35 lines
1.4 KiB
Bash
Executable File
35 lines
1.4 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Launch SO101 teleoperation with this machine's calibrated arms.
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set -eo pipefail
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script_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
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source "$script_dir/../env/activate_lerobot.sh"
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set -u
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check_device() {
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if [[ ! -e "$1" ]]; then
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echo "设备未连接：$1" >&2
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exit 1
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fi
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if [[ ! -r "$1" || ! -w "$1" ]]; then
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echo "设备缺少读写权限：$1，请检查串口 dialout / 摄像头 video 权限。" >&2
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exit 1
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fi
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}
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check_device "$FOLLOWER_PORT"
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check_device "$LEADER_PORT"
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check_device "/dev/v4l/by-id/usb-ZSKJ-260319-K_Integrated_Webcam_HD-video-index0"
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check_device "/dev/v4l/by-id/usb-Sonix_Technology_Co.__Ltd._USB2.0_CAM1_USB2.0_CAM1-video-index0"
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echo "启动遥操作；按 Ctrl+C 停止。"
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exec lerobot-teleoperate \
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--robot.type=so101_follower \
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--robot.port="$FOLLOWER_PORT" \
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--robot.id=zihao_follower_arm \
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--robot.cameras='{"wrist": {"type": "opencv", "index_or_path": "/dev/v4l/by-id/usb-ZSKJ-260319-K_Integrated_Webcam_HD-video-index0", "width": 640, "height": 480, "fps": 30, "fourcc": "MJPG"}, "front": {"type": "opencv", "index_or_path": "/dev/v4l/by-id/usb-Sonix_Technology_Co.__Ltd._USB2.0_CAM1_USB2.0_CAM1-video-index0", "width": 640, "height": 480, "fps": 25, "fourcc": "MJPG"}}' \
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--teleop.type=so101_leader \
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--teleop.port="$LEADER_PORT" \
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--teleop.id=zihao_leader_arm \
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--display_data=true \
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"$@"
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