fix: metaworld deps (RLinf#373)

Signed-off-by: Hao Lin <linhaomails@gmail.com>

Author: andylin-hao

docker/torch-2.6/Dockerfile

@@ -169,7 +169,6 @@ RUN uv venv ${VENV_TARGET} --python ${PYTHON_VERSION}
 RUN source switch_env ${VENV_TARGET} && UV_TORCH_BACKEND=auto uv sync --active
 RUN source switch_env ${VENV_TARGET} && uv sync --extra embodied --active
 RUN source switch_env ${VENV_TARGET} && GIT_LFS_SKIP_SMUDGE=1 uv pip install git+https://github.com/RLinf/openpi
-RUN source switch_env ${VENV_TARGET} && uv pip install metaworld==3.0.0
 RUN source switch_env ${VENV_TARGET} && uv pip uninstall pynvml
 RUN cp -r ${UV_PATH}/${VENV_TARGET}/lib/python${PYTHON_VERSION}/site-packages/openpi/models_pytorch/transformers_replace/* ${UV_PATH}/${VENV_TARGET}/lib/python${PYTHON_VERSION}/site-packages/transformers/
 

docs/source-en/rst_source/examples/metaworld.rst

@@ -61,10 +61,13 @@ Algorithm
 Dependency Installation
 -----------------------
 
-If you are using the Docker image, please pull the latest image via `docker pull` to get the required dependencies.
+MetaWorld is currently only supported for `openpi`. Make sure you have installed the required dependencies as per the :doc:`installation guide <../start/installation>`.
 
-If you have set up the environment manually, please run `uv pip install metaworld` to install the MetaWorld package along with its dependencies.
+Then, install MetaWorld with:
 
+.. code:: bash
+
+   uv pip install metaworld==3.0.0
 
 Model Download
 --------------

docs/source-zh/rst_source/examples/metaworld.rst

@@ -61,9 +61,13 @@
 依赖安装
 -----------
 
-如果您使用的是 Docker 镜像，请通过 `docker pull` 拉取最新镜像以获取所需的依赖项。
+MetaWorld 目前仅支持 `openpi`。请确保您已按照 :doc:`安装指南 <../start/installation>` 安装了所需的依赖项。
 
-如果您已经手动安装了uv虚拟环境，请运行 `uv pip install metaworld` 来安装 MetaWorld 包及其依赖项。
+然后，使用以下命令安装 MetaWorld：
+
+.. code:: bash
+
+   uv pip install metaworld==3.0.0
 
 
 模型下载

requirements/install.sh

@@ -40,8 +40,8 @@ if [[ " ${EMBODIED_TARGET[*]} " == *" $TARGET "* ]]; then
     uv sync --extra embodied
     uv pip uninstall pynvml
     bash requirements/install_embodied_deps.sh # Must be run after the above command
-    mkdir -p /opt && git clone https://github.com/RLinf/LIBERO.git /opt/libero
-    echo "export PYTHONPATH=/opt/libero:$PYTHONPATH" >> .venv/bin/activate
+    git clone https://github.com/RLinf/LIBERO.git .venv/libero
+    echo "export PYTHONPATH=$(pwd)/.venv/libero:$PYTHONPATH" >> .venv/bin/activate
     echo "export NVIDIA_DRIVER_CAPABILITIES=all" >> .venv/bin/activate
     echo "export VK_DRIVER_FILES=/etc/vulkan/icd.d/nvidia_icd.json" >> .venv/bin/activate
     echo "export VK_ICD_FILENAMES=/etc/vulkan/icd.d/nvidia_icd.json" >> .venv/bin/activate
@@ -52,8 +52,8 @@ if [ "$TARGET" = "openvla" ]; then
 elif [ "$TARGET" = "openvla-oft" ]; then
     UV_TORCH_BACKEND=auto uv pip install -r requirements/openvla_oft.txt --no-build-isolation
     if [ "$ENABLE_BEHAVIOR" = "true" ]; then
-        git clone -b RLinf/v3.7.1 --depth 1 https://github.com/RLinf/BEHAVIOR-1K.git /opt/BEHAVIOR-1K
-        cd /opt/BEHAVIOR-1K && ./setup.sh --omnigibson --bddl --joylo --confirm-no-conda --accept-nvidia-eula && cd -
+        git clone -b RLinf/v3.7.1 --depth 1 https://github.com/RLinf/BEHAVIOR-1K.git .venv/BEHAVIOR-1K
+        cd .venv/BEHAVIOR-1K && ./setup.sh --omnigibson --bddl --joylo --confirm-no-conda --accept-nvidia-eula && cd -
         uv pip uninstall flash-attn
         uv pip install https://github.com/Dao-AILab/flash-attention/releases/download/v2.7.4.post1/flash_attn-2.7.4.post1+cu12torch2.5cxx11abiFALSE-cp310-cp310-linux_x86_64.whl
         uv pip install ml_dtypes==0.5.3 protobuf==3.20.3
@@ -67,11 +67,11 @@ elif [ "$TARGET" = "openpi" ]; then
 elif [ "$TARGET" = "reason" ]; then
     uv sync --extra sglang-vllm
     uv pip uninstall pynvml
-    mkdir -p /opt && git clone https://github.com/NVIDIA/Megatron-LM.git -b core_r0.13.0 /opt/Megatron-LM
+    git clone https://github.com/NVIDIA/Megatron-LM.git -b core_r0.13.0 .venv/Megatron-LM
     if [ "$TEST_BUILD" != "true" ]; then
         APEX_CPP_EXT=1 APEX_CUDA_EXT=1 NVCC_APPEND_FLAGS="--threads 24" APEX_PARALLEL_BUILD=24 uv pip install -r requirements/megatron.txt --no-build-isolation
     fi
-    echo "export PYTHONPATH=/opt/Megatron-LM:$PYTHONPATH" >> .venv/bin/activate
+    echo "export PYTHONPATH=$(pwd)/.venv/Megatron-LM:$PYTHONPATH" >> .venv/bin/activate
 else
     echo "Unknown target: $TARGET. Supported targets are: openvla, openvla-oft, openpi, reason."
     exit 1

requirements/openpi.txt

@@ -1,3 +1,2 @@
 
-openpi @ git+https://github.com/RLinf/openpi
-metaworld==3.0.0
+openpi @ git+https://github.com/RLinf/openpi