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Add real robot devices and scripts to control real robot (#288)

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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
This commit is contained in:
Remi
2024-07-15 17:43:10 +02:00
committed by GitHub
parent 5ffcb48a9a
commit 5e54e39795
32 changed files with 3068 additions and 46 deletions
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docker/lerobot-gpu/Dockerfile
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@@ -9,7 +9,7 @@ ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
build-essential cmake \
libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
python${PYTHON_VERSION} python${PYTHON_VERSION}-venv \
python${PYTHON_VERSION}-dev python${PYTHON_VERSION}-venv \
&& apt-get clean && rm -rf /var/lib/apt/lists/*
@@ -23,7 +23,7 @@ RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
COPY . /lerobot
WORKDIR /lerobot
RUN pip install --upgrade --no-cache-dir pip
RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]"
RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht, koch]"
# Set EGL as the rendering backend for MuJoCo
ENV MUJOCO_GL="egl"