uv run lerobot-calibrate \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM0 \
    --robot.id=my_awesome_follower_arm2

uv run lerobot-calibrate \
    --teleop.type=so101_leader \
    --teleop.port=/dev/ttyACM1 \
    --teleop.id=my_awesome_leader_arm4

uv run python -m lerobot.teleoperate \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM0 \
    --robot.id=my_awesome_follower_arm3 \
    --teleop.type=so101_leader \
    --teleop.port=/dev/ttyACM1 \
    --teleop.id=my_awesome_leader_arm4

uv run lerobot-record \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM0 \
    --robot.id=my_awesome_follower_arm3 \
    --robot.cameras="{ wrist: {type: opencv, index_or_path: 4, width: 640, height: 480, fps: 30}, front: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30}}" \
    --teleop.type=so101_leader \
    --teleop.port=/dev/ttyACM1 \
    --teleop.id=my_awesome_leader_arm4 \
    --display_data=true \
    --dataset.repo_id=${HF_USER}/eval_record_test2 \
    --dataset.num_episodes=10 \
    --dataset.single_task="Pick up toothbrush" --resume=true --dataset.reset_time_s=10

uv run lerobot-train \
  --dataset.repo_id=${HF_USER}/record-test2 \
  --policy.type=act \
  --output_dir=outputs/train/act_so101_test \
  --job_name=act_so101_test \
  --policy.device=cuda \
  --wandb.enable=true \
  --policy.repo_id=${HF_USER}/so101_policy_toothbrush

uv run hf upload ${HF_USER}/act_so101_test   outputs/train/act_so101_test/checkpoints/last/pretrained_model

uv run lerobot-record  \
  --robot.type=so101_follower \
  --robot.port=/dev/ttyACM0 \
  --robot.cameras="{ wrist: {type: opencv, index_or_path: 4, width: 640, height: 480, fps: 30}, front: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30}}" \
  --robot.id=my_awesome_follower_arm3 \
  --teleop.type=so101_leader \
  --teleop.port=/dev/ttyACM1 \
  --teleop.id=my_awesome_leader_arm4 \
  --display_data=false \
  --dataset.repo_id=${HF_USER}/eval_record_test3 \
  --dataset.single_task="Pick up toothbrush" \
  --policy.path=${HF_USER}/act_so101_test