# 参考 https://github.com/haosulab/SAPIEN/issues/243 提到的修复方式

wget https://github.com/RenderKit/oidn/releases/download/v2.3.3/oidn-2.3.3.x86_64.linux.tar.gz 
tar -xvf oidn-2.3.3.x86_64.linux.tar.gz 
cd oidn-2.3.3.x86_64.linux 
cp lib/libOpenImageDenoise_core.so.2.3.3 ~/miniconda3/envs/RoboTwin/lib/python3.10/site-packages/sapien/oidn_library/ 
cp lib/libOpenImageDenoise_device_cuda.so.2.3.3 ~/miniconda3/envs/RoboTwin/lib/python3.10/site-packages/sapien/oidn_library/ 
cp lib/libOpenImageDenoise.so.2.3.3 ~/miniconda3/envs/RoboTwin/lib/python3.10/site-packages/sapien/oidn_library/

# 然后 vim 修改 /home/ctbots/miniconda3/envs/RoboTwin/lib/python3.10/site-packages/sapien/_oidn_tricks.py
# 2.0.1 全部改成 2.3.3