hangX/lerobot
1
0
Fork 0
forked from tangger/lerobot
Code Pull Requests Activity

Simplify configs (#550)

Browse Source 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
This commit is contained in:
Simon Alibert
2025-01-31 13:57:37 +01:00
committed by GitHub
parent 1ee1acf8ad
commit 3c0a209f9f
119 changed files with 5761 additions and 5466 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
examples/8_use_stretch.md
View File

@@ -92,8 +92,9 @@ Serial Number = stretch-se3-3054
**Calibrate (Optional)**
Before operating Stretch, you need to [home](https://docs.hello-robot.com/0.3/getting_started/stretch_hardware_overview/#homing) it first. Be mindful about giving Stretch some space as this procedure will move the robot's arm and gripper. Now run this command:
```bash
python lerobot/scripts/control_robot.py calibrate \
--robot-path lerobot/configs/robot/stretch.yaml
python lerobot/scripts/control_robot.py \
--robot.type=stretch \
--control.type=calibrate
```
This is equivalent to running `stretch_robot_home.py`
@@ -104,8 +105,9 @@ Before trying teleoperation, you need activate the gamepad controller by pressin
Now try out teleoperation (see above documentation to learn about the gamepad controls):
```bash
python lerobot/scripts/control_robot.py teleoperate \
--robot-path lerobot/configs/robot/stretch.yaml
python lerobot/scripts/control_robot.py \
--robot.type=stretch \
--control.type=teleoperate
```
This is essentially the same as running `stretch_gamepad_teleop.py`
@@ -125,16 +127,18 @@ echo $HF_USER
Record one episode:
```bash
python lerobot/scripts/control_robot.py record \
--robot-path lerobot/configs/robot/stretch.yaml \
--fps 20 \
--repo-id ${HF_USER}/stretch_test \
--tags stretch tutorial \
--warmup-time-s 3 \
--episode-time-s 40 \
--reset-time-s 10 \
--num-episodes 1 \
--push-to-hub 0
python lerobot/scripts/control_robot.py \
--robot.type=stretch \
--control.type=record \
--control.fps=30 \
--control.single_task="Grasp a lego block and put it in the bin." \
--control.repo_id=${HF_USER}/stretch_test \
--control.tags='["tutorial"]' \
--control.warmup_time_s=5 \
--control.episode_time_s=30 \
--control.reset_time_s=30 \
--control.num_episodes=2 \
--control.push_to_hub=true
```
> **Note:** If you're using ssh to connect to Stretch and run this script, you won't be able to visualize its cameras feed (though they will still be recording). To see the cameras stream, use [tethered](https://docs.hello-robot.com/0.3/getting_started/connecting_to_stretch/#tethered-setup) or [untethered setup](https://docs.hello-robot.com/0.3/getting_started/connecting_to_stretch/#untethered-setup).
@@ -142,11 +146,12 @@ python lerobot/scripts/control_robot.py record \
**Replay an episode**
Now try to replay this episode (make sure the robot's initial position is the same):
```bash
python lerobot/scripts/control_robot.py replay \
--robot-path lerobot/configs/robot/stretch.yaml \
--fps 20 \
--repo-id ${HF_USER}/stretch_test \
--episode 0
python lerobot/scripts/control_robot.py \
--robot.type=stretch \
--control.type=replay \
--control.fps=30 \
--control.repo_id=${HF_USER}/stretch_test \
--control.episode=0
```
Follow [previous tutorial](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data) to train a policy on your data and run inference on your robot. You will need to adapt the code for Stretch.