65 lines
2.6 KiB
Bash
Executable File
65 lines
2.6 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Replay a trained Go2 navigation policy in the Isaac Sim GUI (X11 forwarded).
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#
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# Usage:
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# ./scripts/play_go2_gui.sh # latest dev run, 4 envs
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# NUM_ENVS=8 ./scripts/play_go2_gui.sh
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# CHECKPOINT=/workspace/IsaacLab/logs/rsl_rl/go2_navigation_ppo_dev/2026-06-12_06-25-41/model_33.pt \
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# ./scripts/play_go2_gui.sh
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#
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# The CHECKPOINT path must be the IN-CONTAINER path (under /workspace/IsaacLab/logs/...).
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set -e
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REPO_ROOT="$(cd "$(dirname "$0")/.." && pwd)"
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NUM_ENVS="${NUM_ENVS:-4}"
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TASK="${TASK:-Isaac-Nav-PPO-Go2-Play-v0}"
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# Which experiment subdir to scan when CHECKPOINT not given. Override with
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# EXPERIMENT=go2_navigation_ppo_puremaze for P0 / maze runs.
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EXPERIMENT="${EXPERIMENT:-go2_navigation_ppo_dev}"
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# Auto-pick the latest checkpoint under <EXPERIMENT> if none was provided.
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if [[ -z "${CHECKPOINT:-}" ]]; then
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HOST_LOG_ROOT="$REPO_ROOT/outputs/logs/rsl_rl/$EXPERIMENT"
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LATEST_RUN="$(ls -1 "$HOST_LOG_ROOT" 2>/dev/null | sort | tail -n 1 || true)"
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if [[ -z "$LATEST_RUN" ]]; then
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echo "[error] No runs found under $HOST_LOG_ROOT and no CHECKPOINT given." >&2
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exit 1
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fi
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LATEST_CKPT="$(ls -1 "$HOST_LOG_ROOT/$LATEST_RUN"/model_*.pt 2>/dev/null | sort -V | tail -n 1)"
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if [[ -z "$LATEST_CKPT" ]]; then
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echo "[error] No model_*.pt found in $HOST_LOG_ROOT/$LATEST_RUN" >&2
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exit 1
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fi
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# Map host path -> in-container path.
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CHECKPOINT="${LATEST_CKPT/$REPO_ROOT\/outputs\/logs/\/workspace\/IsaacLab\/logs}"
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fi
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xhost +local:root >/dev/null 2>&1 || xhost +local:docker >/dev/null 2>&1 || true
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echo "[host] DISPLAY=${DISPLAY:-:1}"
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echo "[host] task=$TASK num_envs=$NUM_ENVS"
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echo "[host] checkpoint (in container) = $CHECKPOINT"
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docker run --rm --gpus all \
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-e ACCEPT_EULA=Y -e PRIVACY_CONSENT=Y \
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-e DISPLAY="${DISPLAY:-:1}" \
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-e PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True \
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-e PLAY_DIFFICULTY="${PLAY_DIFFICULTY:-}" \
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-e PLAY_CELL_SIZE="${PLAY_CELL_SIZE:-}" \
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-e PLAY_MAZE_ONLY="${PLAY_MAZE_ONLY:-}" \
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-e PLAY_CLASSIC_MAZE="${PLAY_CLASSIC_MAZE:-}" \
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-e PLAY_SUBTERRAIN_MIX="${PLAY_SUBTERRAIN_MIX:-}" \
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--shm-size=16g --network host --ipc host \
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--ulimit memlock=-1 --ulimit stack=67108864 \
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-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
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-v "$HOME/.Xauthority:/root/.Xauthority:ro" \
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-v "$REPO_ROOT/outputs/logs:/workspace/IsaacLab/logs" \
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-v "$REPO_ROOT/mount/sru-navigation-sim:/workspace/IsaacLab/source/isaaclab_nav_task" \
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-v "$REPO_ROOT/mount/rsl_rl:/workspace/rsl_rl" \
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--entrypoint bash sru-nav:latest -lc \
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"./isaaclab.sh -p source/isaaclab_nav_task/scripts/play.py \
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--task $TASK \
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--num_envs $NUM_ENVS \
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--checkpoint $CHECKPOINT"
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