From 64172756a7c9f9dfc4ae0199d316ed2caab55674 Mon Sep 17 00:00:00 2001
From: croissant <pepijnkooijmans@outlook.com>
Date: Mon, 17 Nov 2025 10:46:22 +0100
Subject: [PATCH] cam res

---
 examples/openarms/evaluate.py                 | 24 +++++++++----------
 examples/openarms_web_interface/App.jsx       | 15 ++++++++++++
 .../web_record_server.py                      |  4 ++--
 loop_datasets.py                              |  8 ++++---
 4 files changed, 34 insertions(+), 17 deletions(-)

diff --git a/examples/openarms/evaluate.py b/examples/openarms/evaluate.py
index f0a42df15..d036062bf 100644
--- a/examples/openarms/evaluate.py
+++ b/examples/openarms/evaluate.py
@@ -44,29 +44,29 @@ from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 
 
-HF_MODEL_ID = "lerobot-data-collection/two-folds-act"  # TODO: Replace with your trained model
-HF_EVAL_DATASET_ID = "lerobot-data-collection/eval-two-folds-act-50k-9"  # TODO: Replace with your eval dataset name
-TASK_DESCRIPTION = "two-folds-dataset"  # TODO: Replace with your task, this should match!!
+HF_MODEL_ID = "lerobot-data-collection/three-folds-pi0"  # TODO: Replace with your trained model
+HF_EVAL_DATASET_ID = "lerobot-data-collection/three-folds-pi0_eval7"  # TODO: Replace with your eval dataset name
+TASK_DESCRIPTION = "three-folds-dataset"  # TODO: Replace with your task, this should match!!
 
-NUM_EPISODES = 5
+NUM_EPISODES = 1
 FPS = 30
-EPISODE_TIME_SEC = 120 
+EPISODE_TIME_SEC = 300
 RESET_TIME_SEC = 60
 
 # Robot CAN interfaces
-FOLLOWER_LEFT_PORT = "can2"
-FOLLOWER_RIGHT_PORT = "can3"
+FOLLOWER_LEFT_PORT = "can0"
+FOLLOWER_RIGHT_PORT = "can1"
 
 # If enabled, you can manually reset the environment between evaluation episodes
 USE_LEADER_FOR_RESETS = True  # Set to False if you don't want to use leader
-LEADER_LEFT_PORT = "can0"
-LEADER_RIGHT_PORT = "can1"
+LEADER_LEFT_PORT = "can2"
+LEADER_RIGHT_PORT = "can3"
 
 # Camera configuration
 CAMERA_CONFIG = {
-    "left_wrist": OpenCVCameraConfig(index_or_path="/dev/video0", width=640, height=480, fps=FPS),
-    "right_wrist": OpenCVCameraConfig(index_or_path="/dev/video4", width=640, height=480, fps=FPS),
-    "base": OpenCVCameraConfig(index_or_path="/dev/video7", width=640, height=480, fps=FPS),
+    "left_wrist": OpenCVCameraConfig(index_or_path="/dev/video5", width=640, height=480, fps=FPS),
+    "right_wrist": OpenCVCameraConfig(index_or_path="/dev/video1", width=640, height=480, fps=FPS),
+    "base": OpenCVCameraConfig(index_or_path="/dev/video3", width=640, height=480, fps=FPS),
 }
 
 def main():
diff --git a/examples/openarms_web_interface/App.jsx b/examples/openarms_web_interface/App.jsx
index 656acb4ca..6342b5551 100644
--- a/examples/openarms_web_interface/App.jsx
+++ b/examples/openarms_web_interface/App.jsx
@@ -96,6 +96,21 @@ function App() {
   };
 
   const setupRobots = async () => {
+    // Show warning to verify camera positions
+    const confirmed = window.confirm(
+      '⚠️ IMPORTANT: Before connecting robots, please verify:\n\n' +
+      '📹 Check that cameras are correctly positioned:\n' +
+      '   • LEFT wrist camera is actually on the LEFT arm\n' +
+      '   • RIGHT wrist camera is actually on the RIGHT arm\n' +
+      '   • BASE camera is actually the BASE/overhead camera\n\n' +
+      'Incorrect camera positioning will result in invalid training data!\n\n' +
+      'Click OK to continue with robot setup, or Cancel to review configuration.'
+    );
+    
+    if (!confirmed) {
+      return; // User cancelled, don't proceed
+    }
+    
     setError(null);
     try {
       const response = await fetch(`${API_BASE}/robots/setup`, {
diff --git a/examples/openarms_web_interface/web_record_server.py b/examples/openarms_web_interface/web_record_server.py
index 27c338c10..f20e56df8 100644
--- a/examples/openarms_web_interface/web_record_server.py
+++ b/examples/openarms_web_interface/web_record_server.py
@@ -176,8 +176,8 @@ def initialize_robots_only(config: RobotSetupConfig):
     # Update status: Configuring cameras
     recording_state["status_message"] = "Configuring cameras..."
     camera_config = {
-        "left_wrist": OpenCVCameraConfig(index_or_path=config.left_wrist, width=640, height=480, fps=FPS),
-        "right_wrist": OpenCVCameraConfig(index_or_path=config.right_wrist, width=640, height=480, fps=FPS),
+        "left_wrist": OpenCVCameraConfig(index_or_path=config.left_wrist, width=1280, height=720, fps=FPS),
+        "right_wrist": OpenCVCameraConfig(index_or_path=config.right_wrist, width=1280, height=720, fps=FPS),
         "base": OpenCVCameraConfig(index_or_path=config.base, width=640, height=480, fps=FPS),
     }
 
diff --git a/loop_datasets.py b/loop_datasets.py
index 5e9eafb7c..718e1ef65 100644
--- a/loop_datasets.py
+++ b/loop_datasets.py
@@ -2,7 +2,9 @@ from huggingface_hub import HfApi, list_datasets
 
 api = HfApi()
 datasets = list_datasets(author="lerobot-data-collection")
+print('"[', end="")
+i=0
 for dataset in datasets:
-    if "two-folds-dataset" in dataset.id:
-        print("'" + dataset.id + "',", end=" ")
-print("\n")
\ No newline at end of file
+    if "three-folds-dataset" in dataset.id:
+        print("'" + dataset.id + "',", end="")
+print(']"',)