From 099d2cb34eeac8751c176f60d4885b0d7df2aff6 Mon Sep 17 00:00:00 2001 From: Steven Palma Date: Thu, 11 Jun 2026 16:04:51 +0200 Subject: [PATCH] docs: update docs --- docs/source/hil_data_collection.mdx | 16 ++++++++-------- docs/source/inference.mdx | 2 +- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/docs/source/hil_data_collection.mdx b/docs/source/hil_data_collection.mdx index ba68959d1..c7df0631e 100644 --- a/docs/source/hil_data_collection.mdx +++ b/docs/source/hil_data_collection.mdx @@ -57,11 +57,11 @@ The `lerobot-rollout --strategy.type=dagger` mode requires **teleoperators with **Compatible teleoperators:** -- `openarm_mini` - OpenArm Mini +- `bi_openarm_mini` - Bimanual OpenArm Mini - `so_leader` - SO100 / SO101 leader arm > [!IMPORTANT] -> The provided commands default to `bi_openarm_follower` + `openarm_mini`. +> The provided commands default to `bi_openarm_follower` + `bi_openarm_mini`. > `so_follower` + `so_leader` configs are also registered and can be used via CLI flags. --- @@ -104,9 +104,9 @@ lerobot-rollout --strategy.type=dagger \ --robot.right_arm_config.port=can0 \ --robot.right_arm_config.side=right \ --robot.cameras='{left_wrist: {type: opencv, index_or_path: "/dev/video0", width: 1280, height: 720, fps: 30}, right_wrist: {type: opencv, index_or_path: "/dev/video4", width: 1280, height: 720, fps: 30}, base: {type: opencv, index_or_path: "/dev/video2", width: 640, height: 480, fps: 30}}' \ - --teleop.type=openarm_mini \ - --teleop.port_left=/dev/ttyACM0 \ - --teleop.port_right=/dev/ttyACM1 \ + --teleop.type=bi_openarm_mini \ + --teleop.left_arm_config.port=/dev/ttyACM0 \ + --teleop.right_arm_config.port=/dev/ttyACM1 \ --policy.path=outputs/pretrain/checkpoints/last/pretrained_model \ --dataset.repo_id=your-username/rollout_hil_dataset \ --dataset.single_task="Fold the T-shirt properly" \ @@ -131,9 +131,9 @@ lerobot-rollout --strategy.type=dagger \ --robot.right_arm_config.port=can0 \ --robot.right_arm_config.side=right \ --robot.cameras='{left_wrist: {type: opencv, index_or_path: "/dev/video0", width: 1280, height: 720, fps: 30}, right_wrist: {type: opencv, index_or_path: "/dev/video4", width: 1280, height: 720, fps: 30}, base: {type: opencv, index_or_path: "/dev/video2", width: 640, height: 480, fps: 30}}' \ - --teleop.type=openarm_mini \ - --teleop.port_left=/dev/ttyACM0 \ - --teleop.port_right=/dev/ttyACM1 \ + --teleop.type=bi_openarm_mini \ + --teleop.left_arm_config.port=/dev/ttyACM0 \ + --teleop.right_arm_config.port=/dev/ttyACM1 \ --policy.path=outputs/pretrain/checkpoints/last/pretrained_model \ --dataset.repo_id=your-username/rollout_hil_rtc_dataset \ --dataset.single_task="Fold the T-shirt properly" \ diff --git a/docs/source/inference.mdx b/docs/source/inference.mdx index 78d9faa30..31405b5de 100644 --- a/docs/source/inference.mdx +++ b/docs/source/inference.mdx @@ -117,7 +117,7 @@ lerobot-rollout \ --strategy.num_episodes=20 \ --policy.path=outputs/pretrain/checkpoints/last/pretrained_model \ --robot.type=bi_openarm_follower \ - --teleop.type=openarm_mini \ + --teleop.type=bi_openarm_mini \ --dataset.repo_id=${HF_USER}/rollout_hil_data \ --dataset.single_task="Fold the T-shirt" ```