| #!/usr/bin/env bash |
| set -euo pipefail |
| sample_root=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd) |
| PI05_CHECKPOINT_DIR=${PI05_CHECKPOINT_DIR:-$sample_root/checkpoints/pi05_fold_clothes/epoch_2} |
| : "${TOKENIZER_DIR:?set TOKENIZER_DIR}" |
| export TOKENIZER_DIR |
| : "${UMI_INFER_DATA:?set UMI_INFER_DATA to the calibrated cell directory}" |
| pi_python=${PI05_PYTHON:-python} |
| shadow="$sample_root/.runtime/pi05_transformers" |
| |
| "$pi_python" - "$sample_root" "$shadow" <<'PY' |
| from pathlib import Path |
| import shutil,sys,transformers |
| root,shadow=map(Path,sys.argv[1:]);replacement=root/'openpi-umi/src/openpi/models_pytorch/transformers_replace' |
| if transformers.__version__!='4.53.2':raise SystemExit('The bundled OpenPI snapshot requires transformers==4.53.2') |
| if shadow.exists():shutil.rmtree(shadow) |
| shutil.copytree(Path(transformers.__file__).parent,shadow/'transformers') |
| shutil.copytree(replacement,shadow/'transformers',dirs_exist_ok=True) |
| PY |
| export PYTHONPATH="$shadow:$sample_root/flexiv-umi-infer:$sample_root/openpi-umi/src:$sample_root/openpi-umi/packages/openpi-client/src${PYTHONPATH:+:$PYTHONPATH}" |
| exec "$pi_python" -m umi_infer.policy_server --policy pi05 \ |
| --config pi05_umi_v3 --num-denoise-steps "${PI05_DENOISE_STEPS:-10}" --checkpoint-dir "$PI05_CHECKPOINT_DIR" \ |
| --eef-extrinsic-left "$UMI_INFER_DATA/E_left.npy" --eef-extrinsic-right "$UMI_INFER_DATA/E_right.npy" \ |
| --prompt "${TASK_PROMPT:-fold the clothes}" \ |
| --host "${SERVER_HOST:-127.0.0.1}" --port "${SERVER_PORT:-8765}" --device "${DEVICE:-cuda:0}" "$@" |
|
|
