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Merged
HochCC merged 1 commit into from
Aug 20, 2026
Merged

refactor(env): Refine cuda installation. #89

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53 changes: 53 additions & 0 deletions install/_utils.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,59 @@ try_install() {
}
}

prepare_cxx_runtime_libs() {
local runtime_dir="$CONDA_PREFIX/lib/embodiedgen-runtime"
local runtime_lib

mkdir -p "$runtime_dir"
for runtime_lib in libstdc++.so.6 libgcc_s.so.1; do
if [[ ! -e "$CONDA_PREFIX/lib/$runtime_lib" ]]; then
log_error "Missing required C++ runtime library: $CONDA_PREFIX/lib/$runtime_lib"
return 1
fi
ln -sfn "../$runtime_lib" "$runtime_dir/$runtime_lib"
done
}

write_cuda_deactivation_hook() {
local cuda_variant="$1"
local deactivate_dir="$CONDA_PREFIX/etc/conda/deactivate.d"
local deactivate_hook="$deactivate_dir/cuda${cuda_variant#cu}.sh"

mkdir -p "$deactivate_dir"
rm -f "$deactivate_dir/cuda126.sh" "$deactivate_dir/cuda128.sh"
cat > "$deactivate_hook" <<'HOOK'
_embodiedgen_remove_path() {
local variable_name="$1"
local path_to_remove="$2"
local current_value

if [[ -v "$variable_name" ]]; then
current_value=":${!variable_name}:"
else
current_value=":"
fi
current_value="${current_value//:$path_to_remove:/:}"
current_value="${current_value#:}"
current_value="${current_value%:}"
if [[ -n "$current_value" ]]; then
export "$variable_name=$current_value"
else
unset "$variable_name"
fi
}

_embodiedgen_remove_path LD_LIBRARY_PATH "$CONDA_PREFIX/lib/embodiedgen-runtime"
_embodiedgen_remove_path LD_LIBRARY_PATH "$CONDA_PREFIX/targets/x86_64-linux/lib"
_embodiedgen_remove_path LIBRARY_PATH "$CONDA_PREFIX/targets/x86_64-linux/lib"
_embodiedgen_remove_path CPATH "$CONDA_PREFIX/targets/x86_64-linux/include"
unset -f _embodiedgen_remove_path
unset EMBODIEDGEN_CUDA_VARIANT EMBODIEDGEN_RUNTIME_LIB
unset CUDA_HOME CUDA_PATH CUDA_TARGET_LIB
unset TORCH_CUDA_ARCH_LIST TCNN_CUDA_ARCHITECTURES
HOOK
}

detect_cuda_variant() {
local cuda_variant="cu126"

Expand Down
29 changes: 17 additions & 12 deletions install/install_cu126.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -25,39 +25,43 @@ fi

log_info "Installing CUDA 12.6 toolkit into conda environment: $CONDA_PREFIX"
log_info "Using conda executable: $CONDA_CMD"
CONDA_CHANNEL_ARGS=()
if [[ -n "${EMBODIEDGEN_CUDA_CHANNEL:-}" ]]; then
CONDA_CHANNEL_ARGS=(
--override-channels
-c "$EMBODIEDGEN_CUDA_CHANNEL"
)
log_info "Using CUDA conda channel: $EMBODIEDGEN_CUDA_CHANNEL"
fi

"$CONDA_CMD" install \
-p "$CONDA_PREFIX" \
--override-channels \
-c nvidia \
-c conda-forge \
"${CONDA_CHANNEL_ARGS[@]}" \
cuda-toolkit=12.6 \
cuda-nvcc=12.6 \
-y

log_info "Writing CUDA 12.6 activation hook into the conda environment..."
prepare_cxx_runtime_libs
mkdir -p "$CONDA_PREFIX/etc/conda/activate.d"
rm -f "$CONDA_PREFIX/etc/conda/activate.d/cuda128.sh"
cat > "$CONDA_PREFIX/etc/conda/activate.d/cuda126.sh" <<'HOOK'
export EMBODIEDGEN_CUDA_VARIANT="cu126"
export CUDA_HOME="$CONDA_PREFIX"
export CUDA_PATH="$CONDA_PREFIX"
export CUDA_TARGET_LIB="$CONDA_PREFIX/targets/x86_64-linux/lib"
_cuda_conda_bin="$CONDA_PREFIX/bin"
export EMBODIEDGEN_RUNTIME_LIB="$CONDA_PREFIX/lib/embodiedgen-runtime"
_cuda_conda_lib="$CONDA_PREFIX/lib"
_cuda_conda_lib64="$CONDA_PREFIX/lib64"
_cuda_target_include="$CONDA_PREFIX/targets/x86_64-linux/include"
_cuda_path=":${PATH:-}:"
_cuda_path="${_cuda_path//:$_cuda_conda_bin:/:}"
_cuda_path="${_cuda_path#:}"
_cuda_path="${_cuda_path%:}"
export PATH="$_cuda_conda_bin${_cuda_path:+:$_cuda_path}"
_cuda_ld_path=":${LD_LIBRARY_PATH:-}:"
_cuda_ld_path="${_cuda_ld_path//:$EMBODIEDGEN_RUNTIME_LIB:/:}"
_cuda_ld_path="${_cuda_ld_path//:$CUDA_TARGET_LIB:/:}"
_cuda_ld_path="${_cuda_ld_path//:$_cuda_conda_lib:/:}"
_cuda_ld_path="${_cuda_ld_path//:$_cuda_conda_lib64:/:}"
_cuda_ld_path="${_cuda_ld_path#:}"
_cuda_ld_path="${_cuda_ld_path%:}"
export LD_LIBRARY_PATH="$CUDA_TARGET_LIB${_cuda_ld_path:+:$_cuda_ld_path}"
export LD_LIBRARY_PATH="$EMBODIEDGEN_RUNTIME_LIB:$CUDA_TARGET_LIB${_cuda_ld_path:+:$_cuda_ld_path}"
_cuda_library_path=":${LIBRARY_PATH:-}:"
_cuda_library_path="${_cuda_library_path//:$CUDA_TARGET_LIB:/:}"
_cuda_library_path="${_cuda_library_path#:}"
Expand All @@ -68,10 +72,11 @@ _cuda_cpath="${_cuda_cpath//:$_cuda_target_include:/:}"
_cuda_cpath="${_cuda_cpath#:}"
_cuda_cpath="${_cuda_cpath%:}"
export CPATH="$_cuda_target_include${_cuda_cpath:+:$_cuda_cpath}"
unset _cuda_conda_bin _cuda_conda_lib _cuda_conda_lib64 _cuda_target_include
unset _cuda_path _cuda_ld_path _cuda_library_path _cuda_cpath
unset _cuda_conda_lib _cuda_conda_lib64 _cuda_target_include
unset _cuda_ld_path _cuda_library_path _cuda_cpath
export TORCH_CUDA_ARCH_LIST="${EMBODIEDGEN_TORCH_CUDA_ARCH_LIST:-8.9}"
HOOK
write_cuda_deactivation_hook "cu126"

log_info "Verifying CUDA 12.6 compiler from the active conda environment..."
source "$CONDA_PREFIX/etc/conda/activate.d/cuda126.sh"
Expand Down
16 changes: 7 additions & 9 deletions install/install_cu128.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -42,29 +42,26 @@ fi
-y

log_info "Writing CUDA 12.8 activation hook into the conda environment..."
prepare_cxx_runtime_libs
mkdir -p "$CONDA_PREFIX/etc/conda/activate.d"
rm -f "$CONDA_PREFIX/etc/conda/activate.d/cuda126.sh"
cat > "$CONDA_PREFIX/etc/conda/activate.d/cuda128.sh" <<'HOOK'
export EMBODIEDGEN_CUDA_VARIANT="cu128"
export CUDA_HOME="$CONDA_PREFIX"
export CUDA_PATH="$CONDA_PREFIX"
export CUDA_TARGET_LIB="$CONDA_PREFIX/targets/x86_64-linux/lib"
_cuda_conda_bin="$CONDA_PREFIX/bin"
export EMBODIEDGEN_RUNTIME_LIB="$CONDA_PREFIX/lib/embodiedgen-runtime"
_cuda_conda_lib="$CONDA_PREFIX/lib"
_cuda_conda_lib64="$CONDA_PREFIX/lib64"
_cuda_target_include="$CONDA_PREFIX/targets/x86_64-linux/include"
_cuda_path=":${PATH:-}:"
_cuda_path="${_cuda_path//:$_cuda_conda_bin:/:}"
_cuda_path="${_cuda_path#:}"
_cuda_path="${_cuda_path%:}"
export PATH="$_cuda_conda_bin${_cuda_path:+:$_cuda_path}"
_cuda_ld_path=":${LD_LIBRARY_PATH:-}:"
_cuda_ld_path="${_cuda_ld_path//:$EMBODIEDGEN_RUNTIME_LIB:/:}"
_cuda_ld_path="${_cuda_ld_path//:$CUDA_TARGET_LIB:/:}"
_cuda_ld_path="${_cuda_ld_path//:$_cuda_conda_lib:/:}"
_cuda_ld_path="${_cuda_ld_path//:$_cuda_conda_lib64:/:}"
_cuda_ld_path="${_cuda_ld_path#:}"
_cuda_ld_path="${_cuda_ld_path%:}"
export LD_LIBRARY_PATH="$CUDA_TARGET_LIB${_cuda_ld_path:+:$_cuda_ld_path}"
export LD_LIBRARY_PATH="$EMBODIEDGEN_RUNTIME_LIB:$CUDA_TARGET_LIB${_cuda_ld_path:+:$_cuda_ld_path}"
_cuda_library_path=":${LIBRARY_PATH:-}:"
_cuda_library_path="${_cuda_library_path//:$CUDA_TARGET_LIB:/:}"
_cuda_library_path="${_cuda_library_path#:}"
Expand All @@ -75,11 +72,12 @@ _cuda_cpath="${_cuda_cpath//:$_cuda_target_include:/:}"
_cuda_cpath="${_cuda_cpath#:}"
_cuda_cpath="${_cuda_cpath%:}"
export CPATH="$_cuda_target_include${_cuda_cpath:+:$_cuda_cpath}"
unset _cuda_conda_bin _cuda_conda_lib _cuda_conda_lib64 _cuda_target_include
unset _cuda_path _cuda_ld_path _cuda_library_path _cuda_cpath
unset _cuda_conda_lib _cuda_conda_lib64 _cuda_target_include
unset _cuda_ld_path _cuda_library_path _cuda_cpath
export TORCH_CUDA_ARCH_LIST="${EMBODIEDGEN_TORCH_CUDA_ARCH_LIST:-12.0}"
export TCNN_CUDA_ARCHITECTURES="${EMBODIEDGEN_TCNN_CUDA_ARCHITECTURES:-120}"
HOOK
write_cuda_deactivation_hook "cu128"

log_info "Verifying CUDA 12.8 compiler from the active conda environment..."
source "$CONDA_PREFIX/etc/conda/activate.d/cuda128.sh"
Expand Down
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