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| gpu_id=0 |
| policy_model=rt1 |
| ckpt_path=checkpoints/rt_1_x_tf_trained_for_002272480_step/ |
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| 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 |
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| 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} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \ |
| --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1; |
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| CUDA_VISIBLE_DEVICES=${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} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \ |
| --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1; |
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| CUDA_VISIBLE_DEVICES=${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} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \ |
| --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1; |
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| scene_name=bridge_table_1_v2 |
| robot=widowx_sink_camera_setup |
| rgb_overlay_path=ManiSkill2_real2sim/data/real_inpainting/bridge_sink.png |
| robot_init_x=0.127 |
| robot_init_y=0.06 |
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| CUDA_VISIBLE_DEVICES=${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; |
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