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rt1x_bridge.sh
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gpu_id=0
policy_model=rt1
ckpt_path=checkpoints/rt_1_x_tf_trained_for_002272480_step/
scene_name=bridge_table_1_v1
robot=widowx
rgb_overlay_path=ManiSkill2_real2sim/data/real_inpainting/bridge_real_eval_1.png
robot_init_x=0.147
robot_init_y=0.028
CUDA_VISIBLE_DEVICES=${gpu_id} python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
--robot ${robot} --policy-setup widowx_bridge \
--control-freq 5 --sim-freq 500 --max-episode-steps 60 \
--env-name PutCarrotOnPlateInScene-v0 --scene-name ${scene_name} \
--rgb-overlay-path ${rgb_overlay_path} \
--robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
CUDA_VISIBLE_DEVICES=${gpu_id} python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
--robot ${robot} --policy-setup widowx_bridge \
--control-freq 5 --sim-freq 500 --max-episode-steps 60 \
--env-name StackGreenCubeOnYellowCubeBakedTexInScene-v0 --scene-name ${scene_name} \
--rgb-overlay-path ${rgb_overlay_path} \
--robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
CUDA_VISIBLE_DEVICES=${gpu_id} python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
--robot ${robot} --policy-setup widowx_bridge \
--control-freq 5 --sim-freq 500 --max-episode-steps 60 \
--env-name PutSpoonOnTableClothInScene-v0 --scene-name ${scene_name} \
--rgb-overlay-path ${rgb_overlay_path} \
--robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
scene_name=bridge_table_1_v2
robot=widowx_sink_camera_setup
rgb_overlay_path=ManiSkill2_real2sim/data/real_inpainting/bridge_sink.png
robot_init_x=0.127
robot_init_y=0.06
CUDA_VISIBLE_DEVICES=${gpu_id} python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
--robot ${robot} --policy-setup widowx_bridge \
--control-freq 5 --sim-freq 500 --max-episode-steps 120 \
--env-name PutEggplantInBasketScene-v0 --scene-name ${scene_name} \
--rgb-overlay-path ${rgb_overlay_path} \
--robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;