#!/bin/bash

set -eo pipefail

PROJECT_ROOT=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)

# default

DEFAULT_VENV_DIR="$PROJECT_ROOT/.venv"

DEFAULT_PYTHON_VERSION="3.10"

# user-defined

VENV_DIR="${VENV_DIR:-$DEFAULT_VENV_DIR}"

PYTHON_VERSION="${PYTHON_VERSION:-$DEFAULT_PYTHON_VERSION}"

declare -A INSTALLED_ENVS=()

create_env() {

local env_name=$1

local python_version=$2

export UV_HTTP_TIMEOUT=1200

echo -e "\n🌟 Creating environment for \033[1;34m${env_name}\033[0m..."

local env_path="$VENV_DIR/$env_name"

if [[ -d "$env_path" ]]; then

echo -e "\n⚠️ Environment \033[1;31m${env_name}\033[0m already exists, skipping creation"

INSTALLED_ENVS["$env_name"]=1

source "$env_path/bin/activate"

uv python pin $python_version

return

fi

echo -e "🐍 Creating Python $python_version virtual environment..."

if ! uv venv "$env_path" --python $python_version; then

echo -e "❌ \033[1;31mFailed to create virtual environment\033[0m" >&2

exit 1

fi

local python_path="$env_path/bin/python"

if [[ ! -f "$python_path" ]]; then

echo -e "❌ \033[1;31mPython executable not found in virtual environment\033[0m" >&2

exit 1

fi

INSTALLED_ENVS["$env_name"]=1

echo "Python version: $("$python_path" --version)"

echo "Python path: $python_path"

source "$env_path/bin/activate"

uv python pin $python_version

}

##############################################################

# Install base requirements

##############################################################

install_base_requirements() {

echo -e "\n📦 Installing framework base dependencies..."

if [[ -z "${VIRTUAL_ENV:-}" ]]; then

echo -e "❌ \033[1;31mNo virtual environment activated\033[0m" >&2

exit 1

fi

cd "$PROJECT_ROOT"

uv pip install -e . || {

echo -e "❌ \033[1;31mFailed to install InternManip base dependencies\033[0m" >&2

exit 1

}

}

##############################################################

# Validate virtualenv directory

##############################################################

check_venv_dir() {

if [[ ! -d "$VENV_DIR" ]]; then

mkdir -p "$VENV_DIR"

echo "📁 Created virtualenv directory: ${VENV_DIR}"

fi

}

##############################################################

# Install Calvin benchmark dependencies

##############################################################

install_calvin() {

check_venv_dir

create_env "${CALVIN_ENV_NAME:-"calvin"}" "${PYTHON_VERSION}"

if [[ -z "${VIRTUAL_ENV:-}" ]]; then

echo -e "❌ \033[1;31mFailed to activate virtual environment\033[0m" >&2

exit 1

fi

echo -e "\n🔗 Installing Calvin benchmark dependencies..."

echo -e "📍 Virtual environment: ${VIRTUAL_ENV}"

echo -e "📍 Python version: $(python --version)"

local calvin_root="${PROJECT_ROOT}/internmanip/benchmarks/calvin"

if [[ ! -d "$calvin_root" ]]; then

echo -e "❌ \033[1;31mCalvin directory not found: ${calvin_root}\033[0m" >&2

exit 1

fi

export CALVIN_ROOT="$calvin_root"

cd "$CALVIN_ROOT" || { echo -e "❌ \033[1;31mFailed to enter Calvin benchmark root directory\033[0m" >&2; exit 1; }

uv pip install wheel cmake==3.18.4

cd calvin_env/tacto

uv pip install -e .

cd ..

uv pip install -e .

cd ../calvin_models

uv pip install setuptools==57.5.0

uv pip install "pip<23.0"

pip install pyhash==0.9.3

uv pip install -e .

install_base_requirements

uv pip install "networkx>=3.0"

uv pip install numpy==1.23.5

cd "$PROJECT_ROOT"

deactivate

echo -e "✅ \033[1;32mCalvin dependencies installed\033[0m"

}

##############################################################

# Install SimplerEnv benchmark dependencies

##############################################################

install_simpler_env() {

check_venv_dir

create_env "${SIMPLER_ENV_NAME:-"simpler_env"}" "${PYTHON_VERSION}"

if [[ -z "${VIRTUAL_ENV:-}" ]]; then

echo -e "❌ \033[1;31mFailed to activate virtual environment\033[0m" >&2

exit 1

fi

echo -e "\n🔗 Installing SimplerEnv dependencies..."

echo -e "📍 Virtual environment: ${VIRTUAL_ENV}"

echo -e "📍 Python version: $(python --version)"

local simpler_env_dir="${PROJECT_ROOT}/internmanip/benchmarks/SimplerEnv"

if [[ ! -d "$simpler_env_dir" ]]; then

echo -e "❌ \033[1;31mSimplerEnv directory not found: ${simpler_env_dir}\033[0m" >&2

exit 1

fi

cd "${simpler_env_dir}/ManiSkill2_real2sim" || { echo -e "❌ \033[1;31mFailed to enter ManiSkill2_real2sim directory\033[0m" >&2; exit 1; }

set -x

uv pip install "setuptools==65.5.0"

uv pip install -e . || { echo -e "❌ \033[1;31mFailed to install ManiSkill2_real2sim\033[0m" >&2; exit 1; }

cd ..

uv pip install -e . || { echo -e "❌ \033[1;31mFailed to install SimplerEnv\033[0m" >&2; exit 1; }

uv pip install --no-cache-dir -r requirements_full_install.txt || { echo -e "⚠️ \033[1;33mWarning: Some SimplerEnv dependencies failed to install due to network issues\033[0m" >&2; }

uv pip install torch transforms3d

set +x

install_base_requirements

cd "$PROJECT_ROOT"

deactivate

echo -e "✅ \033[1;32mSimplerEnv dependencies installed\033[0m"

}

##############################################################

# Install GenManip benchmark dependencies

##############################################################

install_genmanip() {

echo -e "\n🔗 Installing GenManip dependencies..."

if [[ ! -d "internmanip/benchmarks/genmanip/utils/InternUtopia" ]]; then

git submodule add --force https://github.com/InternRobotics/InternUtopia.git internmanip/benchmarks/genmanip/utils/InternUtopia

fi

cd $PROJECT_ROOT/internmanip/benchmarks/genmanip/utils/InternUtopia

git checkout tags/v2.2.1

echo "If you haven't installed Isaac Sim yet, please do so before running this setup script."

read -p "If you have already installed it in a custom location, please type in the path containing isaac-sim.sh here >>> " ISAAC_SIM_PATH

{

echo "$ISAAC_SIM_PATH"

echo "genmanip"

} | ./setup_conda.sh

source $(conda info --base)/etc/profile.d/conda.sh

conda activate genmanip

cd $PROJECT_ROOT/internmanip/benchmarks/genmanip/utils/curobo

pip install -e . --no-build-isolation

cd $PROJECT_ROOT

pip install -e .

pip install lmdb==1.6.2 open3d==0.19.0 shapely==2.1.1 concave_hull==0.0.9 roboticstoolbox-python==1.1.1

conda deactivate

echo -e "Use \033[1;33mconda activate genmanip\033[0m to activate the environment"

echo -e "✅ \033[1;32mGenManip dependencies installed\033[0m"

}

##############################################################

# Install model dependencies

##############################################################

install_model() {

check_venv_dir

create_env "${MODEL_ENV_NAME:-"model"}" "${PYTHON_VERSION}"

if [[ -z "${VIRTUAL_ENV:-}" ]]; then

echo -e "❌ \033[1;31mFailed to activate virtual environment\033[0m" >&2

exit 1

fi

echo -e "🔍 Checking system requirements..."

if [[ -f /etc/os-release ]]; then

source /etc/os-release

if [[ "$ID" == "ubuntu" ]]; then

case "$VERSION_ID" in

"20.04"|"22.04")

echo -e "✅ Ubuntu version check passed: $VERSION_ID"

;;

*)

echo -e "⚠️ \033[1;33mWarning: Current Ubuntu version is $VERSION_ID, recommended to use 20.04 or 22.04\033[0m"

;;

esac

else

echo -e "⚠️ \033[1;33mWarning: Current system is not Ubuntu, recommended to use Ubuntu 20.04 or 22.04\033[0m"

fi

else

echo -e "⚠️ \033[1;33mWarning: Unable to detect system version\033[0m"

fi

cuda_detected=false

cuda_version=""

if command -v nvcc &> /dev/null; then

cuda_version=$(nvcc --version | grep "release" | awk '{print $6}' | cut -c2-)

cuda_detected=true

echo -e "📍 CUDA detected via nvcc: $cuda_version"

fi

if command -v nvidia-smi &> /dev/null; then

runtime_cuda=$(nvidia-smi | grep "CUDA Version" | awk '{print $9}')

if [[ -n "$runtime_cuda" ]]; then

echo -e "📍 CUDA runtime detected via nvidia-smi: $runtime_cuda"

if [[ "$cuda_detected" == false ]]; then

cuda_version="$runtime_cuda"

cuda_detected=true

fi

fi

fi

if [[ "$cuda_detected" == true ]]; then

cuda_major_minor=$(echo "$cuda_version" | cut -d'.' -f1,2)

if [[ "$cuda_major_minor" == "12.4" ]]; then

echo -e "✅ CUDA version check passed: $cuda_version"

else

echo -e "⚠️ \033[1;33mWarning: Current CUDA version is $cuda_version, recommended to use CUDA 12.4\033[0m"

fi

else

echo -e "⚠️ \033[1;33mWarning: CUDA not detected. Please ensure CUDA 12.4 is installed\033[0m"

fi

echo -e "\n🔍 Checking additional system dependencies required by Gr00t models: ffmpeg, libsm6, libxext6..."

if command -v ffmpeg &> /dev/null; then

echo -e "✅ ffmpeg is installed"

else

echo -e "⚠️ \033[1;33mWarning: ffmpeg is not installed. Please install it using: sudo apt-get install ffmpeg\033[0m"

fi

if dpkg -l | grep -q libsm6; then

echo -e "✅ libsm6 is installed"

else

echo -e "⚠️ \033[1;33mWarning: libsm6 is not installed. Please install it using: sudo apt-get install libsm6\033[0m"

fi

if dpkg -l | grep -q libxext6; then

echo -e "✅ libxext6 is installed"

else

echo -e "⚠️ \033[1;33mWarning: libxext6 is not installed. Please install it using: sudo apt-get install libxext6\033[0m"

fi

echo -e "\n📋 To install all missing dependencies at once, run:"

echo -e " sudo apt-get update && sudo apt-get install ffmpeg libsm6 libxext6"

echo -e "\n🔍 Installing model dependencies..."

echo -e "📍 Virtual environment: ${VIRTUAL_ENV}"

echo -e "📍 Python version: $(python --version)"

uv pip install --upgrade setuptools

uv pip install "git+https://github.com/NVIDIA/Isaac-GR00T.git#egg=isaac-gr00t[base]" || { echo -e "⚠️ \033[1;33mWarning: Failed to install GR00T dependencies due to network issues\033[0m" >&2; }

echo -e "📦 Installing flash-attn module..."

uv pip install --no-build-isolation flash-attn==2.7.1.post4 || { echo -e "⚠️ \033[1;33mWarning: Failed to install flash-attn due to network issues\033[0m" >&2; }

uv pip install draccus

uv pip install transforms3d

install_base_requirements

deactivate

echo -e "✅ \033[1;32mModel dependencies installed\033[0m"

}

##############################################################

# Install model dependencies by building from source

##############################################################

install_model_bfs() {

check_venv_dir

create_env "${MODEL_BFS_ENV_NAME:-"model_bfs"}" "${PYTHON_VERSION}"

if [[ -z "${VIRTUAL_ENV:-}" ]]; then

echo -e "❌ \033[1;31mFailed to activate virtual environment\033[0m" >&2

exit 1

fi

echo -e "\n🔧 Installing Isaac-GR00T from source (build from source)..."

TMP_DIR=$(mktemp -d)

echo "Using temporary directory: $TMP_DIR"

cd "$TMP_DIR" || { echo -e "❌ \033[1;31mFailed to enter temporary directory\033[0m" >&2; exit 1; }

if ! git clone https://github.com/NVIDIA/Isaac-GR00T.git; then

echo -e "❌ \033[1;31mFailed to clone Isaac-GR00T repository\033[0m" >&2

cd "$PROJECT_ROOT"

exit 1

fi

mv Isaac-GR00T .gr00t

cd .gr00t || { echo -e "❌ \033[1;31mFailed to enter .gr00t directory\033[0m" >&2; cd "$PROJECT_ROOT"; exit 1; }

uv pip install --upgrade setuptools || { echo -e "❌ \033[1;31mFailed to upgrade setuptools\033[0m" >&2; cd "$PROJECT_ROOT"; exit 1; }

uv pip install -e .[base] || { echo -e "❌ \033[1;31mFailed to install Isaac-GR00T base dependencies\033[0m" >&2; cd "$PROJECT_ROOT"; exit 1; }

uv pip install --no-build-isolation flash-attn==2.7.1.post4 || { echo -e "❌ \033[1;31mFailed to install flash-attn module\033[0m" >&2; cd "$PROJECT_ROOT"; exit 1; }

cd "$PROJECT_ROOT" || exit 1

uv pip install draccus

uv pip install transforms3d

install_base_requirements

deactivate

echo -e "✅ \033[1;32mmodel (build from source) dependencies installed\033[0m"

}

##############################################################

# Main entry point

##############################################################

main() {

local install_all=false

local install_beginner=false

if [[ $# -eq 0 ]] || [[ "$1" == "--help" ]]; then

echo -e "\033[1mUsage:\033[0m"

echo " --calvin [NAME] Create Calvin benchmark virtual environment and install dependencies"

echo " --simpler-env [NAME] Create SimplerEnv benchmark virtual environment and install dependencies"

echo " --genmanip [NAME] Create GenManip benchmark virtual environment and install dependencies"

echo " --model [NAME] Create model virtual environment and install dependencies"

echo " --model_bfs [NAME] Create model virtual environment and build from source"

echo " --all Create all virtual environments and install dependencies (recommended for advanced users)"

echo " --beginner Create beginner virtual environments and install dependencies (without genmanip, recommended for beginners)"

echo ""

echo -e "\033[1mCustomization Options:\033[0m"

echo " --venv-dir DIR Set custom virtual environment root directory (default: .venv)"

echo " --python-version V Set default Python version (recommended default: 3.10)"

echo ""

echo -e "\033[1mExamples:\033[0m"

echo " ./install.sh --venv-dir ./my_envs --model"

echo " ./install.sh --calvin calvin-test --model model-test"

echo " ./install.sh --python-version 3.10 --calvin calvin-dev --simpler-env simpler-dev"

echo " ./install.sh --all"

echo " ./install.sh --beginner"

echo " ./install.sh --model_bfs"

echo " --help Show help information"

exit 0

fi

local args=("$@")

local install_commands=()

local i=0

while (( i < ${#args[@]} )); do

case "${args[i]}" in

--venv-dir)

VENV_DIR="${args[i+1]}"

((i += 2))

;;

--python-version)

PYTHON_VERSION="${args[i+1]}"

((i += 2))

;;

--calvin|--simpler-env|--genmanip|--model|--model_bfs|--all|--beginner)

install_commands+=("${args[i]}")

if [[ -n "${args[i+1]}" && "${args[i+1]}" != --* ]]; then

install_commands+=("${args[i+1]}")

((i += 2))

else

((i += 1))

fi

;;

*)

echo -e "❌ \033[1;31mInvalid option: ${args[i]}\033[0m" >&2

exit 1

;;

esac

done

# Second pass: handle installation commands

i=0

while (( i < ${#install_commands[@]} )); do

case "${install_commands[i]}" in

--calvin)

if [[ -n "${install_commands[i+1]}" && "${install_commands[i+1]}" != --* ]]; then

CALVIN_ENV_NAME="${install_commands[i+1]}"

((i += 2))

else

((i += 1))

fi

install_calvin

;;

--simpler-env)

if [[ -n "${install_commands[i+1]}" && "${install_commands[i+1]}" != --* ]]; then

SIMPLER_ENV_NAME="${install_commands[i+1]}"

((i += 2))

else

((i += 1))

fi

install_simpler_env

;;

--genmanip)

if [[ -n "${install_commands[i+1]}" && "${install_commands[i+1]}" != --* ]]; then

GENMANIP_ENV_NAME="${install_commands[i+1]}"

((i += 2))

else

((i += 1))

fi

install_genmanip

;;

--model)

if [[ -n "${install_commands[i+1]}" && "${install_commands[i+1]}" != --* ]]; then

MODEL_ENV_NAME="${install_commands[i+1]}"

((i += 2))

else

((i += 1))

fi

install_model

;;

--model_bfs)

if [[ -n "${install_commands[i+1]}" && "${install_commands[i+1]}" != --* ]]; then

MODEL_BFS_ENV_NAME="${install_commands[i+1]}"

((i += 2))

else

((i += 1))

fi

install_model_bfs

;;

--all)

install_all=true

((i += 1))

;;

--beginner)

install_beginner=true

((i += 1))

;;

esac

done

if [[ "$install_all" == true ]]; then

install_calvin

install_simpler_env

install_genmanip

install_model

fi

if [[ "$install_beginner" == true ]]; then

install_calvin

install_simpler_env

install_model

fi

echo -e "\n🎉 \033[1;32mInstallation completed!\033[0m"

echo -e "\033[1mConfiguration:\033[0m"

echo -e " 📁 Virtual environment root directory: ${VENV_DIR}"

echo -e " 🐍 Python version: ${PYTHON_VERSION}"

echo -e "\033[1mNext steps:\033[0m"

for env in "${!INSTALLED_ENVS[@]}"; do

echo -e " 📌 Activate environment ${env}: source ${VENV_DIR}/${env}/bin/activate"

done

}

main "$@"