| set -euo pipefail | |
| EPISODES="${1:-10}" | |
| NUM_K_INFER="${2:-50}" | |
| ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" | |
| PYTHON_BIN="${PYTHON_BIN:-python}" | |
| COPPELIASIM_ROOT="${COPPELIASIM_ROOT:?set COPPELIASIM_ROOT to your CoppeliaSim root}" | |
| REPORT_DIR="${REPORT_DIR:-$ROOT/reports/pointflowmatch_take_shoes_out_of_box_ep${EPISODES}_k${NUM_K_INFER}_gpu}" | |
| export PYTHONPATH="$ROOT/third_party/diffusion_policy:$ROOT/third_party/PointFlowMatch:${PYTHONPATH:-}" | |
| export LD_LIBRARY_PATH="${LD_LIBRARY_PATH:-}:$COPPELIASIM_ROOT" | |
| export QT_QPA_PLATFORM_PLUGIN_PATH="$COPPELIASIM_ROOT" | |
| mkdir -p "$REPORT_DIR" | |
| cd "$ROOT/third_party/PointFlowMatch" | |
| xvfb-run -a -s "-screen 0 1400x900x24" "$PYTHON_BIN" scripts/evaluate.py \ | |
| log_wandb=False \ | |
| env_runner.env_config.vis=False \ | |
| env_runner.num_episodes="$EPISODES" \ | |
| env_runner.max_episode_length=200 \ | |
| policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka \ | |
| policy.num_k_infer="$NUM_K_INFER" \ | |
| 2>&1 | tee "$REPORT_DIR/run.log" | |