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00c55c8 | 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 | #!/usr/bin/env bash
set -Eeuo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
if [ -n "${OPENPI_PYTHON:-}" ]; then
PY="$OPENPI_PYTHON"
elif [ -x "$ROOT/.venv/bin/python" ]; then
PY="$ROOT/.venv/bin/python"
else
PY="$(command -v python3 || true)"
fi
if [ -z "$PY" ] || [ ! -x "$PY" ]; then
echo "ERROR: no usable Python interpreter found"
exit 1
fi
CHECKPOINT="${POLICY_CHECKPOINT:-$ROOT/checkpoints/29999}"
HOST="${POLICY_HOST:-0.0.0.0}"
PORT="${POLICY_PORT:-8000}"
DEFAULT_PROMPT="${POLICY_DEFAULT_PROMPT:-}"
export PYTHONDONTWRITEBYTECODE=1
export PYTHONPATH="$ROOT:$ROOT/src:$ROOT/packages/openpi-client/src"
export OPENPI_REAL_PIPER_X_ASSETS="$CHECKPOINT/assets"
export XLA_PYTHON_CLIENT_PREALLOCATE="${XLA_PYTHON_CLIENT_PREALLOCATE:-false}"
if [ -n "${POLICY_GPU:-}" ]; then
export CUDA_VISIBLE_DEVICES="$POLICY_GPU"
fi
ARGS=(
--checkpoint "$CHECKPOINT"
--host "$HOST"
--port "$PORT"
)
if [ -n "$DEFAULT_PROMPT" ]; then
ARGS+=(--default-prompt "$DEFAULT_PROMPT")
fi
echo "Repository: $ROOT"
echo "Python: $PY"
echo "Checkpoint: $CHECKPOINT"
echo "Server: ws://$HOST:$PORT"
echo "CUDA_VISIBLE_DEVICES=${CUDA_VISIBLE_DEVICES:-unchanged}"
cd "$ROOT"
exec "$PY" -u deployment/serve_piperx.py "${ARGS[@]}" "$@"
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