(isaac) root@gpufree-container:~/gpufree-data/openpi# uv sync
warning: The `tool.uv.dev-dependencies` field (used in `packages/openpi-client/pyproject.toml`) is deprecated and will be removed in a future release; use `dependency-groups.dev` instead
Resolved 281 packages in 1m 04s
    Updated https://github.com/huggingface/lerobot (0cf8
      Built openpi-client @ file:///root/gpufree-data/op
      Built openpi @ file:///root/gpufree-data/openpi
      Built lerobot @ git+https://github.com/huggingface
      Built tree==0.2.4
      Built antlr4-python3-runtime==4.9.3
      Built evdev==1.9.2
  × Failed to build `av==14.4.0`
  ├─▶ The build backend returned an error
  ╰─▶ Call to
      `setuptools.build_meta:__legacy__.build_wheel`
      failed (exit status: 1)

      [stdout]

      Warning! You are installing from source.
      It is EXPECTED that it will fail. You are
      REQUIRED to use ffmpeg 7.
      You MUST have Cython, pkg-config, and a C
      compiler.

      pkg-config could not find libraries ['avformat',
      'avcodec', 'avdevice', 'avutil', 'avfilter',
      'swscale', 'swresample']

      [stderr]
      Package libavformat was not found in the
      pkg-config search path.
      Perhaps you should add the directory containing
      `libavformat.pc'
      to the PKG_CONFIG_PATH environment variable
      No package 'libavformat' found
      Package libavcodec was not found in the
      pkg-config search path.
      Perhaps you should add the directory containing
      `libavcodec.pc'
      to the PKG_CONFIG_PATH environment variable
      No package 'libavcodec' found
      Package libavdevice was not found in the
      pkg-config search path.
      Perhaps you should add the directory containing
      `libavdevice.pc'
      to the PKG_CONFIG_PATH environment variable
      No package 'libavdevice' found
      Package libavutil was not found in the
      pkg-config search path.
      Perhaps you should add the directory containing
      `libavutil.pc'
      to the PKG_CONFIG_PATH environment variable
      No package 'libavutil' found
      Package libavfilter was not found in the
      pkg-config search path.
      Perhaps you should add the directory containing
      `libavfilter.pc'
      to the PKG_CONFIG_PATH environment variable
      No package 'libavfilter' found
      Package libswscale was not found in the
      pkg-config search path.
      Perhaps you should add the directory containing
      `libswscale.pc'
      to the PKG_CONFIG_PATH environment variable
      No package 'libswscale' found
      Package libswresample was not found in the
      pkg-config search path.
      Perhaps you should add the directory containing
      `libswresample.pc'
      to the PKG_CONFIG_PATH environment variable
      No package 'libswresample' found

      hint: This usually indicates a problem with the
      package or the build environment.
  help: `av` (v14.4.0) was included because `openpi`
        (v0.1.0) depends on `lerobot` (v0.1.0) which
        depends on `av`

bashmkdir -p /root/gpufree-data/openpi/third_party && git clone https://github.com/huggingface/lerobot /root/gpufree-data/openpi/third_party/lerobot && cd /root/gpufree-data/openpi/third_party/lerobot && git checkout 0cf864870cf29f4738d3ade893e6fd13fbd7cdb5

1. Clone and modify LeRobot: The specified version of LeRobot was cloned in the third_party/lerobot directory, and av>=14.2.0 in pyproject.toml was changed to a more compatible av==12.3.0 (this version usually comes with a pre-compiled wheel and does not require FFmpeg 7).
2. Configure local dependencies: openpi/pyproject.toml was modified, the source of lerobot was changed from a remote repository to a local path, and av==12.3.0 was added with a forced override (override).
3. Successful environment synchronization: By executing uv sync, all dependencies were successfully installed, and the issue of av compilation failure no longer occurred.

Current Status

The environment is ready. Regarding the command you mentioned, there is a small detail: the @gpufree-data/openpi at the end of the command seems to be a shell prompt that got misattached. It needs to be removed when actually running the command.

Complete command recommended for execution:

bashXLA_PYTHON_CLIENT_MEM_FRACTION=0.5 uv run scripts/serve_policy.py policy:checkpoint \
    --policy.config=pi0_fast_droid_jointpos_polaris \
    --policy.dir=gs://openpi-assets/checkpoints/pi0_fast_droid_jointpos

What happens after execution?

1. Load configuration: Using pi0_fast_droid_jointpos_polaris configuration, which is the π₀-FAST model for the DROID robotic arm joint control.
2. Download model: uv will automatically download model parameters and resources from Google Cloud Storage and cache them in ~/.cache/openpi/openpi-assets/checkpoints/pi0_fast_droid_jointpos.
3. Start service: A WebSocket inference server is launched locally (default port 8000).
4. VRAM control: XLA_PYTHON_CLIENT_MEM_FRACTION=0.5 ensures that the JAX preallocated VRAM does not exceed 50%, leaving enough space for Isaac Sim.

Note: uv still runs in its own created .venv virtual environment, and does not damage or modify your isaac conda environment.