intergrate openvla policy and PR

Author: DelinQu

scripts/openvla_bridge.sh

@@ -7,31 +7,30 @@ robot=widowx
 rgb_overlay_path=ManiSkill2_real2sim/data/real_inpainting/bridge_real_eval_1.png
 robot_init_x=0.147
 robot_init_y=0.028
-export DISPLAY=:1.0
-# VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json
-# python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
-#   --robot ${robot} --policy-setup widowx_bridge \
-#   --control-freq 5 --sim-freq 500 --max-episode-steps 60 \
-#   --env-name PutCarrotOnPlateInScene-v0 --scene-name ${scene_name} \
-#   --rgb-overlay-path ${rgb_overlay_path} \
-#   --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
-#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
-#
-# python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
-#   --robot ${robot} --policy-setup widowx_bridge \
-#   --control-freq 5 --sim-freq 500 --max-episode-steps 60 \
-#   --env-name StackGreenCubeOnYellowCubeBakedTexInScene-v0 --scene-name ${scene_name} \
-#   --rgb-overlay-path ${rgb_overlay_path} \
-#   --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
-#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
-#
-# python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
-#   --robot ${robot} --policy-setup widowx_bridge \
-#   --control-freq 5 --sim-freq 500 --max-episode-steps 60 \
-#   --env-name PutSpoonOnTableClothInScene-v0 --scene-name ${scene_name} \
-#   --rgb-overlay-path ${rgb_overlay_path} \
-#   --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
-#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
+
+python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
+  --robot ${robot} --policy-setup widowx_bridge \
+  --control-freq 5 --sim-freq 500 --max-episode-steps 60 \
+  --env-name PutCarrotOnPlateInScene-v0 --scene-name ${scene_name} \
+  --rgb-overlay-path ${rgb_overlay_path} \
+  --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
+  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
+
+python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
+  --robot ${robot} --policy-setup widowx_bridge \
+  --control-freq 5 --sim-freq 500 --max-episode-steps 60 \
+  --env-name StackGreenCubeOnYellowCubeBakedTexInScene-v0 --scene-name ${scene_name} \
+  --rgb-overlay-path ${rgb_overlay_path} \
+  --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
+  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
+
+python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
+  --robot ${robot} --policy-setup widowx_bridge \
+  --control-freq 5 --sim-freq 500 --max-episode-steps 60 \
+  --env-name PutSpoonOnTableClothInScene-v0 --scene-name ${scene_name} \
+  --rgb-overlay-path ${rgb_overlay_path} \
+  --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
+  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
 
 
 scene_name=bridge_table_1_v2