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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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lerobot/common/robots/so100/README.md
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@@ -57,9 +57,15 @@ conda activate lerobot
git clone https://github.com/huggingface/lerobot.git ~/lerobot
```
#### 5. Install LeRobot with dependencies for the feetech motors:
#### 5. Install ffmpeg in your environment:
When using `miniconda`, install `ffmpeg` in your environment:
```bash
cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
conda install ffmpeg -c conda-forge
```
#### 6. Install LeRobot with dependencies for the feetech motors:
```bash
cd ~/lerobot && pip install -e ".[feetech]"
```
Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms :robot:.
@@ -491,6 +497,9 @@ python lerobot/scripts/control_robot.py \
#### a. Teleop with displaying cameras
Follow [this guide to setup your cameras](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#c-add-your-cameras-with-opencvcamera). Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset.
> **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=so100 \