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# NOTE This is what to modify if your paths are different.
PATH_TO_COPPELIA_SIM="$HOME/src/CoppeliaSim_Edu_V4_1_0_Ubuntu18_04/";
PATH_TO_RGR="$HOME/src/real_good_robot";
task="";
coppelia=0;
# TODO implement coppelia flag
# make sure script will print where it is and exit on errors
set -e
set -u
set -x
# help function
Help()
{
# Display Help
echo "Syntax: ./ssr.sh [-t|h]"
echo "options:"
echo "-t Which task? [row|stack|unstack|vertical_square]"
echo "-c launch coppeliasim"
echo "-h Print help menu."
echo
echo "Note that running without any of the options set will result in no action."
}
# get cmd line options
while getopts "t:hc" option; do
case $option in
t) # which task?
task=${OPTARG};;
h) # help
Help
exit;;
c) # launch coppelia_sim
coppelia=1;;
\?) # Invalid option
echo "Error: Invalid option"
exit;;
esac
done
if [ "$task" = "row" ]
then
# NOTE change ports here AND in commands below if sims need to be run on different ports. 19998-20001 used by default
# $PATH_TO_COPPELIA_SIM/coppeliaSim.sh -gREMOTEAPISERVERSERVICE_19998_FALSE_TRUE -s $PATH_TO_RGR/simulation/simulation.ttt
# row
# export CUDA_VISIBLE_DEVICES="0" &&
python3 main.py --is_sim --obj_mesh_dir objects/blocks --num_obj 4 --common_sense --place --tcp_port 20000 --random_seed 1238 \
--max_test_trials 50 --task_type row --is_testing --use_demo --demo_path demos/row_demos --stack_snapshot_file logs/finetuned_models/base_stack_finetune_row.pth \
--vertical_square_snapshot_file logs/finetuned_models/base_vertical_square_finetune_row.pth --unstack_snapshot_file logs/finetuned_models/base_unstack_finetune_row.pth \
--grasp_only --depth_channels_history --cycle_consistency --no_common_sense_backprop --future_reward_discount 0.65
elif [ "$task" = "stack" ]
then
# $PATH_TO_COPPELIA_SIM/coppeliaSim.sh -gREMOTEAPISERVERSERVICE_19999_FALSE_TRUE -s $PATH_TO_RGR/simulation/simulation.ttt &
# stack
# export CUDA_VISIBLE_DEVICES="1" &&
python3 main.py --is_sim --obj_mesh_dir objects/blocks --num_obj 4 --common_sense --place --tcp_port 19999 --random_seed 1238 \
--max_test_trials 50 --task_type stack --is_testing --use_demo --demo_path demos/stack_demos --row_snapshot_file logs/finetuned_models/base_row_finetune_stack.pth \
--vertical_square_snapshot_file logs/finetuned_models/base_vertical_square_finetune_stack.pth --unstack_snapshot_file logs/finetuned_models/base_unstack_finetune_stack.pth \
--grasp_only --depth_channels_history --cycle_consistency --no_common_sense_backprop --future_reward_discount 0.65
elif [ "$task" = "unstack" ]
then
# $PATH_TO_COPPELIA_SIM/coppeliaSim.sh -gREMOTEAPISERVERSERVICE_20000_FALSE_TRUE -s $PATH_TO_RGR/simulation/simulation.ttt &
# unstack
# export CUDA_VISIBLE_DEVICES="2" &&
python3 main.py --is_sim --obj_mesh_dir objects/blocks --num_obj 4 --common_sense --place --tcp_port 20000 --random_seed 1238 \
--max_test_trials 50 --task_type unstack --is_testing --use_demo --demo_path demos/unstacking_demos --stack_snapshot_file \
logs/finetuned_models/base_stack_finetune_unstack.pth --vertical_square_snapshot_file logs/finetuned_models/base_vertical_square_finetune_unstack.pth \
--row_snapshot_file logs/finetuned_models/base_row_finetune_unstack.pth --grasp_only --depth_channels_history --cycle_consistency \
--no_common_sense_backprop --future_reward_discount 0.65
elif [ "$task" = "vertical_square" ]
then
# $PATH_TO_COPPELIA_SIM/coppeliaSim.sh -gREMOTEAPISERVERSERVICE_20001_FALSE_TRUE -s $PATH_TO_RGR/simulation/simulation.ttt &
# vertical square
# export CUDA_VISIBLE_DEVICES="3" &&
python3 main.py --is_sim --obj_mesh_dir objects/blocks --num_obj 4 --common_sense --place --tcp_port 20002 --random_seed 1238 \
--max_test_trials 50 --task_type vertical_square --is_testing --use_demo --demo_path demos/vertical_square_demos --stack_snapshot_file \
logs/finetuned_models/base_stack_finetune_vertical_square.pth --unstack_snapshot_file logs/finetuned_models/base_unstack_finetune_vertical_square.pth \
--row_snapshot_file logs/finetuned_models/base_row_finetune_vertical_square.pth --grasp_only --depth_channels_history --cycle_consistency \
--no_common_sense_backprop --future_reward_discount 0.65 --timeout 90
else
echo "Must pass one of [row | stack | unstack | vertical_square] to -t."
fi
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