68 lines
2.3 KiB
Bash
68 lines
2.3 KiB
Bash
#!/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
|