| # Run one GR00T N1.7 trial on the follower. Usage: ./run-groot.sh [checkpoint_step] [seconds] ["task text"] | |
| # ./run-groot.sh -> 018000, 60 s, the trained task | |
| # ./run-groot.sh 012000 30 | |
| # ./run-groot.sh 018000 30 "grab roll and move it to left spot" | |
| # GR00T needs chunked (RTC) inference; the flags below are the ones LeLab uses for it. | |
| set -euo pipefail | |
| STEP=${1:-018000} | |
| DUR=${2:-60} | |
| TASK=${3:-pick r2d2 and put to box} | |
| RUN=$HOME/.cache/huggingface/lerobot/outputs/train/groot_van-i_r2d2_to_box_bg_2026-10-04_14-17-34 | |
| LOG=$HOME/.cache/huggingface/lerobot/inference_logs/$(date +%s)_groot_${STEP}.log | |
| "$(dirname "$0")/camera-setup.sh" >/dev/null | |
| echo "GR00T ${STEP}, ${DUR}s, task: ${TASK} -> ${LOG}" | |
| source "$(dirname "$0")/rollout-common.sh" | |
| run_rollout "$LOG" "$DUR" -- \ | |
| --strategy.type=base \ | |
| --policy.path="$RUN/checkpoints/$STEP/pretrained_model" \ | |
| --policy.device=cuda \ | |
| --inference.type=rtc --inference.rtc.execution_horizon=40 --inference.queue_threshold=0 \ | |
| --robot.type=so101_follower --robot.port=/dev/ttyACM1 --robot.id=so-100 \ | |
| --robot.cameras="{left: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30}, grip: {type: opencv, index_or_path: 4, width: 640, height: 480, fps: 30}, right: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}}" \ | |
| --task="$TASK" \ | |
| --duration="$DUR" | |