| # Example usage — run the pose6daug GR00T-N1.5 policy on the REAL Franka EEF rig. | |
| # This MOVES the physical arm. Have the e-stop in hand and the workspace clear. | |
| # | |
| # bash run_example.sh | |
| # | |
| # Tactiles are NOT used in this deployment. | |
| set -e | |
| # --- paths ------------------------------------------------------------------- | |
| GR00T_CODE="/home/jimin/myGR00T" # the myGR00T package (PYTHONPATH) | |
| GR00T_PY="/home/jimin/miniconda3/envs/gr00t/bin/python" | |
| DEPLOY="$(dirname "$0")/deploy_franka_eef.py" | |
| # checkpoint (weights-only). Pick a step: 5000 / 10000 / 15000 / 20000. | |
| CKPT="/home/jimin/pose6daug-gr00t-iclr120-20k/checkpoint-20000" | |
| # --- launch ------------------------------------------------------------------ | |
| # NOTE: do NOT pass --resize_video — this config's VideoToTensor expects native | |
| # 720x1280 ZED frames and crops/resizes to 224 internally. | |
| export PYTHONPATH="${GR00T_CODE}:${PYTHONPATH}" | |
| exec -a franka_eef_infer \ | |
| "${GR00T_PY}" -u "${DEPLOY}" \ | |
| --task "pick up the object and place it in the white basket" \ | |
| --max_trans_per_step 0.03 \ | |
| --embodiment_tag=new_embodiment \ | |
| --data_config=droid_franka_eef_real \ | |
| --action_space=cartesian_position \ | |
| --left_camera_id=37149196 \ | |
| --wrist_camera_id=11845904 \ | |
| --inference_head=main \ | |
| --denoising_steps=4 \ | |
| --max-timesteps=1500 \ | |
| --logging_path=/home/jimin/droid/rollout_results/pose6daug-iclr120-20k \ | |
| policy:checkpoint \ | |
| --policy.config=franka_real_eef \ | |
| --policy.dir="${CKPT}" | |