File size: 2,304 Bytes
e479c46 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 | # shader_dir=rt means that we turn on ray-tracing rendering; this is quite crucial for the open / close drawer task as policies often rely on shadows to infer depth
declare -a ckpt_paths=(
"./checkpoints/rt_1_tf_trained_for_000400120/"
"./checkpoints/rt_1_tf_trained_for_000058240/"
"./checkpoints/rt_1_x_tf_trained_for_002272480_step/"
"./checkpoints/rt_1_tf_trained_for_000001120/"
)
declare -a env_names=(
OpenTopDrawerCustomInScene-v0
OpenMiddleDrawerCustomInScene-v0
OpenBottomDrawerCustomInScene-v0
CloseTopDrawerCustomInScene-v0
CloseMiddleDrawerCustomInScene-v0
CloseBottomDrawerCustomInScene-v0
)
EXTRA_ARGS="--enable-raytracing"
# base setup
scene_name=frl_apartment_stage_simple
EvalSim() {
echo ${ckpt_path} ${env_name}
python simpler_env/main_inference.py --policy-model rt1 --ckpt-path ${ckpt_path} \
--robot google_robot_static \
--control-freq 3 --sim-freq 513 --max-episode-steps 113 \
--env-name ${env_name} --scene-name ${scene_name} \
--robot-init-x 0.65 0.85 3 --robot-init-y -0.2 0.2 3 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0.0 0.0 1 \
--obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
${EXTRA_ARGS}
}
for ckpt_path in "${ckpt_paths[@]}"; do
for env_name in "${env_names[@]}"; do
EvalSim
done
done
# backgrounds
declare -a scene_names=(
"modern_bedroom_no_roof"
"modern_office_no_roof"
)
for scene_name in "${scene_names[@]}"; do
for ckpt_path in "${ckpt_paths[@]}"; do
for env_name in "${env_names[@]}"; do
EXTRA_ARGS="--additional-env-build-kwargs shader_dir=rt"
EvalSim
done
done
done
# lightings
scene_name=frl_apartment_stage_simple
for ckpt_path in "${ckpt_paths[@]}"; do
for env_name in "${env_names[@]}"; do
EXTRA_ARGS="--additional-env-build-kwargs shader_dir=rt light_mode=brighter"
EvalSim
EXTRA_ARGS="--additional-env-build-kwargs shader_dir=rt light_mode=darker"
EvalSim
done
done
# new cabinets
scene_name=frl_apartment_stage_simple
for ckpt_path in "${ckpt_paths[@]}"; do
for env_name in "${env_names[@]}"; do
EXTRA_ARGS="--additional-env-build-kwargs shader_dir=rt station_name=mk_station2"
EvalSim
EXTRA_ARGS="--additional-env-build-kwargs shader_dir=rt station_name=mk_station3"
EvalSim
done
done
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