."
+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"
+    "$file_path_revert"
 echo "PI0 Dependencies installed."

tools/env_setup_robot_surgery.sh

@@ -18,7 +18,7 @@
 set -e
 
 # Get the parent directory of the current script
-PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && cd .. && pwd)"
 source "$PROJECT_ROOT/tools/env_setup/bash_utils.sh"
 
 # Check if running in a conda environment