03d9a5b909
- Fix USD metersPerUnit/upAxis for IS 5.0.0 (no longer auto-compensated) - Batch fix all Aligned_obj.usd, table, and art USD files with backups - Fix DomeLight rotation to Z-axis only (prevent tilted environment map) - Fix scene reuse across episodes (arena_file caching, task clearing, prim guard) - Add migration tools: scan_usd_metadata.py, fix_usd_metadata.py - Add migration guide: migerate/migerate.md - Add nvidia-curobo to .gitignore - Fix sort_the_rubbish config: obj_0 -> obj_1 (obj_0 does not exist) Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
33 lines
1.1 KiB
Markdown
33 lines
1.1 KiB
Markdown
conda create -n banana450 python=3.10
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conda activate banana450
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# 看看12.8安装了么？
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conda list | grep cuda
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# 安装12.8
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conda install -y cuda-toolkit=12.8
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# 其他的cuda版本在conda中的需要卸载
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conda list | grep cuda
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source ~/isaacsim450/setup_conda_env.sh
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# 导入conda环境的12.8cuda环境
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export CUDA_HOME="$CONDA_PREFIX"
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export PATH="$CONDA_PREFIX/bin:$PATH"
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# 看一下应该是12.8
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nvcc -V
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# 换掉torch版本，换成cu128编译的版本
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pip list | grep torch
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pip install torch==2.7.0 torchvision==0.22.0 torchaudio==2.7.0 --index-url https://download.pytorch.org/whl/cu128
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pip list | grep torch
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pip install -r requirements.txt
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pip list | grep cuda
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# 卸载掉cu11的那些包
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pip uninstall nvidia-cuda-cupti-cu11 nvidia-cuda-nvrtc-cu11 nvidia-cuda-runtime-cu11
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# 安装curobo
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cd workflows/simbox/curobo
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# 12.0是显卡的算力 要自己去查 不要信AI的 PRO6000是12.0
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export TORCH_CUDA_ARCH_LIST="12.0+PTX"
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pip install -e .[isaacsim] --no-build-isolation
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# 降级numpy
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pip install numpy==1.26.0
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pip install opencv-python==4.11.0.86
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python launcher.py --config configs/simbox/de_plan_and_render_template.yaml |