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2e0937e | 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 | #!/usr/bin/env bash
set -euo pipefail
TASK="${1:?usage: run_anybimanual_task_eval.sh <task_name> [episodes] [gpu]}"
EPISODES="${2:-5}"
GPU="${3:-0}"
DEMO_PATH="${DEMO_PATH:-/workspace/data/rlbench2}"
RUN_LOGDIR="${RUN_LOGDIR:-/workspace/runs/anybimanual/peract_lf_eval}"
ROOT="/workspace/third_party/AnyBimanual"
ENV_DIR="/workspace/envs/anybi311"
export HOME="/workspace"
export HF_HOME="/workspace/.hf"
export TORCH_HOME="/workspace/.cache/torch"
export COPPELIASIM_ROOT="/workspace/assets/coppeliasim_v4_1_0"
export LD_LIBRARY_PATH="${LD_LIBRARY_PATH:-}:$COPPELIASIM_ROOT"
export QT_QPA_PLATFORM_PLUGIN_PATH="$COPPELIASIM_ROOT"
export MESA_GL_VERSION_OVERRIDE="4.1"
export PYOPENGL_PLATFORM="egl"
export PYTHONPATH="$ROOT:$ROOT/third_party/RLBench:$ROOT/third_party/YARR:$ROOT/third_party/PyRep:$ROOT/third_party/pytorch3d:${PYTHONPATH:-}"
source "$ENV_DIR/bin/activate"
cd "$ROOT"
xvfb-run -a python eval.py \
method=PERACT_BC \
framework.logdir="$RUN_LOGDIR" \
rlbench.task_name='per2+ab' \
rlbench.demo_path="$DEMO_PATH" \
rlbench.gripper_mode='BimanualDiscrete' \
rlbench.arm_action_mode='BimanualEndEffectorPoseViaPlanning' \
rlbench.action_mode='BimanualMoveArmThenGripper' \
framework.start_seed=0 \
framework.eval_type=60000 \
framework.eval_episodes="$EPISODES" \
framework.eval_envs=1 \
framework.eval_save_metrics=true \
framework.gpu="$GPU" \
rlbench.headless=true \
cinematic_recorder.enabled=false \
"rlbench.tasks=[$TASK]"
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