Set up

bash uv_install.sh
bash libs/Isaac_GR00T_n1d6/gr00t/eval/sim/robocasa/setup_RoboCasa.sh

Run server client

Terminal 1:

#!/usr/bin/env bash

uv run --active --no-sync --directory libs/Isaac_GR00T_n1d6 \
  python -m gr00t.eval.run_gr00t_server \
  --model-path ACG/fractal_finetune \
  --embodiment-tag OXE_GOOGLE \
  --use-sim-policy-wrapper \
  --use_guidance \
  --guidance acg
  

Terminal 2:

export CUDA_VISIBLE_DEVICES=0

TASKS=(
# simpler_env_google/google_robot_close_drawer
# simpler_env_google/google_robot_move_near
# simpler_env_google/google_robot_open_drawer
# simpler_env_google/google_robot_pick_coke_can
# simpler_env_google/google_robot_place_in_closed_drawer
simpler_env_google/google_robot_place_apple_in_closed_top_drawer
)


guidance=acg

AH=(1)
EPISODES=50
N_envs=1
SEEDS=(523)

for seed in "${SEEDS[@]}"; do
  echo "Running seed: $seed"
  for action_horizon in "${AH[@]}"; do
      echo "Running action horizon: $action_horizon"
      for TASK in "${TASKS[@]}"; do

          NAME=$(basename "$TASK")
          LOG_DIR="ACG/output/${guidance}/google_simpler_env/nenvs${N_envs}_eps${EPISODES}_ah${action_horizon}/$NAME/seed${seed}"
          VIDEO_DIR="$LOG_DIR/videos"
          mkdir -p "$LOG_DIR"
          mkdir -p "$VIDEO_DIR"

          echo "Running task: $TASK"

          libs/Isaac_GR00T_n1d6/gr00t/eval/sim/SimplerEnv/simpler_uv/.venv/bin/python libs/Isaac_GR00T_n1d6/gr00t/eval/rollout_policy.py \
              --n_episodes $EPISODES \
              --policy_client_host 127.0.0.1 \
              --policy_client_port 5555 \
              --max_episode_steps=300 \
              --env_name "$TASK" \
              --n_action_steps $action_horizon \
              --n_envs $N_envs \
              --seed $seed \
              --video_dir "$VIDEO_DIR" 

          echo "Finished task: $TASK"
          echo ""
      done
  done
done