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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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9
lerobot/configs/control.py
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@@ -41,7 +41,7 @@ class TeleoperateControlConfig(ControlConfig):
fps: int | None = None
teleop_time_s: float | None = None
# Display all cameras on screen
display_cameras: bool = True
display_data: bool = False
@ControlConfig.register_subclass("record")
@@ -82,7 +82,7 @@ class RecordControlConfig(ControlConfig):
# Not enough threads might cause low camera fps.
num_image_writer_threads_per_camera: int = 4
# Display all cameras on screen
display_cameras: bool = True
display_data: bool = False
# Use vocal synthesis to read events.
play_sounds: bool = True
# Resume recording on an existing dataset.
@@ -116,6 +116,11 @@ class ReplayControlConfig(ControlConfig):
@dataclass
class RemoteRobotConfig(ControlConfig):
log_interval: int = 100
# Display all cameras on screen
display_data: bool = False
# Rerun configuration for remote robot (https://ref.rerun.io/docs/python/0.22.1/common/initialization_functions/#rerun.connect_tcp)
viewer_ip: str | None = None
viewer_port: str | None = None
@dataclass