21 lines
1.1 KiB
Bash
21 lines
1.1 KiB
Bash
#! /bin/zsh
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export DISPLAY=:1
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HDMI_DIR="/home/pcy/Research/code/HDMI"
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# source HDMI env
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source ${HDMI_DIR}/.venv/bin/activate
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# Install required packages
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# uv pip install opencv-python rerun-sdk loguru hydra-core omegaconf
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# run SPIDER
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# viewer options:
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# - "mjlab" for mjlab viewer only
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# - "mujoco" for mujoco viewer only
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# - "rerun" for rerun viewer only
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# - "mujoco-rerun" for both mujoco and rerun (recommended for SPIDER)
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# - "mjlab-mujoco-rerun" for all three viewers (mjlab may conflict)
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# python examples/run_hdmi.py task=move_largebox viewer="mujoco-rerun" rerun_spawn=true horizon=0.8 knot_dt=0.2 ctrl_dt=0.04 num_samples=1024 temperature=0.1 max_num_iterations=32 joint_noise_scale=0.2 first_ctrl_noise_scale=1.0 improvement_check_steps=1 improvement_threshold=0.02 max_sim_steps=100 #ctrl_dt=0.02 knot_dt=0.02 horizon=0.02 joint_noise_scale=0.0001 max_num_iterations=1
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python examples/run_hdmi.py task=move_suitcase joint_noise_scale=0.2 knot_dt=0.2 ctrl_dt=0.04 horizon=0.8 +data_id=1 viewer="mujoco-rerun" rerun_spawn=true +save_rerun=true +save_metrics=false max_sim_steps=-1
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