39 lines
1.5 KiB
Bash
Executable File
39 lines
1.5 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Run probe_pt.py inside the sru-nav container against the Go2 locomotion .pt.
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# Usage:
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# ./scripts/probe_pt.sh # uses default path under mount/
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# ./scripts/probe_pt.sh /custom/path/in/host # absolute host path
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set -e
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REPO_ROOT="$(cd "$(dirname "$0")/.." && pwd)"
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HOST_PT="${1:-$REPO_ROOT/mount/sru-navigation-sim/isaaclab_nav_task/navigation/assets/data/Policies/locomotion/go2/policy_go2.pt}"
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if [[ ! -f "$HOST_PT" ]]; then
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echo "ERROR: .pt not found at: $HOST_PT"
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echo " Copy your Go2 locomotion .pt there first."
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exit 1
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fi
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echo "[host] probing: $HOST_PT"
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echo "[host] file size: $(du -h "$HOST_PT" | cut -f1)"
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# Translate the host path to the corresponding container path (the mount).
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HOST_NAV_SIM="$REPO_ROOT/mount/sru-navigation-sim"
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CONTAINER_NAV_SIM="/workspace/IsaacLab/source/isaaclab_nav_task"
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if [[ "$HOST_PT" == "$HOST_NAV_SIM"/* ]]; then
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CONTAINER_PT="${HOST_PT/$HOST_NAV_SIM/$CONTAINER_NAV_SIM}"
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else
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echo "ERROR: .pt must live under $HOST_NAV_SIM (the live-mounted folder)."
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echo " Got: $HOST_PT"
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exit 1
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fi
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echo "[host] container path: $CONTAINER_PT"
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docker run --rm --gpus all \
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-e ACCEPT_EULA=Y -e PRIVACY_CONSENT=Y \
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--shm-size=4g --ipc host \
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-v "$REPO_ROOT/scripts/probe_pt.py:/tmp/probe_pt.py:ro" \
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-v "$REPO_ROOT/mount/sru-navigation-sim:/workspace/IsaacLab/source/isaaclab_nav_task" \
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--entrypoint bash sru-nav:latest -lc \
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"/workspace/IsaacLab/_isaac_sim/python.sh /tmp/probe_pt.py '$CONTAINER_PT'"
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