code release

conda_environment_real.yaml

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+name: robodiff
+channels:
+  - pytorch
+  - pytorch3d
+  - nvidia
+  - conda-forge
+dependencies:
+  - python=3.9
+  - pip=22.2.2
+  - cudatoolkit=11.6
+  - pytorch=1.12.1
+  - torchvision=0.13.1
+  - pytorch3d=0.7.0
+  - numpy=1.23.3
+  - numba==0.56.4
+  - scipy==1.9.1
+  - py-opencv=4.6.0
+  - cffi=1.15.1
+  - ipykernel=6.16
+  - matplotlib=3.6.1
+  - zarr=2.12.0
+  - numcodecs=0.10.2
+  - h5py=3.7.0
+  - hydra-core=1.2.0
+  - einops=0.4.1
+  - tqdm=4.64.1
+  - dill=0.3.5.1
+  - scikit-video=1.1.11
+  - scikit-image=0.19.3
+  - gym=0.21.0
+  - pymunk=6.2.1
+  - wandb=0.13.3
+  - threadpoolctl=3.1.0
+  - shapely=1.8.4
+  - cython=0.29.32
+  - imageio=2.22.0
+  - imageio-ffmpeg=0.4.7
+  - termcolor=2.0.1
+  - tensorboard=2.10.1
+  - tensorboardx=2.5.1
+  - psutil=5.9.2
+  - click=8.0.4
+  - boto3=1.24.96
+  - accelerate=0.13.2
+  - datasets=2.6.1
+  - diffusers=0.11.1
+  - av=10.0.0
+  - cmake=3.24.3
+  # trick to force reinstall imagecodecs via pip
+  - imagecodecs==2022.8.8
+  - pip:
+    - ray[default,tune]==2.2.0
+    # requires mujoco py dependencies libosmesa6-dev libgl1-mesa-glx libglfw3 patchelf
+    - free-mujoco-py==2.1.6
+    - pygame==2.1.2
+    - pybullet-svl==3.1.6.4
+    - robosuite @ https://github.com/cheng-chi/robosuite/archive/277ab9588ad7a4f4b55cf75508b44aa67ec171f0.tar.gz
+    - robomimic==0.2.0
+    - pytorchvideo==0.1.5
+    # requires librealsense https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
+    - pyrealsense2==2.51.1.4348
+    # requires apt install libspnav-dev spacenavd; systemctl start spacenavd
+    - spnav @ https://github.com/cheng-chi/spnav/archive/c1c938ebe3cc542db4685e0d13850ff1abfdb943.tar.gz
+    - ur-rtde==1.5.5
+    - atomics==1.0.2
+    # pip package required for jpeg-xl
+    - imagecodecs==2022.9.26
+    - r3m @ https://github.com/facebookresearch/r3m/archive/b2334e726887fa0206962d7984c69c5fb09cceab.tar.gz
+    - dm-control==1.0.9
+    - pynput==1.7.6
+