environment/activate_rlbench_runtime.sh

#!/usr/bin/env bash
set -euo pipefail

ROOT="${1:-/workspace}"
DISPLAY_NUM="${DISPLAY_NUM:-99}"
MINIFORGE_DIR="${ROOT}/miniforge3"
ENV_PREFIX="${MINIFORGE_DIR}/envs/rlbench"

source "${MINIFORGE_DIR}/etc/profile.d/conda.sh"
conda activate "${ENV_PREFIX}"

export DISPLAY=":${DISPLAY_NUM}"
export COPPELIASIM_ROOT="${ROOT}/coppelia_sim"
export LD_LIBRARY_PATH="${COPPELIASIM_ROOT}:${LD_LIBRARY_PATH:-}"
export QT_QPA_PLATFORM_PLUGIN_PATH="${COPPELIASIM_ROOT}"
export XDG_RUNTIME_DIR="/tmp/runtime-root"
export PYTHONPATH="${ROOT}/rlbench:${ROOT}/pyrep:${ROOT}/yarr:${ROOT}/peract_bimanual:${PYTHONPATH:-}"

mkdir -p "${XDG_RUNTIME_DIR}"

if ! pgrep -f "Xvfb :${DISPLAY_NUM}" >/dev/null 2>&1; then
  Xvfb ":${DISPLAY_NUM}" -screen 0 1280x1024x24 +extension GLX +render -noreset >/tmp/xvfb_${DISPLAY_NUM}.log 2>&1 &
  sleep 1
fi

echo "Activated rlbench runtime on DISPLAY=${DISPLAY}"