test env1

gistfile1.txt

#!/bin/bash
set -e  # Exit on error

echo "🚀 Starting OpenPI Remote Server Setup..."

# 1. Install System Dependencies
echo "📦 Installing system dependencies..."
sudo apt-get update
# libgl1-mesa-glx is deprecated in Ubuntu 22.04+, using libgl1 instead
sudo apt-get install -y git python3.10 python3.10-venv tmux libgl1 libglib2.0-0


# 2. Install uv (Python package manager)
if ! command -v uv &> /dev/null; then
    echo "📦 Installing uv..."
    curl -LsSf https://astral.sh/uv/install.sh | sh
    source $HOME/.local/bin/env
else
    echo "✅ uv is already installed"
fi

# Ensure uv is in PATH for this session
export PATH="$HOME/.local/bin:$PATH"

# 3. Clone Repository
if [ ! -d "openpi" ]; then
    echo "⬇️ Cloning openpi..."
    git clone --recurse-submodules https://github.com/Physical-Intelligence/openpi.git
else
    echo "✅ openpi directory exists, pulling latest..."
    cd openpi
    git pull
    git submodule update --init --recursive
    cd ..
fi

cd openpi

# 4. Install Python Dependencies
echo "🐍 Installing Python dependencies..."
GIT_LFS_SKIP_SMUDGE=1 uv sync
GIT_LFS_SKIP_SMUDGE=1 uv pip install -e .

# 5. Configure Environment (Fix for /tmp issues)
echo "🔧 Configuring environment..."
mkdir -p tmp
export TMPDIR=$(pwd)/tmp
echo "   Using local temp directory: $TMPDIR"

# Optional: Clean cache if requested
if [ "$CLEAN_CACHE" == "1" ]; then
    echo "🧹 CLEAN_CACHE=1 detected. Deleting checkpoint cache..."
    rm -rf ~/.cache/openpi/openpi-assets/checkpoints/pi0_aloha_sim
    echo "   Cache cleared."
fi

# 6. Start Server
echo "🚀 Starting Policy Server (ALOHA_SIM)..."

echo "   Listening on port 8000..."

# Check if port is in use
if lsof -ti:8000; then
    echo "⚠️  Port 8000 is in use. Killing process..."
    lsof -ti:8000 | xargs kill -9
fi

uv run scripts/serve_policy.py --env ALOHA_SIM