Hugging Face's logo

Timsty
/
groot_deployment

ONNX
Model card Files
xet
 Community
groot_deployment
File size: 6,012 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
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
# 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
)

# URDF variations
declare -a urdf_version_arr=("recolor_cabinet_visual_matching_1" "recolor_tabletop_visual_matching_1" "recolor_tabletop_visual_matching_2" None)

for urdf_version in "${urdf_version_arr[@]}"; do

EXTRA_ARGS="--enable-raytracing --additional-env-build-kwargs station_name=mk_station_recolor light_mode=simple disable_bad_material=True urdf_version=${urdf_version}"

EvalOverlay() {
# A0
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 dummy_drawer \
  --robot-init-x 0.644 0.644 1 --robot-init-y -0.179 -0.179 1 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.03 -0.03 1 \
  --obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
  --rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_a0.png \
  ${EXTRA_ARGS}

# A1
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 dummy_drawer \
  --robot-init-x 0.765 0.765 1 --robot-init-y -0.182 -0.182 1 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.02 -0.02 1 \
  --obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
  --rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_a1.png \
  ${EXTRA_ARGS}

# A2
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 dummy_drawer \
  --robot-init-x 0.889 0.889 1 --robot-init-y -0.203 -0.203 1 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.06 -0.06 1 \
  --obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
  --rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_a2.png \
  ${EXTRA_ARGS}

# B0
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 dummy_drawer \
  --robot-init-x 0.652 0.652 1 --robot-init-y 0.009 0.009 1 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
  --obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
  --rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_b0.png \
  ${EXTRA_ARGS}

# B1
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 dummy_drawer \
  --robot-init-x 0.752 0.752 1 --robot-init-y 0.009 0.009 1 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
  --obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
  --rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_b1.png \
  ${EXTRA_ARGS}

# B2
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 dummy_drawer \
  --robot-init-x 0.851 0.851 1 --robot-init-y 0.035 0.035 1 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
  --obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
  --rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_b2.png \
  ${EXTRA_ARGS}

# C0
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 dummy_drawer \
  --robot-init-x 0.665 0.665 1 --robot-init-y 0.224 0.224 1 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
  --obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
  --rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_c0.png \
  ${EXTRA_ARGS}

# C1
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 dummy_drawer \
  --robot-init-x 0.765 0.765 1 --robot-init-y 0.222 0.222 1 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.025 -0.025 1 \
  --obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
  --rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_c1.png \
  ${EXTRA_ARGS}

# C2
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 dummy_drawer \
  --robot-init-x 0.865 0.865 1 --robot-init-y 0.222 0.222 1 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.025 -0.025 1 \
  --obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
  --rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_c2.png \
  ${EXTRA_ARGS}
}


for ckpt_path in "${ckpt_paths[@]}"; do
  for env_name in "${env_names[@]}"; do
    EvalOverlay
  done
done



done