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run_benchmark.sh
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run_benchmark.sh
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#!/bin/bash
cd /home/jiao/BIGAI/vkc_ws/Planning-on-VKC
source devel/setup.zsh
for iter in {1..100}
do
# echo "Round $iter, Household Env"
# echo "roslaunch vkc_example household_env.launch taskid:=0 nruns:=5 longhorizon:=false"
# roslaunch vkc_example household_env.launch taskid:=0 nruns:=5 longhorizon:=false steps:=40 rviz:=false
echo "Round $iter, Household Env"
echo "roslaunch vkc_example household_env.launch taskid:=0 nruns:=5 longhorizon:=true"
roslaunch vkc_example household_env.launch taskid:=0 nruns:=5 longhorizon:=true steps:=40 rviz:=false
# echo "Round $iter, Baseline: 0, Env: 1"
# echo "roslaunch vkc_example benchmark_env.launch envid:=1 baseline:=0 rviz:=false longhorizon:=true"
# roslaunch vkc_example benchmark_env.launch envid:=1 baseline:=0 rviz:=false longhorizon:=true
# echo "Round $iter, Baseline: 0, Env: 2"
# echo "roslaunch vkc_example benchmark_env.launch envid:=2 baseline:=0 rviz:=false longhorizon:=true"
# roslaunch vkc_example benchmark_env.launch envid:=2 baseline:=0 rviz:=false longhorizon:=true
# echo "Round $iter, Baseline: 0, Env: 1"
# echo "roslaunch vkc_example benchmark_env.launch envid:=1 baseline:=0 rviz:=false"
# roslaunch vkc_example benchmark_env.launch envid:=1 baseline:=0 rviz:=false
# echo "Round $iter, Baseline: 0, Env: 2"
# echo "roslaunch vkc_example benchmark_env.launch envid:=2 baseline:=0 rviz:=false"
# roslaunch vkc_example benchmark_env.launch envid:=2 baseline:=0 rviz:=false
# echo "Round $iter, Baseline: 0, Env: 1"
# echo "roslaunch vkc_example benchmark_env.launch envid:=1 baseline:=0 rviz:=false ompl:=true"
# roslaunch vkc_example benchmark_env.launch envid:=1 baseline:=0 rviz:=false ompl:=true
# echo "Round $iter, Baseline: 0, Env: 2"
# echo "roslaunch vkc_example benchmark_env.launch envid:=2 baseline:=0 rviz:=false ompl:=true"
# roslaunch vkc_example benchmark_env.launch envid:=2 baseline:=0 rviz:=false ompl:=true
# echo "Round $iter, Baseline: 1, Env: 1"
# echo "roslaunch vkc_example benchmark_env.launch envid:=1 baseline:=1 rviz:=false"
# roslaunch vkc_example benchmark_env.launch envid:=1 baseline:=1 rviz:=false
# echo "Round $iter, Baseline: 2, Env: 1"
# echo "roslaunch vkc_example benchmark_env.launch envid:=1 baseline:=2 rviz:=false"
# roslaunch vkc_example benchmark_env.launch envid:=1 baseline:=2 rviz:=false
# echo "Round $iter, Baseline: 1, Env: 2"
# echo "roslaunch vkc_example benchmark_env.launch envid:=2 baseline:=1 rviz:=false"
# roslaunch vkc_example benchmark_env.launch envid:=2 baseline:=1 rviz:=false
# echo "Round $iter, Baseline: 2, Env: 2"
# echo "roslaunch vkc_example benchmark_env.launch envid:=2 baseline:=2 rviz:=false"
# roslaunch vkc_example benchmark_env.launch envid:=2 baseline:=2 rviz:=false
# for taskid in {1..6}
# do
# echo "Round $iter, Baseline: 0, taskid: $taskid"
# echo "roslaunch vkc_example urdf_scene_env.launch taskid:=$taskid"
# roslaunch vkc_example urdf_scene_env.launch rviz:=false taskid:=$taskid baseline:=0
# echo "Round $iter, Baseline: 1, taskid: $taskid"
# echo "roslaunch vkc_example urdf_scene_env.launch taskid:=$taskid"
# roslaunch vkc_example urdf_scene_env.launch rviz:=false taskid:=$taskid baseline:=1
# echo "Round $iter, Baseline: 2, taskid: $taskid"
# echo "roslaunch vkc_example urdf_scene_env.launch taskid:=$taskid"
# roslaunch vkc_example urdf_scene_env.launch rviz:=false taskid:=$taskid baseline:=2
# done
done