| #!/usr/bin/env bash |
| |
| |
| |
| |
| |
| set -euo pipefail |
|
|
| CONTAINER="${RM65_CONTAINER:-rm65_dev2}" |
| ROOT="/home/sdznkj/zkx_ws/sendlerobot" |
| VENDOR="${ROOT}/vendor" |
| USB_INSERT_TASK="Pick up the USB plug and insert it into the port" |
| TASK="${RECORD_TASK:-${USB_INSERT_TASK}}" |
| if [[ "${RECORD_FORCE_OLD_ASTRA:-0}" != "1" && "${TASK}" == "${USB_INSERT_TASK}" ]]; then |
| echo "USB insert 任务改用 cam2 单目 RTSP，转去 rm65_run_record_usb_insert.sh" |
| exec "${ROOT}/scripts/rm65_run_record_usb_insert.sh" "$@" |
| fi |
|
|
| if ! docker ps --format '{{.Names}}' | grep -qx "${CONTAINER}"; then |
| echo "容器 ${CONTAINER} 未运行" >&2 |
| exit 1 |
| fi |
|
|
| echo ">>> 清理残留遥操/录制进程与预览…" |
| pkill -f dabai_web_viewer.py 2>/dev/null || true |
| pkill -f astra_pro_web_viewer.py 2>/dev/null || true |
| pkill -f astra2_web_viewer.py 2>/dev/null || true |
| pkill -f hikvision_web_viewer.py 2>/dev/null || true |
| docker exec "${CONTAINER}" bash -lc ' |
| for pat in \ |
| "rm65_movep_teleop.py" \ |
| "rm65_record_movep.py" \ |
| "play_action_test.py" \ |
| "gripper_bridge.py" |
| do |
| pkill -f "$pat" 2>/dev/null || true |
| done |
| if [[ -e /dev/input/js0 ]]; then |
| chmod a+rw /dev/input/js0 2>/dev/null || true |
| fi |
| if [[ -e /dev/video0 ]]; then |
| chmod a+rw /dev/video0 2>/dev/null || true |
| fi |
| if [[ -e /dev/video2 ]]; then |
| chmod a+rw /dev/video2 2>/dev/null || true |
| fi |
| echo "清理完成；camera=/dev/video0 astra=/dev/video2 joystick=/dev/input/js0" |
| ' || true |
|
|
| REPO_ID="${RECORD_REPO_ID:-local/rm65_usb_insert_dual}" |
| DATA_ROOT="${RECORD_ROOT:-${ROOT}/datasets/rm65_usb_insert_dual}" |
| EPISODE_TIME_S="${RECORD_EPISODE_TIME_S:-120}" |
|
|
| echo ">>> 双相机同步录制（A=开始 B=结束 X=重录 LB/RB=夹爪）" |
| echo " 手柄: 左左右→Y(反向) 左上下→Z 十字上下→夹爪滚转 十字左右→夹爪偏航" |
| echo " repo_id=${REPO_ID}" |
| echo " root=${DATA_ROOT}" |
| echo " task=${TASK}" |
| echo " front=/dev/video0 astra=/dev/video2" |
| echo " 预览: 8090 大白 / 8093 Astra（录制进程出图）" |
| echo " 单集最长 ${EPISODE_TIME_S}s；Ctrl+C 退出不保存当前集；已保存集会 finalize" |
| echo "" |
|
|
| |
| |
| if [[ "${RECORD_HOST:-0}" == "1" ]]; then |
| export SDL_VIDEODRIVER="${SDL_VIDEODRIVER:-dummy}" |
| export XDG_RUNTIME_DIR="${XDG_RUNTIME_DIR:-/tmp/runtime-cursor}" |
| mkdir -p "${XDG_RUNTIME_DIR}" |
| export SDL_JOYSTICK_DEVICE="${SDL_JOYSTICK_DEVICE:-/dev/input/js0}" |
| export LD_LIBRARY_PATH="${VENDOR}/pygame.libs:${LD_LIBRARY_PATH:-}" |
| export PYTHONPATH="${VENDOR}:${ROOT}:${PYTHONPATH:-}" |
| export GAMEPAD_DEADZONE="${GAMEPAD_DEADZONE:-0.15}" |
| export GAMEPAD_LEFT_Y_AXIS="${GAMEPAD_LEFT_Y_AXIS:-0}" |
| export GAMEPAD_LEFT_Z_AXIS="${GAMEPAD_LEFT_Z_AXIS:-1}" |
| export GAMEPAD_INVERT_Y="${GAMEPAD_INVERT_Y:-1}" |
| export GAMEPAD_INVERT_Z="${GAMEPAD_INVERT_Z:-1}" |
| export GAMEPAD_HAT_SINGLE_AXIS="${GAMEPAD_HAT_SINGLE_AXIS:-1}" |
| export GAMEPAD_HAT_RY_FROM="${GAMEPAD_HAT_RY_FROM:-y}" |
| export GAMEPAD_HAT_RZ_FROM="${GAMEPAD_HAT_RZ_FROM:-x}" |
| export GAMEPAD_HAT_BLOCK_PITCH="${GAMEPAD_HAT_BLOCK_PITCH:-1}" |
| export GAMEPAD_GRIPPER_OPEN="${GAMEPAD_GRIPPER_OPEN:-6}" |
| export GAMEPAD_GRIPPER_CLOSE="${GAMEPAD_GRIPPER_CLOSE:-7}" |
| export TELEOP_FOLLOW="${TELEOP_FOLLOW:-1}" |
| export RECORD_FRONT_KEY="${RECORD_FRONT_KEY:-front}" |
| export RECORD_ASTRA_KEY="${RECORD_ASTRA_KEY:-astra}" |
| export RECORD_ASTRA_CAMERA="${RECORD_ASTRA_CAMERA:-/dev/video2}" |
| export RECORD_EPISODE_TIME_S="${EPISODE_TIME_S}" |
| export RECORD_EMBODIMENT_ID="${RECORD_EMBODIMENT_ID:-rm65_dahuan}" |
| export HF_HUB_OFFLINE="${HF_HUB_OFFLINE:-1}" |
| export HF_DATASETS_OFFLINE="${HF_DATASETS_OFFLINE:-1}" |
| python3 "${ROOT}/scripts/rm65_record_movep.py" \ |
| --go-ready \ |
| --repo-id "${REPO_ID}" \ |
| --root "${DATA_ROOT}" \ |
| --task "${TASK}" \ |
| --episode-time-s "${EPISODE_TIME_S}" \ |
| "$@" |
| else |
| docker exec -it "${CONTAINER}" bash -lc " |
| source /opt/ros/humble/setup.bash |
| source /home/sdznkj/zkx_ws/ros2_ws/install/setup.bash |
| export SDL_VIDEODRIVER=\${SDL_VIDEODRIVER:-dummy} |
| export XDG_RUNTIME_DIR=\${XDG_RUNTIME_DIR:-/tmp/runtime-cursor} |
| mkdir -p \"\${XDG_RUNTIME_DIR}\" |
| export SDL_JOYSTICK_DEVICE=\${SDL_JOYSTICK_DEVICE:-/dev/input/js0} |
| export LD_LIBRARY_PATH=${VENDOR}/pygame.libs:\${LD_LIBRARY_PATH:-} |
| export PYTHONPATH=${VENDOR}:${ROOT}:${ROOT}/scripts:\${PYTHONPATH:-} |
| export GAMEPAD_DEADZONE=\${GAMEPAD_DEADZONE:-0.15} |
| export GAMEPAD_LEFT_Y_AXIS=\${GAMEPAD_LEFT_Y_AXIS:-0} |
| export GAMEPAD_LEFT_Z_AXIS=\${GAMEPAD_LEFT_Z_AXIS:-1} |
| export GAMEPAD_INVERT_Y=\${GAMEPAD_INVERT_Y:-1} |
| export GAMEPAD_INVERT_Z=\${GAMEPAD_INVERT_Z:-1} |
| export GAMEPAD_HAT_SINGLE_AXIS=\${GAMEPAD_HAT_SINGLE_AXIS:-1} |
| export GAMEPAD_HAT_RY_FROM=\${GAMEPAD_HAT_RY_FROM:-y} |
| export GAMEPAD_HAT_RZ_FROM=\${GAMEPAD_HAT_RZ_FROM:-x} |
| export GAMEPAD_HAT_BLOCK_PITCH=\${GAMEPAD_HAT_BLOCK_PITCH:-1} |
| export GAMEPAD_GRIPPER_OPEN=\${GAMEPAD_GRIPPER_OPEN:-6} |
| export GAMEPAD_GRIPPER_CLOSE=\${GAMEPAD_GRIPPER_CLOSE:-7} |
| export TELEOP_FOLLOW=\${TELEOP_FOLLOW:-1} |
| export RECORD_FRONT_KEY=\${RECORD_FRONT_KEY:-front} |
| export RECORD_ASTRA_KEY=\${RECORD_ASTRA_KEY:-astra} |
| export RECORD_ASTRA_CAMERA=\${RECORD_ASTRA_CAMERA:-/dev/video2} |
| export RECORD_EPISODE_TIME_S=${EPISODE_TIME_S} |
| export RECORD_EMBODIMENT_ID=\${RECORD_EMBODIMENT_ID:-rm65_dahuan} |
| export HF_HUB_OFFLINE=\${HF_HUB_OFFLINE:-1} |
| export HF_DATASETS_OFFLINE=\${HF_DATASETS_OFFLINE:-1} |
| if [[ ! -e /dev/video0 ]]; then |
| echo '容器内无 /dev/video0。请用: RECORD_HOST=1 ${ROOT}/scripts/rm65_run_record.sh' >&2 |
| exit 2 |
| fi |
| if [[ ! -e /dev/video2 ]]; then |
| echo '容器内无 /dev/video2（Astra）。请确认设备已挂入容器。' >&2 |
| exit 2 |
| fi |
| python3 ${ROOT}/scripts/rm65_record_movep.py --go-ready \ |
| --repo-id '${REPO_ID}' \ |
| --root '${DATA_ROOT}' \ |
| --task '${TASK}' \ |
| --episode-time-s ${EPISODE_TIME_S} \ |
| \"\$@\" |
| " -- "$@" |
| fi |
|
|
