| # Sourced by run scripts. Isolated project venv: simulation/.venv (no conda). | |
| SIM_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" | |
| PROJECT_ROOT="$(cd "$SIM_ROOT/.." && pwd)" | |
| export SIM_ROOT PROJECT_ROOT | |
| if [ -x "$SIM_ROOT/.venv/bin/python" ]; then | |
| export PATH="$SIM_ROOT/.venv/bin:$PATH" | |
| export VIRTUAL_ENV="$SIM_ROOT/.venv" | |
| fi | |
| # Isaac Lab lives under simulation/modules (moved/cloned by setup/00_init_modules.sh). | |
| export ISAACLAB_DIR="$SIM_ROOT/modules/IsaacLab" | |
| export SCRIPTS_DIR="$SIM_ROOT/scripts" | |
| export PYTHONPATH="$SIM_ROOT/source${PYTHONPATH:+:$PYTHONPATH}" | |
| export CHECKPOINTS_DIR="$PROJECT_ROOT/checkpoints" | |
| export DATA_DIR="${DATA_DIR:-$PROJECT_ROOT/data}" | |
| export RUNS_DIR="${RUNS_DIR:-$SIM_ROOT/runs}" | |
| if [ -z "${CUDA_HOME:-}" ]; then | |
| for _cuda in /app/apps/cuda/12.6.2 /usr/local/cuda; do | |
| if [ -x "$_cuda/bin/nvcc" ]; then | |
| export CUDA_HOME="$_cuda" | |
| export PATH="$CUDA_HOME/bin:$PATH" | |
| break | |
| fi | |
| done | |
| unset _cuda | |
| fi | |
| export CUDA_VISIBLE_DEVICES="${CUDA_VISIBLE_DEVICES:-0}" | |