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Control aloha robot natively (#316)

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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Remi
2024-09-04 19:28:05 +02:00
committed by GitHub
parent 27ba2951d1
commit 429a463aff
32 changed files with 898 additions and 390 deletions
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2
docker/lerobot-cpu/Dockerfile
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@@ -22,7 +22,7 @@ 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, koch]" \
RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht, dynamixel]" \
--extra-index-url https://download.pytorch.org/whl/cpu
# Set EGL as the rendering backend for MuJoCo

2
docker/lerobot-gpu/Dockerfile
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@@ -24,7 +24,7 @@ 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, koch]"
RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht, dynamixel]"
# Set EGL as the rendering backend for MuJoCo
ENV MUJOCO_GL="egl"