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78
scripts/download_assets.sh
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78
scripts/download_assets.sh
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#!/bin/bash
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# Download assets from HuggingFace.
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# Usage:
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# bash scripts/download_assets.sh [OPTIONS]
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#
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# Options:
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# --min Download only required scene assets (for quick testing)
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# --full Download all scene assets including all robots and tasks (default)
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# --with-curobo Also download CuRobo package
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# --with-drake Also download panda_drake package
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# --local-dir DIR Where to save (default: current directory)
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#
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# Examples:
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# bash scripts/download_assets.sh --min
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# bash scripts/download_assets.sh --full --with-curobo --with-drake
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# bash scripts/download_assets.sh --min --with-curobo --local-dir /data/assets
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set -e
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REPO_ID="InternRobotics/InternData-A1"
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REPO_TYPE="dataset"
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ASSET_PREFIX="InternDataAssets"
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MODE="full"
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LOCAL_DIR="."
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WITH_CUROBO=false
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WITH_DRAKE=false
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--min) MODE="min"; shift ;;
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--full) MODE="full"; shift ;;
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--with-curobo) WITH_CUROBO=true; shift ;;
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--with-drake) WITH_DRAKE=true; shift ;;
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--local-dir) LOCAL_DIR="$2"; shift 2 ;;
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*) echo "Unknown option: $1"; exit 1 ;;
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esac
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done
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info() { echo -e "\033[32m[INFO]\033[0m $*"; }
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download() {
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info "Downloading $2 ..."
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huggingface-cli download "$REPO_ID" --repo-type "$REPO_TYPE" --include "$1" --local-dir "$LOCAL_DIR"
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}
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# --- Scene assets: required (both modes) ---
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info "========== Downloading required scene assets =========="
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REQUIRED_DIRS=("background_textures" "envmap_lib" "floor_textures" "table_textures" "table0")
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for dir in "${REQUIRED_DIRS[@]}"; do
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download "${ASSET_PREFIX}/assets/${dir}/*" "$dir"
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done
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download "${ASSET_PREFIX}/assets/table_info.json" "table_info.json"
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# --- Scene assets: full only (all robots + all tasks) ---
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if [[ "$MODE" == "full" ]]; then
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info "========== Downloading all robots and tasks =========="
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for robot in lift2 franka frankarobotiq split_aloha_mid_360 G1_120s; do
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download "${ASSET_PREFIX}/assets/${robot}/*" "robot: ${robot}"
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done
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for task in basic art long_horizon pick_and_place; do
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download "${ASSET_PREFIX}/assets/${task}/*" "task: ${task}"
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done
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fi
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# --- CuRobo ---
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if [[ "$WITH_CUROBO" == true ]]; then
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info "========== Downloading CuRobo =========="
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download "${ASSET_PREFIX}/curobo/*" "curobo"
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fi
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# --- panda_drake ---
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if [[ "$WITH_DRAKE" == true ]]; then
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info "========== Downloading panda_drake =========="
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download "${ASSET_PREFIX}/panda_drake/*" "panda_drake"
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fi
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info "Done! (mode=${MODE}, curobo=${WITH_CUROBO}, drake=${WITH_DRAKE}, local-dir=${LOCAL_DIR})"
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70
scripts/simbox/simbox_pipe.sh
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70
scripts/simbox/simbox_pipe.sh
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#!/bin/bash
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cfg_path="$1"
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if [ $# -lt 1 ]; then
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echo "Error: Missing required parameter"
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echo "Usage: bash $0 <config_path> [random_num] [random_seed]"
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echo ""
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echo "Parameters:"
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echo " config_path - Full path to the config file (with .yml/.yaml extension)"
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echo " random_num - (Optional) Number of samples to generate (default: 10)"
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echo " random_seed - (Optional) Random seed for reproducibility"
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echo " scene_info - (Optional) Scene info key to use"
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echo ""
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echo "Example:"
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echo " bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml"
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echo " bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml 10"
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echo " bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml 10 42"
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echo " bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml 10 42 living_room_scene_info"
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exit 1
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fi
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cfg_path="$1"
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random_num=10
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if [ $# -ge 2 ]; then
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random_num="$2"
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fi
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random_seed=""
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if [ $# -ge 3 ]; then
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random_seed="$3"
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fi
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scene_info=""
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if [ $# -ge 4 ]; then
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scene_info="$4"
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fi
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if [ -z "$cfg_path" ]; then
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echo "Error: Config path parameter is required and cannot be empty"
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exit 1
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fi
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# Extract custom_path and config_name from the full path
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custom_path=$(dirname "$cfg_path")
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config_name=$(basename "$cfg_path" .yaml)
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echo "Config path: $cfg_path"
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echo "Custom path: $custom_path"
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echo "Config name: $config_name"
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echo "Random num: $random_num"
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if [ ! -f "$cfg_path" ]; then
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echo "Error: Configuration file not found: $cfg_path"
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exit 1
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fi
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name_with_split="${config_name}_pipe${random_seed:+_seed_${random_seed}}"
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echo "Running with config: $cfg_path"
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echo "Output name: $name_with_split"
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set -x
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/isaac-sim/python.sh launcher.py --config configs/simbox/de_pipe_template.yaml \
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--name="$name_with_split" \
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--load_stage.scene_loader.args.cfg_path="$cfg_path" \
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--load_stage.layout_random_generator.args.random_num="$random_num" \
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--dedump_stage.scene_loader.args.cfg_path="$cfg_path" \
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--store_stage.writer.args.output_dir="output/$name_with_split/" \
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${scene_info:+--load_stage.env_loader.args.scene_info="$scene_info"} \
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${random_seed:+--random_seed="$random_seed"}
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set +x
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67
scripts/simbox/simbox_plan_and_render.sh
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67
scripts/simbox/simbox_plan_and_render.sh
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#!/bin/bash
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if [ $# -lt 1 ]; then
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echo "Error: Missing required parameter"
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echo "Usage: bash $0 <config_path> [random_num] [random_seed]"
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echo ""
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echo "Parameters:"
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echo " config_path - Full path to the config file (with .yml extension)"
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echo " random_num - (Optional) Number of samples to generate (default: 10)"
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echo " random_seed - (Optional) Random seed for reproducibility"
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echo " scene_info - (Optional) Scene info key to use"
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echo ""
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echo "Example:"
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echo " bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml"
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echo " bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml 10"
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echo " bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml 10 42"
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echo " bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml 10 42 living_room_scene_info"
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exit 1
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fi
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cfg_path="$1"
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random_num=10
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if [ $# -ge 2 ]; then
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random_num="$2"
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fi
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random_seed=""
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if [ $# -ge 3 ]; then
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random_seed="$3"
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fi
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scene_info=""
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if [ $# -ge 4 ]; then
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scene_info="$4"
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fi
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if [ -z "$cfg_path" ]; then
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echo "Error: Config path parameter is required and cannot be empty"
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exit 1
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fi
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# Extract custom_path and config_name from the full path
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custom_path=$(dirname "$cfg_path")
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config_name=$(basename "$cfg_path" .yaml)
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echo "Config path: $cfg_path"
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echo "Custom path: $custom_path"
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echo "Config name: $config_name"
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echo "Random num: $random_num"
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if [ ! -f "$cfg_path" ]; then
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echo "Error: Configuration file not found: $cfg_path"
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exit 1
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fi
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name_with_split="${config_name}_plan_and_render${random_seed:+_seed_${random_seed}}"
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echo "Running with config: $cfg_path"
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echo "Output name: $name_with_split"
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set -x
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/isaac-sim/python.sh launcher.py --config configs/simbox/de_plan_and_render_template.yaml \
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--name="$name_with_split" \
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--load_stage.scene_loader.args.cfg_path="$cfg_path" \
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--load_stage.layout_random_generator.args.random_num="$random_num" \
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--store_stage.writer.args.output_dir="output/$name_with_split/" \
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${scene_info:+--load_stage.env_loader.args.scene_info="$scene_info"} \
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${random_seed:+--random_seed="$random_seed"}
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set +x
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67
scripts/simbox/simbox_plan_with_render.sh
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67
scripts/simbox/simbox_plan_with_render.sh
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@@ -0,0 +1,67 @@
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#!/bin/bash
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if [ $# -lt 1 ]; then
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echo "Error: Missing required parameter"
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echo "Usage: bash $0 <config_path> [random_num] [random_seed]"
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echo ""
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echo "Parameters:"
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echo " config_path - Full path to the config file (with .yml extension)"
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echo " random_num - (Optional) Number of samples to generate (default: 10)"
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echo " random_seed - (Optional) Random seed for reproducibility"
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echo " scene_info - (Optional) Scene info key to use"
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echo ""
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echo "Example:"
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echo " bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml"
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echo " bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml 10"
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echo " bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml 10 42"
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echo " bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml 10 42 living_room_scene_info"
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exit 1
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fi
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cfg_path="$1"
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random_num=10
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if [ $# -ge 2 ]; then
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random_num="$2"
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fi
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random_seed=""
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if [ $# -ge 3 ]; then
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random_seed="$3"
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fi
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scene_info=""
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if [ $# -ge 4 ]; then
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scene_info="$4"
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fi
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if [ -z "$cfg_path" ]; then
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echo "Error: Config path parameter is required and cannot be empty"
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exit 1
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fi
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# Extract custom_path and config_name from the full path
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custom_path=$(dirname "$cfg_path")
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config_name=$(basename "$cfg_path" .yaml)
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echo "Config path: $cfg_path"
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echo "Custom path: $custom_path"
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echo "Config name: $config_name"
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echo "Random num: $random_num"
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if [ ! -f "$cfg_path" ]; then
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echo "Error: Configuration file not found: $cfg_path"
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exit 1
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fi
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name_with_split="${config_name}_plan_with_render${random_seed:+_seed_${random_seed}}"
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echo "Running with config: $cfg_path"
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echo "Output name: $name_with_split"
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set -x
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/isaac-sim/python.sh launcher.py --config configs/simbox/de_plan_with_render_template.yaml \
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--name="$name_with_split" \
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--load_stage.scene_loader.args.cfg_path="$cfg_path" \
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--load_stage.layout_random_generator.args.random_num="$random_num" \
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--store_stage.writer.args.output_dir="output/$name_with_split/" \
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${scene_info:+--load_stage.env_loader.args.scene_info="$scene_info"} \
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${random_seed:+--random_seed="$random_seed"}
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set +x
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