| #!/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 |
|
|
