File size: 998 Bytes
21e1acb | 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 | #!/usr/bin/env bash
set -euo pipefail
REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
PYTHON_BIN="${PYTHON_BIN:-/home/ubuntu/envs/genmanip-isaac5-py311/bin/python}"
OBJ="${1:-3}"
if (( $# > 0 )); then
shift
fi
SEED="${1:-11}"
if (( $# > 0 )); then
shift
fi
MASK_PROVIDER="${MASK_PROVIDER:-oracle}"
VIDEO_PATH="${VIDEO_PATH:-logs/videos/task_e_anygrasp/anygrasp_obj${OBJ}_seed${SEED}.mp4}"
DEBUG_NPZ="${DEBUG_NPZ:-logs/anygrasp_task_e/obj${OBJ}_seed${SEED}_debug.npz}"
cd "${REPO_ROOT}"
exec env OMNI_KIT_ACCEPT_EULA=YES PYTHONUNBUFFERED=1 "${PYTHON_BIN}" \
scripts/graspnet_task_e/run_graspnet_pick.py \
--grasp_provider anygrasp \
--object "${OBJ}" \
--seed "${SEED}" \
--mask_provider "${MASK_PROVIDER}" \
--use_task_quat \
--tcp_z_offset 0.040 \
--close_z_offset -0.020 \
--close_steps 160 \
--move_steps 200 \
--transport_steps 1400 \
--place_steps 260 \
--video_path "${VIDEO_PATH}" \
--save_debug_npz "${DEBUG_NPZ}" \
--headless \
"$@"
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