163 lines
5.9 KiB
Bash
Executable File
163 lines
5.9 KiB
Bash
Executable File
#!/usr/bin/env bash
|
|
# Replay a trained Go2 SRU navigation policy in the Isaac Sim GUI.
|
|
#
|
|
# Examples:
|
|
# # Latest run, latest checkpoint, 4 envs (default)
|
|
# ./scripts/play_go2.sh
|
|
#
|
|
# # Specific iter from latest run
|
|
# ./scripts/play_go2.sh --from-iter 1000
|
|
#
|
|
# # Specific iter from a specific run dir
|
|
# ./scripts/play_go2.sh \
|
|
# --run-dir 2026-06-12_09-32-44_resume_from_1000 \
|
|
# --from-iter 50999
|
|
#
|
|
# # Pin an exact in-container checkpoint path
|
|
# ./scripts/play_go2.sh --checkpoint \
|
|
# /workspace/IsaacLab/logs/rsl_rl/go2_navigation_ppo_dev/<run>/model_500.pt
|
|
#
|
|
# # Headless replay (no GUI), e.g. on a server
|
|
# ./scripts/play_go2.sh --from-iter 800 --headless --envs 1
|
|
#
|
|
# # Browse a different experiment dir (e.g. full PPO)
|
|
# ./scripts/play_go2.sh --experiment go2_navigation_ppo_ft_from_b2w --from-iter 5000
|
|
#
|
|
# Notes:
|
|
# * --run-dir is the timestamped folder name under
|
|
# outputs/logs/rsl_rl/<experiment>/.
|
|
# * If neither --run-dir nor --checkpoint is given, the latest run is picked.
|
|
# * If --from-iter is omitted, the latest model_*.pt in the run dir is used.
|
|
# * The Play task disables corruption / pushes / large terrain to make the
|
|
# viewer behave well; that is decided by --task (default: Play-v0).
|
|
set -euo pipefail
|
|
|
|
REPO_ROOT="$(cd "$(dirname "$0")/.." && pwd)"
|
|
|
|
# ---- defaults ----
|
|
TASK="Isaac-Nav-PPO-Go2-Play-v0"
|
|
EXPERIMENT="go2_navigation_ppo_dev"
|
|
NUM_ENVS=4
|
|
FROM_ITER=""
|
|
RUN_DIR=""
|
|
CHECKPOINT=""
|
|
HEADLESS=0
|
|
SEED=42
|
|
EXPORT_ONNX=0
|
|
EXPORT_JIT=0
|
|
|
|
usage() {
|
|
sed -n '1,30p' "$0"
|
|
echo
|
|
echo "Flags:"
|
|
echo " --from-iter N Replay model_<N>.pt within the chosen run dir."
|
|
echo " --run-dir NAME Run dir name under outputs/logs/rsl_rl/<experiment>/."
|
|
echo " --checkpoint PATH Explicit IN-CONTAINER path (overrides --run-dir/--from-iter)."
|
|
echo " --task NAME Gym task id (default: $TASK)."
|
|
echo " --experiment NAME Log subdir (default: $EXPERIMENT)."
|
|
echo " --envs N Parallel envs (default: $NUM_ENVS)."
|
|
echo " --seed N Seed (default: $SEED)."
|
|
echo " --headless Run without GUI (faster, no X11)."
|
|
echo " --export-onnx Also export policy to <run-dir>/export/policy.onnx."
|
|
echo " --export-jit Also export policy to <run-dir>/export/policy.pt (TorchScript)."
|
|
echo " -h, --help Show this help."
|
|
exit 0
|
|
}
|
|
|
|
# ---- arg parsing ----
|
|
while [[ $# -gt 0 ]]; do
|
|
case "$1" in
|
|
--from-iter) FROM_ITER="$2"; shift 2 ;;
|
|
--run-dir) RUN_DIR="$2"; shift 2 ;;
|
|
--checkpoint) CHECKPOINT="$2"; shift 2 ;;
|
|
--task) TASK="$2"; shift 2 ;;
|
|
--experiment) EXPERIMENT="$2"; shift 2 ;;
|
|
--envs) NUM_ENVS="$2"; shift 2 ;;
|
|
--seed) SEED="$2"; shift 2 ;;
|
|
--headless) HEADLESS=1; shift ;;
|
|
--export-onnx) EXPORT_ONNX=1; shift ;;
|
|
--export-jit) EXPORT_JIT=1; shift ;;
|
|
-h|--help) usage ;;
|
|
*) echo "[error] Unknown arg: $1" >&2; usage ;;
|
|
esac
|
|
done
|
|
|
|
HOST_LOG_ROOT="$REPO_ROOT/outputs/logs/rsl_rl/$EXPERIMENT"
|
|
|
|
# ---- resolve checkpoint ----
|
|
if [[ -z "$CHECKPOINT" ]]; then
|
|
if [[ -z "$RUN_DIR" ]]; then
|
|
RUN_DIR="$(ls -1 "$HOST_LOG_ROOT" 2>/dev/null | sort | tail -n 1 || true)"
|
|
[[ -z "$RUN_DIR" ]] && { echo "[error] No runs under $HOST_LOG_ROOT" >&2; exit 1; }
|
|
fi
|
|
RUN_PATH="$HOST_LOG_ROOT/$RUN_DIR"
|
|
[[ -d "$RUN_PATH" ]] || { echo "[error] Run dir not found: $RUN_PATH" >&2; exit 1; }
|
|
|
|
if [[ -n "$FROM_ITER" ]]; then
|
|
HOST_CKPT="$RUN_PATH/model_${FROM_ITER}.pt"
|
|
if [[ ! -f "$HOST_CKPT" ]]; then
|
|
echo "[error] Checkpoint not found: $HOST_CKPT" >&2
|
|
echo "[hint] Available iters in $RUN_DIR:" >&2
|
|
ls -1 "$RUN_PATH"/model_*.pt 2>/dev/null \
|
|
| sed -nE 's/.*model_([0-9]+)\.pt/ \1/p' \
|
|
| paste -sd ' ' >&2
|
|
exit 1
|
|
fi
|
|
else
|
|
HOST_CKPT="$(ls -1 "$RUN_PATH"/model_*.pt 2>/dev/null | sort -V | tail -n 1)"
|
|
[[ -z "$HOST_CKPT" ]] && { echo "[error] No model_*.pt in $RUN_PATH" >&2; exit 1; }
|
|
fi
|
|
CHECKPOINT="${HOST_CKPT/$REPO_ROOT\/outputs\/logs/\/workspace\/IsaacLab\/logs}"
|
|
else
|
|
HOST_CKPT="${CHECKPOINT/\/workspace\/IsaacLab\/logs/$REPO_ROOT\/outputs\/logs}"
|
|
fi
|
|
|
|
# ---- GUI plumbing ----
|
|
EXTRA_DOCKER_ARGS=()
|
|
HEADLESS_FLAG=""
|
|
if [[ "$HEADLESS" == "0" ]]; then
|
|
xhost +local:root >/dev/null 2>&1 || xhost +local:docker >/dev/null 2>&1 || true
|
|
EXTRA_DOCKER_ARGS+=(-e "DISPLAY=${DISPLAY:-:1}"
|
|
-v /tmp/.X11-unix:/tmp/.X11-unix:rw
|
|
-v "$HOME/.Xauthority:/root/.Xauthority:ro")
|
|
else
|
|
HEADLESS_FLAG="--headless"
|
|
fi
|
|
|
|
cat <<EOF
|
|
[play_go2] task = $TASK
|
|
[play_go2] experiment = $EXPERIMENT
|
|
[play_go2] checkpoint = $CHECKPOINT
|
|
[play_go2] host file = $HOST_CKPT
|
|
[play_go2] envs = $NUM_ENVS
|
|
[play_go2] headless = $HEADLESS
|
|
EOF
|
|
|
|
docker run --rm --gpus all \
|
|
-e ACCEPT_EULA=Y -e PRIVACY_CONSENT=Y \
|
|
-e PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True \
|
|
-e PLAY_DIFFICULTY="${PLAY_DIFFICULTY:-}" \
|
|
-e PLAY_SUBTERRAIN_MIX="${PLAY_SUBTERRAIN_MIX:-}" \
|
|
-e PLAY_MAZE_ONLY="${PLAY_MAZE_ONLY:-}" \
|
|
-e PLAY_CELL_SIZE="${PLAY_CELL_SIZE:-}" \
|
|
-e PLAY_CLASSIC_MAZE="${PLAY_CLASSIC_MAZE:-}" \
|
|
-e PUREMAZE_DIFFICULTY="${PUREMAZE_DIFFICULTY:-}" \
|
|
-e PUREMAZE_CELL_SIZE="${PUREMAZE_CELL_SIZE:-}" \
|
|
-e PUREMAZE_NUM_ROWS="${PUREMAZE_NUM_ROWS:-}" \
|
|
-e PUREMAZE_NUM_COLS="${PUREMAZE_NUM_COLS:-}" \
|
|
--shm-size=16g --network host --ipc host \
|
|
--ulimit memlock=-1 --ulimit stack=67108864 \
|
|
"${EXTRA_DOCKER_ARGS[@]}" \
|
|
-v "$REPO_ROOT/outputs/logs:/workspace/IsaacLab/logs" \
|
|
-v "$REPO_ROOT/mount/sru-navigation-sim:/workspace/IsaacLab/source/isaaclab_nav_task" \
|
|
-v "$REPO_ROOT/mount/rsl_rl:/workspace/rsl_rl" \
|
|
--entrypoint bash sru-nav:latest -lc \
|
|
"./isaaclab.sh -p source/isaaclab_nav_task/scripts/play.py \
|
|
--task $TASK \
|
|
--num_envs $NUM_ENVS \
|
|
--seed $SEED \
|
|
--checkpoint $CHECKPOINT \
|
|
$HEADLESS_FLAG \
|
|
$([[ $EXPORT_ONNX == 1 ]] && echo --export_onnx) \
|
|
$([[ $EXPORT_JIT == 1 ]] && echo --export_jit)"
|