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Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots

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Simon Alibert
2025-04-14 15:30:35 +02:00
parent 1f210bc8a3 5322417c03
commit 3539251b18
16 changed files with 177 additions and 67 deletions
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2
examples/2_evaluate_pretrained_policy.py
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@@ -18,7 +18,7 @@ training outputs directory. In the latter case, you might want to run examples/3
It requires the installation of the 'gym_pusht' simulation environment. Install it by running:
```bash
pip install --no-binary=av -e ".[pusht]"`
pip install -e ".[pusht]"
```
"""

13
examples/7_get_started_with_real_robot.md
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@@ -33,7 +33,7 @@ First, install the additional dependencies required for robots built with dynami
Using `pip`:
```bash
pip install --no-binary=av -e ".[dynamixel]"
pip install -e ".[dynamixel]"
```
Using `poetry`:
@@ -55,6 +55,9 @@ Finally, connect both arms to your computer via USB. Note that the USB doesn't p
Now you are ready to configure your motors for the first time, as detailed in the sections below. In the upcoming sections, you'll learn about our classes and functions by running some python code in an interactive session, or by copy-pasting it in a python file.
If you have already configured your motors the first time, you can streamline the process by directly running the teleoperate script (which is detailed further in the tutorial):
> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`.
```bash
python lerobot/scripts/control_robot.py \
--robot.type=koch \
@@ -828,10 +831,10 @@ It contains:
Troubleshooting:
- On Linux, if you encounter any issue during video encoding with `ffmpeg: unknown encoder libsvtav1`, you can:
- install with conda-forge by running `conda install -c conda-forge ffmpeg` (it should be compiled with `libsvtav1`),
- or, install [Homebrew](https://brew.sh) and run `brew install ffmpeg` (it should be compiled with `libsvtav1`),
- or, install [ffmpeg build dependencies](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#GettheDependencies) and [compile ffmpeg from source with libsvtav1](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#libsvtav1),
- and, make sure you use the corresponding ffmpeg binary to your install with `which ffmpeg`.
- install with conda-forge by running `conda install -c conda-forge ffmpeg` (it should be compiled with `libsvtav1`),
> **NOTE:** This usually installs `ffmpeg 7.X` for your platform (check the version installed with `ffmpeg -encoders | grep libsvtav1`). If it isn't `ffmpeg 7.X` or lacks `libsvtav1` support, you can explicitly install `ffmpeg 7.X` using: `conda install ffmpeg=7.1.1 -c conda-forge`
- or, install [ffmpeg build dependencies](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#GettheDependencies) and [compile ffmpeg from source with libsvtav1](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#libsvtav1),
- and, make sure you use the corresponding ffmpeg binary to your install with `which ffmpeg`.
- On Linux, if the left and right arrow keys and escape key don't have any effect during data recording, make sure you've set the `$DISPLAY` environment variable. See [pynput limitations](https://pynput.readthedocs.io/en/latest/limitations.html#linux).
At the end of data recording, your dataset will be uploaded on your Hugging Face page (e.g. https://huggingface.co/datasets/cadene/koch_test) that you can obtain by running: