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feat(visualization): replace cv2 GUI with Rerun (and solves ffmpeg versioning issues) (#903)

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This commit is contained in:
Steven Palma
2025-04-09 17:33:01 +02:00
committed by GitHub
parent 2c86fea78a
commit 4041f57943
15 changed files with 175 additions and 65 deletions
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examples/9_use_aloha.md
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@@ -30,9 +30,14 @@ conda create -y -n lerobot python=3.10 && conda activate lerobot
git clone https://github.com/huggingface/lerobot.git ~/lerobot
```
5. Install LeRobot with dependencies for the Aloha motors (dynamixel) and cameras (intelrealsense):
5. When using `miniconda`, install `ffmpeg` in your environment:
```bash
cd ~/lerobot && pip install --no-binary=av -e ".[dynamixel, intelrealsense]"
conda install ffmpeg -c conda-forge
```
6. Install LeRobot with dependencies for the Aloha motors (dynamixel) and cameras (intelrealsense):
```bash
cd ~/lerobot && pip install -e ".[dynamixel, intelrealsense]"
```
## Teleoperate
@@ -43,6 +48,9 @@ Teleoperation consists in manually operating the leader arms to move the followe
2. Our code assumes that your robot has been assembled following Trossen Robotics instructions. This allows us to skip calibration, as we use the pre-defined calibration files in `.cache/calibration/aloha_default`. If you replace a motor, make sure you follow the exact instructions from Trossen Robotics.
By running the following code, you can start your first **SAFE** teleoperation:
> **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=aloha \