125 lines
3.4 KiB
Bash
Executable File
125 lines
3.4 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -Eeuo pipefail
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SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_DIR="$(cd -- "${SCRIPT_DIR}/.." && pwd)"
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RUNS_DIR="${PROJECT_DIR}/runs/go1-dreamwaq-walk/rslrl"
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checkpoint=""
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output=""
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terrain="flat"
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level="0"
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export_only=false
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usage() {
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cat <<'EOF'
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Export a DreamWaQ checkpoint to ONNX and run MuJoCo sim2sim.
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Usage:
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scripts/run_dreamwaq_sim2sim.sh [options]
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Options:
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-c, --checkpoint PATH Checkpoint to export. Defaults to the newest model_*.pt.
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-o, --output PATH ONNX output path. Defaults to policy.onnx beside checkpoint.
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-t, --terrain NAME flat, rough, stairs, dreamwaq, stairs_test,
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stairs_box, or flat_stairs. Default: flat.
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-l, --level N Terrain difficulty level passed to sim2sim. Default: 0.
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--export-only Export and validate ONNX without starting MuJoCo.
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-h, --help Show this help.
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Examples:
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scripts/run_dreamwaq_sim2sim.sh
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scripts/run_dreamwaq_sim2sim.sh -c runs/.../model_1200.pt
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scripts/run_dreamwaq_sim2sim.sh -t dreamwaq -l 3
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EOF
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}
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die() {
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echo "[ERROR] $*" >&2
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exit 1
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}
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while (($#)); do
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case "$1" in
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-c|--checkpoint)
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(($# >= 2)) || die "$1 requires a path"
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checkpoint="$2"
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shift 2
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;;
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-o|--output)
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(($# >= 2)) || die "$1 requires a path"
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output="$2"
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shift 2
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;;
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-t|--terrain)
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(($# >= 2)) || die "$1 requires a terrain name"
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terrain="$2"
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shift 2
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;;
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-l|--level)
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(($# >= 2)) || die "$1 requires an integer"
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level="$2"
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shift 2
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;;
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--export-only)
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export_only=true
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shift
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;;
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-h|--help)
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usage
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exit 0
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;;
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*)
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die "unknown argument: $1 (use --help)"
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;;
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esac
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done
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case "$terrain" in
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flat|rough|stairs|dreamwaq|stairs_test|stairs_box|flat_stairs) ;;
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*) die "unsupported terrain: ${terrain}" ;;
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esac
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[[ "$level" =~ ^[0-9]+$ ]] || die "level must be a non-negative integer: ${level}"
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command -v uv >/dev/null 2>&1 || die "uv is not available in PATH"
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if [[ -z "$checkpoint" ]]; then
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[[ -d "$RUNS_DIR" ]] || die "run directory not found: ${RUNS_DIR}"
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checkpoint="$({
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find "$RUNS_DIR" -type f -name 'model_*.pt' -printf '%T@ %p\n'
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} | sort -nr | sed -n '1{s/^[^ ]* //;p;}')"
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[[ -n "$checkpoint" ]] || die "no model_*.pt checkpoint found under ${RUNS_DIR}"
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fi
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if [[ "$checkpoint" != /* ]]; then
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checkpoint="${PROJECT_DIR}/${checkpoint}"
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fi
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[[ -f "$checkpoint" ]] || die "checkpoint not found: ${checkpoint}"
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if [[ -z "$output" ]]; then
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output="$(dirname -- "$checkpoint")/policy.onnx"
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elif [[ "$output" != /* ]]; then
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output="${PROJECT_DIR}/${output}"
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fi
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mkdir -p -- "$(dirname -- "$output")"
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echo "[Pipeline] checkpoint: ${checkpoint}"
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echo "[Pipeline] ONNX: ${output}"
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cd -- "$PROJECT_DIR"
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uv run scripts/export_dreamwaq_onnx_new.py \
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--checkpoint "$checkpoint" \
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--output "$output"
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[[ -s "$output" ]] || die "ONNX export did not produce a non-empty file: ${output}"
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echo "[Pipeline] ONNX export complete"
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if [[ "$export_only" == true ]]; then
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exit 0
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fi
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echo "[Pipeline] starting MuJoCo: terrain=${terrain}, level=${level}"
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exec uv run scripts/dreamwaq_sim2sim_mujoco.py \
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--onnx "$output" \
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--terrain "$terrain" \
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--level "$level"
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