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a640c73 a393bfd a640c73 a393bfd a640c73 a393bfd a640c73 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 | #!/usr/bin/env bash
# Usage: run_strict_task_collection.sh TASK GPU COUNT OUTPUT [SEED_START] [WORKERS]
set -euo pipefail
task="$1"; gpu="$2"; count="$3"; output="$4"; seed_start="${5:-300000}"; workers="${6:-1}"
export CUDA_VISIBLE_DEVICES="$gpu" OMP_NUM_THREADS="${OMP_NUM_THREADS:-10}" MKL_NUM_THREADS="${MKL_NUM_THREADS:-10}"
export ROBOFACTORY_WRIST_WIDTH=640 ROBOFACTORY_WRIST_HEIGHT=480
cd /workspace/RoboFactory
# RoboFactory resolves scene paths relative to its Python package while the
# official asset snapshot is downloaded to the repository root. Fail early if
# this explicit bridge or the required table mesh is absent.
if [[ ! -e robofactory/assets ]]; then
ln -s ../assets robofactory/assets
fi
test -f robofactory/assets/scenes/table/table.glb
exec /workspace/venvs/robofactory-act/bin/python -u /workspace/act_liftbarrier/collect_wrist_task_dataset.py \
--task "$task" --count "$count" --workers "$workers" --seed-start "$seed_start" --gpus 1 \
--camera-width 640 --camera-height 480 --obs-mode rgbd --output "$output"
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