add scripts/gen_val_combo.sbatch

scripts/gen_val_combo.sbatch

@@ -0,0 +1,78 @@
+#!/bin/bash
+# Generate validation trajectories for a single (task, subtask, obj) combo on HPC3.
+# Output goes to mshab_data/gen_data_save_trajectories/{task}/{subtask}/val/{obj}/
+#
+# Usage: sbatch --export=TASK=set_table,SUBTASK=pick,OBJ=013_apple,MAX_TRAJ=100 scripts/gen_val_combo.sbatch
+#
+# Pipeline per combo:
+#   1. gen_data.py with SPLIT=val, MAX_TRAJ=100   → val rollouts using val task_plan + spawn_data
+#   2. add_pointcloud.py                          → pointcloud/{xyzw, rgb, mask}
+#   3. add_xyzrgb.py                              → pointcloud/xyzrgb (1024 sampled pts)
+#
+#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 0-04:00:00
+
+set -e
+: "${TASK:?must pass TASK=...}"
+: "${SUBTASK:?must pass SUBTASK=...}"
+: "${OBJ:?must pass OBJ=...}"
+MAX_TRAJ=${MAX_TRAJ:-100}
+
+PROJECT=${PROJECT_ROOT}
+LOG=$PROJECT/logs/gen_val_${TASK}_${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
+
+export SPLIT=val
+export MAX_TRAJ=$MAX_TRAJ
+
+echo "=== Host: $(hostname)   Time: $(date) ==="
+echo "TASK=$TASK  SUBTASK=$SUBTASK  OBJ=$OBJ  SPLIT=$SPLIT  MAX_TRAJ=$MAX_TRAJ"
+nvidia-smi --query-gpu=name,memory.free --format=csv | head
+
+OUT_DIR=$PROJECT/third_party/mshab/mshab_data/gen_data_save_trajectories/$TASK/$SUBTASK/val/$OBJ
+
+# --- Step 1: gen_data ---
+HAS_H5=$(find "$OUT_DIR" -name "*.h5" -size +500M 2>/dev/null | head -1)
+if [ -z "$HAS_H5" ]; then
+    echo "=== [1/3] gen_data.py (val) ==="
+    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 "$OUT_DIR" -name "*.h5" -size +500M 2>/dev/null | head -1)
+if [ -z "$H5" ]; then
+    echo "ERROR: gen_data produced no h5 file"
+    ls -la "$OUT_DIR" 2>&1 || true
+    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"