project/ManiSkill3/src/maniskill3_environment/scripts/data_generation/motionplanning.sh

#!/bin/bash

# --- Configurable variables ---
backend="cpu"
obs_mode="state_dict"
traj_name="trajectory"
num_sample=1
num_traj=100
cuda=0
nproc=1
rand_level=4

# List of tasks
tasks=(
    # "PickForkFromRack-v1"
    # "PlaceSpoonOnRack-v1"
    # "PlaceMugOnRack-v1"
    # "PlaceMugOnCoffeeMachine-v1"
    # "PickMugFromCoffeeMachine-v1"
    # "PlaceBowlOnRack-v1"
    # "PlacePlateOnRack-v1"
    # "PlaceForkOnRack-v1"
    # "PlaceKnifeOnRack-v1"
    # "PlaceBowlOnRack-v2"
    # "PlacePlateOnRack-v2"
    # "PlaceForkOnRack-v2"
    # "PlaceKnifeOnRack-v2"
    # "PlaceBowlOnRack-v3"
    # "PlacePlateOnRack-v3"
    # "PlaceForkOnRack-v3"
    # "PlaceKnifeOnRack-v3"
    # "PlaceBowlOnRack-v4"
    # "PlacePlateOnRack-v4"
    # "PlaceForkOnRack-v4"
    # "PlaceKnifeOnRack-v4"
    # "GraspFork-v0"
    # "GraspBowl-v0"
    # "GraspPlate-v0"
    "GraspCup-v0"
)

# List of agents
agents=(
  # "noahbiarm"
  "panda"
)

# list of robot versions
robot_uids=(
  # "noahbiarm_r"
  # "noahbiarm_rc"
  # "noahbiarm_rcw"
  "panda_wristcam"
)

# Loop over each agent
for agent in "${agents[@]}"; do
  # loop over robot versions
  for robot in "${robot_uids[@]}"; do
    # Loop over each task for the current agent
    for env_id in "${tasks[@]}"; do
      echo "Processing tasks for agent: $agent (backend=$backend, obs_mode=$obs_mode, rand_level=$rand_level, traj_name=$traj_name)"
      echo "Robot: $robot  Task: $env_id"

       # Generate sample video
       CUDA_VISIBLE_DEVICES="${cuda}" python -m mani_skill.examples.motionplanning."${agent}".run \
         --rand_level="$rand_level" \
         --env-id="$env_id" \
         --traj-name=sample.rl."$rand_level" \
         -n="$num_sample" \
         -b="$backend" \
         -o="$obs_mode" \
         --record-dir=data/"${robot}" \
         --robot_uids="$robot" \
         --num-procs=1 \
         --save-video \
         --only-count-success

       mv data/"${robot}"/"$env_id"/motionplanning/0.mp4 \
         data/"${robot}"/"$env_id"/motionplanning/sample.rl."$rand_level".mp4

#      # # Generate training data
#      CUDA_VISIBLE_DEVICES="${cuda}" python -m mani_skill.examples.motionplanning."${agent}".run \
#        --rand_level="$rand_level" \
#        --env-id "$env_id" \
#        --traj-name="$traj_name".rl."$rand_level" \
#        --only-count-success \
#        -n "$num_traj" \
#        -b="$backend" \
#        -o="$obs_mode" \
#        --record-dir=data/"${robot}" \
#        --robot_uids="$robot" \
#        --num-procs="$nproc"
    done
  done
done