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| HOW TO ACTUALLY RUN THE ROBOT (pose6daug GR00T-N1.5, Franka EEF rig) |
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| !! This MOVES the physical Franka arm. Have the e-stop in hand and the |
| !! workspace clear before you launch. |
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| 0) WHICH COMMAND DOES WHAT (read this first) |
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| full_inference_mock.py -> DOES NOT MOVE THE ROBOT. Robot + cameras are |
| mocked. Verification only. Safe to run anytime: |
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| PYTHONPATH=/home/jimin/myGR00T CUDA_VISIBLE_DEVICES=0 STEPS=48 \ |
| /home/jimin/miniconda3/envs/gr00t/bin/python \ |
| /home/jimin/jonghoon/mygr00t_franka_deploy/full_inference_mock.py |
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| deploy_franka_eef.py -> MOVES THE REAL ROBOT. This is the one below. |
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| 1) BEFORE YOU LAUNCH (checklist) |
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| [ ] Franka powered on, brakes released, e-stop within reach. |
| [ ] Workspace clear; nothing in the arm's path. |
| [ ] Both ZED cameras connected. Confirm the serials match: |
| exterior = 37149196 wrist = 11845904 |
| (if different, edit --left_camera_id / --wrist_camera_id below) |
| [ ] The DROID robot server/NUC is up (the `droid` RobotEnv connects to it). |
| [ ] GPU 0 is free. |
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| 2) RUN IT (easiest — the example script) |
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| bash /home/jimin/jonghoon/mygr00t_franka_deploy/run_example.sh |
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| - Task is preset to: "pick up the object and place it in the white basket" |
| - Per-step translation clamp: 0.03 (safety) |
| - Press Ctrl+C to stop the rollout early at any time. |
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| 3) RUN IT (explicit command — same thing, edit inline) |
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| PYTHONPATH=/home/jimin/myGR00T CUDA_VISIBLE_DEVICES=0 \ |
| /home/jimin/miniconda3/envs/gr00t/bin/python -u \ |
| /home/jimin/jonghoon/mygr00t_franka_deploy/deploy_franka_eef.py \ |
| --task "pick up the object and place it in the white basket" \ |
| --max_trans_per_step 0.03 \ |
| --embodiment_tag=new_embodiment \ |
| --data_config=droid_franka_eef_real \ |
| --action_space=cartesian_position \ |
| --left_camera_id=37149196 \ |
| --wrist_camera_id=11845904 \ |
| --inference_head=main \ |
| --denoising_steps=4 \ |
| --max-timesteps=1500 \ |
| --logging_path=/home/jimin/droid/rollout_results/pose6daug-iclr120-20k \ |
| policy:checkpoint \ |
| --policy.config=franka_real_eef \ |
| --policy.dir=/home/jimin/pose6daug-gr00t-iclr120-20k/checkpoint-20000 |
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| Omit --task to be prompted "Enter instruction:" interactively instead. |
| Swap checkpoint-20000 for -5000/-10000/-15000 to try earlier steps. |
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| 4) CONTROL MODE -- CONFIRMED FROM THE CHECKPOINT |
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| Checked the training normalization stats in the checkpoint metadata: |
| the ACTION distribution == the STATE distribution (EEF x,y,z spanning the |
| ~0.3-0.6 m workspace, not centered on 0). So this model outputs: |
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| ABSOLUTE cartesian target positions, in meters |
| (NOT relative/delta, NOT velocity) |
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| Therefore: |
| * use --action_space=cartesian_position (as in sections 2/3). |
| * --max_trans_per_step 0.03 is a SAFETY MOVE LIMIT: it caps |
| (target - current_EEF) to +/- 0.03 m per step, so the arm walks |
| toward each predicted target no faster than 3 cm/step. It does NOT |
| clamp the absolute target (that would drag the arm toward 0,0,0). |
| (This was fixed in deploy_franka_eef.py; verified in the mock.) |
| * do NOT use cartesian_velocity for this checkpoint. |
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| Tip: on the first real run, set a small --max_trans_per_step (e.g. 0.02), |
| watch a few steps, then raise it. |
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| 5) DO NOT |
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| - Do NOT pass --resize_video : this config's VideoToTensor needs native |
| 720x1280 frames (it crops/resizes to 224 internally). Passing 192,320 |
| will crash it. |
| - Do NOT run full_inference_mock.py expecting motion (see section 0). |
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