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examples/real_robot_example/README.md

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+# Using `lerobot`  on a real world arm
+
+In this example, we'll be using `lerobot` on a real world arm to:
+- record a dataset in the `lerobot` format
+- (soon) train a policy on it
+- (soon) run the policy in the real-world
+
+## Which robotic arm to use
+
+In this example we're using the [open-source low-cost arm from Alexander Koch](https://github.com/AlexanderKoch-Koch/low_cost_robot) in the specific setup of:
+- having 6 servos per arm, i.e. using the elbow-to-wrist extension
+- adding two cameras around it, one on top and one in the front
+- having a teleoperation arm as well (build the leader and the follower arms in A. Koch repo, both with elbow-to-wrist extensions)
+
+I'm using these cameras (but the setup should not be sensitive to the exact cameras you're using):
+- C922 Pro Stream Webcam
+- Intel(R) RealSense D455 (using only the RGB input)
+
+
+In general, this example should be very easily extendable to any type of arm using Dynamixel servos with at least one camera by changing a couple of configuration in the gym env.
+
+## Install the example
+
+Follow these steps:
+- install `lerobot`
+- install the Dynamixel-sdk: ` pip install dynamixel-sdk`
+
+## 0 - record examples
+
+Run the `0_record_training_data.py` example, selecting the duration and number of episodes you want to record, e.g.
+```
+DATA_DIR='./data' python 0_record_training_data.py \
+--repo-id=thomwolf/blue_red_sort \
+--num-episodes=50 \
+--num-frames=400
+```
+
+TODO:
+- various length episodes
+- being able to drop episodes
+- checking uploading to the hub
+
+## 1 - visualize the dataset
+
+Use the standard dataset visualization script pointing it to the right folder:
+```
+DATA_DIR='./data' python visualize_dataset.py python lerobot/scripts/visualize_dataset.py \
+    --repo-id thomwolf/blue_red_sort \
+    --episode-index 0
+```
+
+## (soon) Train a policy
+
+Run `1_train_real_policy.py` example
+
+## (soon) Evaluate the policy in the real world
+
+Run `2_evaluate_real_policy.py` example