scripts/gen_combo.sbatch

#!/bin/bash
# Generate a single (task, subtask, obj) combo on HPC3.
# Usage: sbatch --export=TASK=set_table,SUBTASK=pick,OBJ=013_apple scripts/gen_combo.sbatch
#
# Pipeline per combo:
#   1. gen_data.py        (~3h, 1 GPU)   → rgb+depth+position+segmentation
#   2. add_pointcloud.py  (~30min, CPU)  → pointcloud/{xyzw, rgb, mask}
#   3. add_xyzrgb.py      (~5min, CPU)   → pointcloud/xyzrgb (1024 sampled pts) — final training field
#
#SBATCH -p acd_u
#SBATCH --nodes=1
#SBATCH --ntasks-per-node=1
#SBATCH --cpus-per-task=12
#SBATCH --mem=128G
#SBATCH --gres=gpu:1
#SBATCH -t 0-12:00:00

set -e
: "${TASK:?must pass TASK=... via --export}"
: "${SUBTASK:?must pass SUBTASK=...}"
: "${OBJ:?must pass OBJ=...}"

PROJECT=${PROJECT_ROOT}
LOG=$PROJECT/logs/gen_${TASK}_${SUBTASK}_${OBJ}_${SLURM_JOB_ID}.log
mkdir -p $PROJECT/logs
exec > "$LOG" 2>&1

module purge
module load cuda/12.6 gcc/11.5

export PATH=${CONDA_ENV_PATH}/bin:$PATH
export HF_HOME=${HF_CACHE_DIR}
export HUGGINGFACE_HUB_CACHE=${HF_CACHE_DIR}/hub
export HF_HUB_OFFLINE=1
export TRANSFORMERS_OFFLINE=1
export MS_ASSET_DIR=${MS_ASSET_DIR}
export MSHAB_CHECKPOINTS=$PROJECT/third_party/mshab/mshab_checkpoints

echo "=== Host: $(hostname)   Time: $(date) ==="
echo "TASK=$TASK  SUBTASK=$SUBTASK  OBJ=$OBJ"
nvidia-smi --query-gpu=name,memory.free --format=csv | head

OUT_DIR=$PROJECT/third_party/mshab/mshab_data/gen_data_save_trajectories/$TASK/$SUBTASK/train/$OBJ

# --- Step 1: gen_data (skips if combo dir already has a large h5) ---
HAS_H5=$(find "$OUT_DIR" -name "*.h5" -size +1G 2>/dev/null | head -1)
if [ -z "$HAS_H5" ]; then
    echo "=== [1/3] gen_data.py ==="
    cd $PROJECT/third_party/mshab
    python -m mshab.utils.gen.gen_data "$TASK" "$SUBTASK" "$OBJ"
else
    echo "=== [1/3] gen_data SKIPPED — existing h5: $HAS_H5 ==="
fi

H5=$(find "$OUT_DIR" -name "*.h5" -size +1G 2>/dev/null | head -1)
if [ -z "$H5" ]; then
    echo "ERROR: gen_data produced no h5 file" >&2
    exit 2
fi
echo "h5: $H5 ($(du -sh "$H5" | cut -f1))"

# --- Step 2: add pointcloud ---
echo "=== [2/3] add_pointcloud.py ==="
cd $PROJECT/third_party/mshab
python add_pointcloud.py --data-dir "$OUT_DIR" --max-workers 16

# --- Step 3: add xyzrgb ---
echo "=== [3/3] add_xyzrgb.py ==="
python add_xyzrgb.py --data-dir "$OUT_DIR"

echo "=== Done at $(date) ==="
du -sh "$H5"