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Refactors ensure_cuda_torch function to use extracted python and pip commands #3949

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Merged
merged 3 commits into from
Nov 11, 2025
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Merged

Refactors ensure_cuda_torch function to use extracted python and pip commands #3949

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9413492
Refactors ensure_cuda_torch function to use extracted python and pip …
Jadeiin Nov 5, 2025
df35a73
Adds name in CONTRIBUTORS.md
Jadeiin Nov 5, 2025
98940d0
Merge branch 'main' into main
kellyguo11 Nov 10, 2025
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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -149,6 +149,7 @@ Guidelines for modifications:
* Yujian Zhang
* Yun Liu
* Zehao Wang
* Zijian Li
* Ziqi Fan
* Zoe McCarthy
* David Leon
Expand Down
27 changes: 17 additions & 10 deletions isaaclab.sh
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Expand Up @@ -102,9 +102,10 @@ is_arm() {
}

ensure_cuda_torch() {
local py="$1"

# base base index for torch
local python_exe=$(extract_python_exe)
local pip_install_command=$(extract_pip_command)
local pip_uninstall_command=$(extract_pip_uninstall_command)
# base index for torch
local base_index="https://download.pytorch.org/whl"

# choose pins per arch
Expand All @@ -124,9 +125,15 @@ ensure_cuda_torch() {

# check current torch version (may be empty)
local cur=""
if "$py" -m pip show torch >/dev/null 2>&1; then
cur="$("$py" -m pip show torch 2>/dev/null | awk -F': ' '/^Version/{print $2}')"
fi
cur="$(${python_exe} - <<'PY' 2>/dev/null || true
try:
import torch
except Exception:
pass
else:
print(torch.__version__, end="")
PY
)"

# skip install if version is already satisfied
if [[ "$cur" == "$want_torch" ]]; then
Expand All @@ -135,8 +142,8 @@ ensure_cuda_torch() {

# clean install torch
echo "[INFO] Installing torch==${torch_ver} and torchvision==${tv_ver} (cu${cuda_ver}) from ${index}..."
"$py" -m pip uninstall -y torch torchvision torchaudio >/dev/null 2>&1 || true
"$py" -m pip install -U --index-url "${index}" "torch==${torch_ver}" "torchvision==${tv_ver}"
${pip_uninstall_command} torch torchvision torchaudio >/dev/null 2>&1 || true
${pip_install_command} -U --index-url "${index}" "torch==${torch_ver}" "torchvision==${tv_ver}"
}

# extract isaac sim path
Expand Down Expand Up @@ -568,7 +575,7 @@ while [[ $# -gt 0 ]]; do
begin_arm_install_sandbox

# install pytorch (version based on arch)
ensure_cuda_torch ${python_exe}
ensure_cuda_torch
# recursively look into directories and install them
# this does not check dependencies between extensions
export -f extract_python_exe
Expand Down Expand Up @@ -598,7 +605,7 @@ while [[ $# -gt 0 ]]; do

# in some rare cases, torch might not be installed properly by setup.py, add one more check here
# can prevent that from happening
ensure_cuda_torch ${python_exe}
ensure_cuda_torch

# restore LD_PRELOAD if we cleared it
end_arm_install_sandbox
Expand Down
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