File size: 3,017 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 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 | #!/usr/bin/env bash
set -euo pipefail
REPO=/home/ubuntu/Documents/01Proj/13atec/ATEC2026_Simulation_Challenge
OPENPI=/home/ubuntu/src/openpi-ebench-clean
OPENPI_PY=/home/ubuntu/envs/openpi-pi05/bin/python
ISAAC_PY=/home/ubuntu/envs/genmanip-isaac5-py311/bin/python
CONFIG="${CONFIG:-pi05_atec_task_e_s5_224}"
CHECKPOINT_DIR="${1:-${CHECKPOINT_DIR:-}}"
PORT="${PORT:-8015}"
ACTION_REPEAT="${ACTION_REPEAT:-5}"
STAMP="$(date +%Y%m%d%H%M%S)"
SERVER_LOG="$REPO/logs/pi05_policy_server_${STAMP}.log"
EVAL_DIR="$REPO/logs/pi05_eval_${STAMP}"
if [[ -z "$CHECKPOINT_DIR" ]]; then
CHECKPOINT_DIR="$(find /home/ubuntu/projects/robotics_shared/checkpoints/openpi/atec_runs/checkpoints/"$CONFIG" -mindepth 2 -maxdepth 2 -type d -regex '.*/[0-9]+' 2>/dev/null | sort -V | tail -1 || true)"
fi
if [[ -z "$CHECKPOINT_DIR" || ! -d "$CHECKPOINT_DIR" ]]; then
echo "[ERROR] Checkpoint dir not found. Pass it as argv[1] or set CHECKPOINT_DIR." >&2
exit 1
fi
mkdir -p "$EVAL_DIR" "$REPO/logs/videos/task_e_pi05_eval"
export HF_LEROBOT_HOME=/home/ubuntu/projects/robotics_shared/datasets/lerobot
export HF_HOME=/home/ubuntu/projects/robotics_shared/hf_cache
export PYTHONPATH="$OPENPI/src:$OPENPI/packages/openpi-client/src"
cd "$OPENPI"
"$OPENPI_PY" scripts/serve_policy.py \
--port "$PORT" \
policy:checkpoint \
--policy.config "$CONFIG" \
--policy.dir "$CHECKPOINT_DIR" \
> "$SERVER_LOG" 2>&1 &
server_pid=$!
cleanup() {
kill "$server_pid" 2>/dev/null || true
}
trap cleanup EXIT
echo "[INFO] Started OpenPI server pid=$server_pid port=$PORT checkpoint=$CHECKPOINT_DIR"
for _ in $(seq 1 120); do
if grep -q "Creating server" "$SERVER_LOG" 2>/dev/null; then
break
fi
if ! kill -0 "$server_pid" 2>/dev/null; then
echo "[ERROR] OpenPI server exited early. Tail:" >&2
tail -80 "$SERVER_LOG" >&2 || true
exit 1
fi
sleep 5
done
export OMNI_KIT_ACCEPT_EULA=YES
export PYTHONUNBUFFERED=1
export PYTHONPATH="/home/ubuntu/envs/genmanip-isaac5-py311/lib/python3.11/site-packages/isaaclab/source/isaaclab:/home/ubuntu/envs/genmanip-isaac5-py311/lib/python3.11/site-packages/isaaclab/source/isaaclab_assets:/home/ubuntu/envs/genmanip-isaac5-py311/lib/python3.11/site-packages/isaaclab/source/isaaclab_tasks:$REPO/source/atec_rl_lab:$REPO/scripts/act"
cd "$REPO"
for seed in 11 12 13; do
video_arg=()
if [[ "$seed" == "11" ]]; then
video_arg=(--video_path "$REPO/logs/videos/task_e_pi05_eval/pi05_${CONFIG}_seed11_${STAMP}.mp4")
fi
"$ISAAC_PY" scripts/pi05/eval_task_e_pi05.py \
--episodes 1 \
--seed "$seed" \
--host 127.0.0.1 \
--port "$PORT" \
--action_repeat "$ACTION_REPEAT" \
--headless \
--disable_fabric \
"${video_arg[@]}" \
> "$EVAL_DIR/seed${seed}.log" 2>&1
tail -12 "$EVAL_DIR/seed${seed}.log"
done
"$ISAAC_PY" scripts/pi05/summarize_pi05_eval.py "$EVAL_DIR" || true
"$ISAAC_PY" scripts/pi05/compare_pi05_vs_act_baseline.py "$EVAL_DIR" --repo "$REPO" || true
echo "[INFO] Eval logs: $EVAL_DIR"
echo "[INFO] Server log: $SERVER_LOG"
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