File size: 6,411 Bytes
04674da | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 | #!/usr/bin/env bash
set -euo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
cd "$ROOT"
TASK="${TASK:-}"
if [[ -n "$TASK" ]]; then
TASK_ENV="$ROOT/deployment/tasks/${TASK}.env"
LOCAL_TASK_ENV="$ROOT/local_pi_mamba/deployment_tasks/${TASK}.env"
if [[ ! -f "$TASK_ENV" ]]; then
if [[ -f "$LOCAL_TASK_ENV" ]]; then
TASK_ENV="$LOCAL_TASK_ENV"
else
echo "Unknown task preset: $TASK" >&2
echo "Expected: $TASK_ENV" >&2
echo " or: $LOCAL_TASK_ENV" >&2
exit 2
fi
fi
source "$TASK_ENV"
fi
PYTHON="${PYTHON:-python}"
OPENPI_REPO="${OPENPI_REPO:-${HOME}/projects/openpi}"
TELEOP_REPO="${TELEOP_REPO:-${ROOT}/UR_SpaceMouse_Teleop}"
ROBOT_IP="${ROBOT_IP:-192.168.56.101}"
HOST="${HOST:-127.0.0.1}"
PORT="${PORT:-8018}"
PROMPT="${PROMPT:-}"
ACTION_MODE="${ACTION_MODE:-joint}"
GRIPPER_MODE="${GRIPPER_MODE:-onrobot-rg2}"
SET_TCP="${SET_TCP:-1}"
TCP_Z_MM="${TCP_Z_MM:-240}"
OLD_TCP_Z_MM="${OLD_TCP_Z_MM:-199}"
TCP_COMPENSATION_SIGN="${TCP_COMPENSATION_SIGN:--1}"
CAMERA_SERIALS="${CAMERA_SERIALS:-405622073020,346122070666}"
CAMERA_WIDTH="${CAMERA_WIDTH:-640}"
CAMERA_HEIGHT="${CAMERA_HEIGHT:-480}"
CAMERA_FPS="${CAMERA_FPS:-30}"
CAMERA_STARTUP_TIMEOUT="${CAMERA_STARTUP_TIMEOUT:-20}"
PRIMARY_CAMERA_INDEX="${PRIMARY_CAMERA_INDEX:-0}"
WRIST_CAMERA_INDEX="${WRIST_CAMERA_INDEX:-1}"
NO_DEPTH="${NO_DEPTH:-1}"
CONTROL_FREQUENCY="${CONTROL_FREQUENCY:-20}"
REPLAN_STEPS="${REPLAN_STEPS:-30}"
RTC="${RTC:-0}"
RTC_EXECUTION_HORIZON="${RTC_EXECUTION_HORIZON:-${RTC_STEPS:-0}}"
RTC_MAX_GUIDANCE_WEIGHT="${RTC_MAX_GUIDANCE_WEIGHT:-${RTC_GUIDANCE_WEIGHT:-5.0}}"
RTC_PREFIX_ATTENTION_SCHEDULE="${RTC_PREFIX_ATTENTION_SCHEDULE:-${RTC_SCHEDULE:-exp}}"
RTC_QUERY_AT_STEPS="${RTC_QUERY_AT_STEPS:-0}"
RTC_DELAY_BUFFER_SIZE="${RTC_DELAY_BUFFER_SIZE:-10}"
RTC_LITE="${RTC_LITE:-0}"
RTC_LITE_STEPS="${RTC_LITE_STEPS:-10}"
RTC_LITE_SCHEDULE="${RTC_LITE_SCHEDULE:-exp}"
MAX_JOINT_STEP_RAD="${MAX_JOINT_STEP_RAD:-0.6}"
MAX_POS_STEP_M="${MAX_POS_STEP_M:-0.003}"
MAX_ROT_STEP_RAD="${MAX_ROT_STEP_RAD:-0.03}"
SERVO_VELOCITY="${SERVO_VELOCITY:-0.10}"
SERVO_ACCELERATION="${SERVO_ACCELERATION:-0.20}"
SERVO_LOOKAHEAD_TIME="${SERVO_LOOKAHEAD_TIME:-0.1}"
SERVO_GAIN="${SERVO_GAIN:-100}"
INTERACTIVE_TRIALS="${INTERACTIVE_TRIALS:-0}"
START_PAUSED="${START_PAUSED:-0}"
START_POSE_NAME="${START_POSE_NAME:-}"
START_POSES_ROOT="${START_POSES_ROOT:-${ROOT}/robot_poses}"
RESET_SPEED="${RESET_SPEED:-0.45}"
RESET_ACCELERATION="${RESET_ACCELERATION:-0.45}"
OPEN_GRIPPER_ON_RESET="${OPEN_GRIPPER_ON_RESET:-0}"
RECORD_RGB_VIDEO="${RECORD_RGB_VIDEO:-0}"
RECORD_TASK_NAME="${RECORD_TASK_NAME:-${TASK_NAME:-${TASK:-task}}}"
RGB_VIDEO_ROOT="${RGB_VIDEO_ROOT:-}"
RGB_VIDEO_CAMERA_NAMES="${RGB_VIDEO_CAMERA_NAMES:-front,wrist,top}"
RGB_VIDEO_CODEC="${RGB_VIDEO_CODEC:-mp4v}"
RGB_VIDEO_FPS="${RGB_VIDEO_FPS:-0}"
RGB_VIDEO_TRANSCODE_H264="${RGB_VIDEO_TRANSCODE_H264:-1}"
EXECUTE="${EXECUTE:-0}"
REPORT_ROOT="${REPORT_ROOT:-${ROOT}/reports}"
DURATION_VALUE="${DURATION:-60}"
if [[ "${INTERACTIVE_TRIALS}" == 1 && -z "${DURATION+x}" ]]; then
DURATION_VALUE=""
fi
if [[ -z "$PROMPT" ]]; then
echo "Set PROMPT=<task prompt>, or set TASK=<preset>." >&2
exit 2
fi
if ! PYTHON_RESOLVED="$(command -v "$PYTHON" 2>/dev/null)"; then
echo "Python not found: $PYTHON" >&2
exit 2
fi
PYTHON="$PYTHON_RESOLVED"
"$PYTHON" - <<'PY'
import importlib
import sys
missing = []
for module in ("websockets", "rtde_control", "pyrealsense2", "scipy", "numpy"):
try:
importlib.import_module(module)
except Exception as exc:
missing.append(f"{module}: {exc}")
if missing:
print(f"Robot deployment Python is missing required packages: {sys.executable}", file=sys.stderr)
for item in missing:
print(f" - {item}", file=sys.stderr)
raise SystemExit(2)
PY
args=(
"$ROOT/deployment/scripts/real_robot_inference.py"
--host "$HOST"
--port "$PORT"
--robot-ip "$ROBOT_IP"
--prompt "$PROMPT"
--teleop-repo "$TELEOP_REPO"
--openpi-repo "$OPENPI_REPO"
--output-dir "$REPORT_ROOT"
--action-mode "$ACTION_MODE"
--control-frequency "$CONTROL_FREQUENCY"
--replan-steps "$REPLAN_STEPS"
--rtc-execution-horizon "$RTC_EXECUTION_HORIZON"
--rtc-max-guidance-weight "$RTC_MAX_GUIDANCE_WEIGHT"
--rtc-prefix-attention-schedule "$RTC_PREFIX_ATTENTION_SCHEDULE"
--rtc-query-at-steps "$RTC_QUERY_AT_STEPS"
--rtc-delay-buffer-size "$RTC_DELAY_BUFFER_SIZE"
--rtc-lite-steps "$RTC_LITE_STEPS"
--rtc-lite-schedule "$RTC_LITE_SCHEDULE"
--gripper-mode "$GRIPPER_MODE"
--tcp-z-mm "$TCP_Z_MM"
--old-tcp-z-mm "$OLD_TCP_Z_MM"
--tcp-compensation-sign "$TCP_COMPENSATION_SIGN"
--max-pos-step-m "$MAX_POS_STEP_M"
--max-rot-step-rad "$MAX_ROT_STEP_RAD"
--max-joint-step-rad "$MAX_JOINT_STEP_RAD"
--servo-velocity "$SERVO_VELOCITY"
--servo-acceleration "$SERVO_ACCELERATION"
--servo-lookahead-time "$SERVO_LOOKAHEAD_TIME"
--servo-gain "$SERVO_GAIN"
--start-poses-root "$START_POSES_ROOT"
--reset-speed "$RESET_SPEED"
--reset-acceleration "$RESET_ACCELERATION"
--camera-serial "$CAMERA_SERIALS"
--camera-width "$CAMERA_WIDTH"
--camera-height "$CAMERA_HEIGHT"
--camera-fps "$CAMERA_FPS"
--camera-startup-timeout "$CAMERA_STARTUP_TIMEOUT"
--primary-camera-index "$PRIMARY_CAMERA_INDEX"
--wrist-camera-index "$WRIST_CAMERA_INDEX"
--record-task-name "$RECORD_TASK_NAME"
--rgb-video-camera-names "$RGB_VIDEO_CAMERA_NAMES"
--rgb-video-codec "$RGB_VIDEO_CODEC"
--rgb-video-fps "$RGB_VIDEO_FPS"
)
if [[ -n "$DURATION_VALUE" ]]; then
args+=(--duration "$DURATION_VALUE")
fi
if [[ "$SET_TCP" == 1 ]]; then
args+=(--set-tcp)
fi
if [[ "$RTC" == 1 ]]; then
args+=(--rtc)
fi
if [[ "$RTC_LITE" == 1 ]]; then
args+=(--rtc-lite)
fi
if [[ "$INTERACTIVE_TRIALS" == 1 ]]; then
args+=(--interactive-trials)
fi
if [[ "$START_PAUSED" == 1 ]]; then
args+=(--start-paused)
fi
if [[ -n "$START_POSE_NAME" ]]; then
args+=(--start-pose-name "$START_POSE_NAME")
fi
if [[ "$OPEN_GRIPPER_ON_RESET" == 1 ]]; then
args+=(--open-gripper-on-reset)
fi
if [[ "$RECORD_RGB_VIDEO" == 1 ]]; then
args+=(--record-rgb-videos)
fi
if [[ "$RGB_VIDEO_TRANSCODE_H264" == 1 ]]; then
args+=(--rgb-video-transcode-h264)
fi
if [[ -n "$RGB_VIDEO_ROOT" ]]; then
args+=(--rgb-video-root "$RGB_VIDEO_ROOT")
fi
if [[ "$NO_DEPTH" == 1 ]]; then
args+=(--no-depth)
fi
if [[ "$EXECUTE" == 1 ]]; then
args+=(--execute)
fi
exec "$PYTHON" "${args[@]}"
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