init commit

scripts/simbox/simbox_plan_with_render.sh

@@ -0,0 +1,67 @@
+#!/bin/bash
+
+if [ $# -lt 1 ]; then
+    echo "Error: Missing required parameter"
+    echo "Usage: bash $0 <config_path> [random_num] [random_seed]"
+    echo ""
+    echo "Parameters:"
+    echo "  config_path  - Full path to the config file (with .yml extension)"
+    echo "  random_num   - (Optional) Number of samples to generate (default: 10)"
+    echo "  random_seed  - (Optional) Random seed for reproducibility"
+    echo "  scene_info   - (Optional) Scene info key to use"
+    echo ""
+    echo "Example:"
+    echo "  bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml"
+    echo "  bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml 10"
+    echo "  bash $0 workflows/simbox/core/configs/tasks/long_horizon/split_aloha/sort_the_rubbish/sort_the_rubbish_part0.yaml 10 42"
+    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"
+    exit 1
+fi
+
+cfg_path="$1"
+random_num=10
+if [ $# -ge 2 ]; then
+    random_num="$2"
+fi
+random_seed=""
+if [ $# -ge 3 ]; then
+    random_seed="$3"
+fi
+scene_info=""
+if [ $# -ge 4 ]; then
+    scene_info="$4"
+fi
+
+if [ -z "$cfg_path" ]; then
+    echo "Error: Config path parameter is required and cannot be empty"
+    exit 1
+fi
+
+# Extract custom_path and config_name from the full path
+custom_path=$(dirname "$cfg_path")
+config_name=$(basename "$cfg_path" .yaml)
+
+echo "Config path: $cfg_path"
+echo "Custom path: $custom_path"
+echo "Config name: $config_name"
+echo "Random num: $random_num"
+
+if [ ! -f "$cfg_path" ]; then
+    echo "Error: Configuration file not found: $cfg_path"
+    exit 1
+fi
+
+name_with_split="${config_name}_plan_with_render${random_seed:+_seed_${random_seed}}"
+
+echo "Running with config: $cfg_path"
+echo "Output name: $name_with_split"
+
+set -x
+/isaac-sim/python.sh launcher.py --config configs/simbox/de_plan_with_render_template.yaml \
+--name="$name_with_split" \
+--load_stage.scene_loader.args.cfg_path="$cfg_path" \
+--load_stage.layout_random_generator.args.random_num="$random_num" \
+--store_stage.writer.args.output_dir="output/$name_with_split/" \
+${scene_info:+--load_stage.env_loader.args.scene_info="$scene_info"} \
+${random_seed:+--random_seed="$random_seed"}
+set +x