conda create -n banana450 python=3.10
conda activate banana450
# 看看12.8安装了么？
conda list | grep cuda 
# 安装12.8
conda install -y cuda-toolkit=12.8 
# 其他的cuda版本在conda中的需要卸载
conda list | grep cuda 
source ~/isaacsim450/setup_conda_env.sh 
# 导入conda环境的12.8cuda环境
export CUDA_HOME="$CONDA_PREFIX"
export PATH="$CONDA_PREFIX/bin:$PATH"
# 看一下应该是12.8
nvcc -V 
# 换掉torch版本，换成cu128编译的版本
pip list | grep torch
pip install torch==2.7.0 torchvision==0.22.0 torchaudio==2.7.0 --index-url https://download.pytorch.org/whl/cu128
pip list | grep torch
pip install -r requirements.txt
pip list | grep cuda
# 卸载掉cu11的那些包
pip uninstall nvidia-cuda-cupti-cu11 nvidia-cuda-nvrtc-cu11 nvidia-cuda-runtime-cu11

# 安装curobo
cd workflows/simbox/curobo
# 12.0是显卡的算力 要自己去查 不要信AI的 PRO6000是12.0
export TORCH_CUDA_ARCH_LIST="12.0+PTX"
pip install -e .[isaacsim] --no-build-isolation

# 降级numpy
pip install numpy==1.26.0
pip install opencv-python==4.11.0.86
python launcher.py --config configs/simbox/de_plan_and_render_template.yaml