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876f3c3 | 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 | #!/usr/bin/env bash
set -u
ROOT=/home/a1905721/workspace/RoboTwin
AGILEX_SRC=/home/a1905721/dataspace/openwam/benchmark_data/robotwin2.0/dataset
FRANKA_SRC=/home/a1905721/dataspace/robotwin2.0/dataset
run_embodiment() {
local name="$1" source_root="$2" output_root="$3" config="$4" manifest="$5"
mapfile -t tasks < <(python - "$manifest" <<'PY'
import json, sys
seen = set()
for line in open(sys.argv[1]):
task = json.loads(line)["task"]
if task not in seen:
seen.add(task)
print(task)
PY
)
for task in "${tasks[@]}"; do
local source="$source_root/$task/${name}_clean_50"
local target="$output_root/$task/gt_export"
if [[ ! -d "$source/_traj_data" ]]; then
echo "[$name] missing source: $source" >&2
continue
fi
mkdir -p "$target"
if [[ ! -e "$target/_traj_data" ]]; then ln -s "$source/_traj_data" "$target/_traj_data"; fi
if [[ ! -e "$target/seed.txt" ]]; then ln -s "$source/seed.txt" "$target/seed.txt"; fi
if [[ -f "$source/scene_info.json" && ! -e "$target/scene_info.json" ]]; then
ln -s "$source/scene_info.json" "$target/scene_info.json"
fi
echo "[$name] start task=$task"
(cd "$ROOT" && PYTHONUNBUFFERED=1 conda run --no-capture-output -n RoboTwin \
python script/collect_data.py "$task" "$config") || \
echo "[$name] FAILED task=$task" >&2
echo "[$name] done task=$task"
done
}
case "${1:-all}" in
agilex) run_embodiment aloha-agilex "$AGILEX_SRC" \
/home/a1905721/dataspace/openwam/benchmark_data/robotwin2.0/dataset_gt/agilex \
gt_export "$PWD/artifacts/agilex_robotwin10s_manifest.jsonl" ;;
franka) run_embodiment franka "$FRANKA_SRC" \
/home/a1905721/dataspace/robotwin2.0/dataset_gt/franka \
gt_export_franka "$PWD/artifacts/franka_robotwin10s_manifest.jsonl" ;;
all) "$0" agilex & "$0" franka & wait ;;
*) echo "usage: $0 [agilex|franka|all]" >&2; exit 2 ;;
esac
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