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856afc3 | 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 | #!/usr/bin/env bash
TIMESTAMP=$(date +"%y%m%d-%H%m%s")
TASK="grasp the $2 box"
#TASK="grasp the box $2 the plate"
#TASK="put the box $2 the plate"
TIME=90
rm -rf ~/eval_datasets/$TIMESTAMP
#!/bin/bash
# DIRECTORY="/home/kunhsiang/jdk/z_tmp_jdk/eval_datasets/$TIMESTAMP"
#if [ ! -d "$DIRECTORY" ]; then
# echo "Directory does not exist. Creating..."
# mkdir -p "$DIRECTORY"
# mkdi
# r -p "${DIRECTORY}/meta"
# mkdir -p "${DIRECTORY}/videos"
#else
# echo "Directory az
#--policy.path=ckpts/act_2/pretrained_model \
#--policy.path=ckpts/$1/pretrained_model \
CUDA_VISIBLE_DEVICES=1 lerobot-record \
--robot.type=so101_follower \
--robot.port=/dev/ttyACM1 \
--robot.id=my_awesome_follower_arm \
--policy.path=$1 \
--display_data=true \
--dataset.repo_id=a/eval_grasp_$TIMESTAMP \
--dataset.num_episodes=1 \
--dataset.episode_time_s=$TIME \
--dataset.push_to_hub=false \
--dataset.root=/home/kunhsiang/jdk/z_tmp_jdk/eval_datasets/$TIMESTAMP \
--robot.cameras="{
front: {type: opencv, index_or_path: /dev/video2, width: 640, height: 480, fps: 30, fourcc: MJPG},
gripper: {type: opencv, index_or_path: /dev/video0, width: 640, height: 480, fps: 30, fourcc: MJPG},
top: {type: opencv, index_or_path: /dev/video4, width: 640, height: 480, fps: 30, fourcc: MJPG}
}" \
\
--dataset.single_task="${TASK}"
#--dataset.single_task="grasp the $2 box"
#--dataset.single_task="grasp the box $2 the plate"
#--dataset.single_task="put the box $2 the plate"
#sleep 2s
make reset
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