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chore(docs): update instructions for change in device and use_amp (#843)

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Steven Palma
2025-03-10 21:03:33 +01:00
committed by GitHub
parent 8a64d8268b
commit 12f52632ed
7 changed files with 43 additions and 43 deletions
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examples/11_use_lekiwi.md
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@@ -366,8 +366,8 @@ Now we have to calibrate the leader arm and the follower arm. The wheel motors d
You will need to move the follower arm to these positions sequentially:
| 1. Zero position | 2. Rotated position | 3. Rest position |
|---|---|---|
| 1. Zero position | 2. Rotated position | 3. Rest position |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <img src="../media/lekiwi/mobile_calib_zero.webp?raw=true" alt="SO-100 follower arm zero position" title="SO-100 follower arm zero position" style="width:100%;"> | <img src="../media/lekiwi/mobile_calib_rotated.webp?raw=true" alt="SO-100 follower arm rotated position" title="SO-100 follower arm rotated position" style="width:100%;"> | <img src="../media/lekiwi/mobile_calib_rest.webp?raw=true" alt="SO-100 follower arm rest position" title="SO-100 follower arm rest position" style="width:100%;"> |
Make sure the arm is connected to the Raspberry Pi and run this script (on the Raspberry Pi) to launch manual calibration:
@@ -385,8 +385,8 @@ If you have the **wired** LeKiwi version please run all commands including this
### Calibrate leader arm
Then to calibrate the leader arm (which is attached to the laptop/pc). You will need to move the leader arm to these positions sequentially:
| 1. Zero position | 2. Rotated position | 3. Rest position |
|---|---|---|
| 1. Zero position | 2. Rotated position | 3. Rest position |
| ------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <img src="../media/so100/leader_zero.webp?raw=true" alt="SO-100 leader arm zero position" title="SO-100 leader arm zero position" style="width:100%;"> | <img src="../media/so100/leader_rotated.webp?raw=true" alt="SO-100 leader arm rotated position" title="SO-100 leader arm rotated position" style="width:100%;"> | <img src="../media/so100/leader_rest.webp?raw=true" alt="SO-100 leader arm rest position" title="SO-100 leader arm rest position" style="width:100%;"> |
Run this script (on your laptop/pc) to launch manual calibration:
@@ -416,22 +416,22 @@ python lerobot/scripts/control_robot.py \
You should see on your laptop something like this: ```[INFO] Connected to remote robot at tcp://172.17.133.91:5555 and video stream at tcp://172.17.133.91:5556.``` Now you can move the leader arm and use the keyboard (w,a,s,d) to drive forward, left, backwards, right. And use (z,x) to turn left or turn right. You can use (r,f) to increase and decrease the speed of the mobile robot. There are three speed modes, see the table below:
| Speed Mode | Linear Speed (m/s) | Rotation Speed (deg/s) |
|------------|-------------------|-----------------------|
| Fast | 0.4 | 90 |
| Medium | 0.25 | 60 |
| Slow | 0.1 | 30 |
| ---------- | ------------------ | ---------------------- |
| Fast | 0.4 | 90 |
| Medium | 0.25 | 60 |
| Slow | 0.1 | 30 |
| Key | Action |
|------|--------------------------------|
| W | Move forward |
| A | Move left |
| S | Move backward |
| D | Move right |
| Z | Turn left |
| X | Turn right |
| R | Increase speed |
| F | Decrease speed |
| Key | Action |
| --- | -------------- |
| W | Move forward |
| A | Move left |
| S | Move backward |
| D | Move right |
| Z | Turn left |
| X | Turn right |
| R | Increase speed |
| F | Decrease speed |
> [!TIP]
> If you use a different keyboard you can change the keys for each command in the [`LeKiwiRobotConfig`](../lerobot/common/robot_devices/robots/configs.py).
@@ -549,14 +549,14 @@ python lerobot/scripts/train.py \
--policy.type=act \
--output_dir=outputs/train/act_lekiwi_test \
--job_name=act_lekiwi_test \
--device=cuda \
--policy.device=cuda \
--wandb.enable=true
```
Let's explain it:
1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/lekiwi_test`.
2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor sates, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
4. We provided `device=cuda` since we are training on a Nvidia GPU, but you could use `device=mps` to train on Apple silicon.
4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
Training should take several hours. You will find checkpoints in `outputs/train/act_lekiwi_test/checkpoints`.