| set -euo pipefail | |
| sample_root=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd) | |
| : "${FLEXIV_LEFT_SN:?set left robot serial in private cell config}" | |
| : "${FLEXIV_RIGHT_SN:?set right robot serial in private cell config}" | |
| : "${UMI_INFER_DATA:?set UMI_INFER_DATA}" | |
| export FLEXIV_URDF=${FLEXIV_URDF:-$sample_root/flexiv-umi-infer/urdf/flexiv_rizon4_dual_umi.urdf} | |
| export PYTHONPATH="$sample_root/flexiv-umi-infer${PYTHONPATH:+:$PYTHONPATH}" | |
| # Dry-run by default. --live / --gripper are only forwarded when explicitly supplied. | |
| exec "${ROBOT_PYTHON:-python}" -m umi_infer.robot_agent --io flexiv --live-camera \ | |
| --server "${SERVER_URI:-ws://127.0.0.1:8765}" "$@" | |