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Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version (#1520)
* chore: update .gitignore * chore: update pre-commit * chore(deps): update pyproject * fix(ci): multiple fixes * chore: pre-commit apply * chore: address review comments * Update pyproject.toml Co-authored-by: Ben Zhang <5977478+ben-z@users.noreply.github.com> Signed-off-by: Steven Palma <imstevenpmwork@ieee.org> * chore(deps): add todo --------- Signed-off-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: Ben Zhang <5977478+ben-z@users.noreply.github.com>
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Steven Palma
@@ -10,15 +10,16 @@ For a visual walkthrough of the assembly process, you can refer to [this video t
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> [!WARNING]
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> Since the production of this video, we simplified the configuration phase. Because of this, two things differ from the instructions in that video:
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>
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> - Don't plug in all the motor cables right away and wait to be instructed to do so in [Configure the motors](#configure-the-motors).
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> - Don't screw in the controller board (PCB) to the base right away and wait for being instructed to do so in [Configure the motors](#configure-the-motors).
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## Install LeRobot 🤗
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To install LeRobot follow, our [Installation Guide](./installation)
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In addition to these instructions, you need to install the Dynamixel SDK:
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```bash
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pip install -e ".[dynamixel]"
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```
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@@ -28,6 +29,7 @@ pip install -e ".[dynamixel]"
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### 1. Find the USB ports associated with each arm
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To find the port for each bus servo adapter, run this script:
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```bash
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python -m lerobot.find_port
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```
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@@ -54,6 +56,7 @@ Where the found port is: `/dev/tty.usbmodem575E0032081` corresponding to your le
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<hfoption id="Linux">
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On Linux, you might need to give access to the USB ports by running:
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```bash
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sudo chmod 666 /dev/ttyACM0
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sudo chmod 666 /dev/ttyACM1
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@@ -99,9 +102,11 @@ python -m lerobot.setup_motors \
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--robot.type=koch_follower \
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--robot.port=/dev/tty.usbmodem575E0031751 # <- paste here the port found at previous step
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```
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</hfoption>
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<hfoption id="API example">
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<!-- prettier-ignore-start -->
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```python
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from lerobot.robots.koch_follower import KochFollower, KochFollowerConfig
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@@ -112,10 +117,13 @@ config = KochFollowerConfig(
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follower = KochFollower(config)
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follower.setup_motors()
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```
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<!-- prettier-ignore-end -->
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</hfoption>
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</hfoptions>
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You should see the following instruction.
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```
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Connect the controller board to the 'gripper' motor only and press enter.
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```
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@@ -125,22 +133,26 @@ As instructed, plug the gripper's motor. Make sure it's the only motor connected
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<details>
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<summary>Troubleshooting</summary>
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If you get an error at that point, check your cables and make sure they are plugged in properly:
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<ul>
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<li>Power supply</li>
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<li>USB cable between your computer and the controller board</li>
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<li>The 3-pin cable from the controller board to the motor</li>
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</ul>
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If you get an error at that point, check your cables and make sure they are plugged in properly:
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<ul>
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<li>Power supply</li>
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<li>USB cable between your computer and the controller board</li>
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<li>The 3-pin cable from the controller board to the motor</li>
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</ul>
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If you are using a Waveshare controller board, make sure that the two jumpers are set on the `B` channel (USB).
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If you are using a Waveshare controller board, make sure that the two jumpers are set on the `B` channel (USB).
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</details>
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You should then see the following message:
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```
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'gripper' motor id set to 6
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```
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Followed by the next instruction:
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```
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Connect the controller board to the 'wrist_roll' motor only and press enter.
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```
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@@ -155,6 +167,7 @@ Repeat the operation for each motor as instructed.
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When you are done, the script will simply finish, at which point the motors are ready to be used. You can now plug the 3-pin cable from each motor to the next one, and the cable from the first motor (the 'shoulder pan' with id=1) to the controller board, which can now be attached to the base of the arm.
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#### Leader
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Do the same steps for the leader arm but modify the command or script accordingly.
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<hfoptions id="setup_motors">
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@@ -165,9 +178,11 @@ python -m lerobot.setup_motors \
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--teleop.type=koch_leader \
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--teleop.port=/dev/tty.usbmodem575E0031751 \ # <- paste here the port found at previous step
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```
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</hfoption>
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<hfoption id="API example">
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<!-- prettier-ignore-start -->
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```python
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from lerobot.teleoperators.koch_leader import KochLeader, KochLeaderConfig
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@@ -178,6 +193,8 @@ config = KochLeaderConfig(
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leader = KochLeader(config)
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leader.setup_motors()
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```
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<!-- prettier-ignore-end -->
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</hfoption>
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</hfoptions>
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@@ -199,9 +216,11 @@ python -m lerobot.calibrate \
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--robot.port=/dev/tty.usbmodem58760431551 \ # <- The port of your robot
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--robot.id=my_awesome_follower_arm # <- Give the robot a unique name
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```
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</hfoption>
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<hfoption id="API example">
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<!-- prettier-ignore-start -->
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```python
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from lerobot.robots.koch_follower import KochFollowerConfig, KochFollower
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@@ -215,6 +234,8 @@ follower.connect(calibrate=False)
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follower.calibrate()
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follower.disconnect()
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```
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<!-- prettier-ignore-end -->
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</hfoption>
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</hfoptions>
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@@ -233,9 +254,11 @@ python -m lerobot.calibrate \
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--teleop.port=/dev/tty.usbmodem58760431551 \ # <- The port of your robot
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--teleop.id=my_awesome_leader_arm # <- Give the robot a unique name
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```
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</hfoption>
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<hfoption id="API example">
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<!-- prettier-ignore-start -->
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```python
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from lerobot.teleoperators.koch_leader import KochLeaderConfig, KochLeader
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@@ -249,10 +272,12 @@ leader.connect(calibrate=False)
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leader.calibrate()
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leader.disconnect()
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```
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<!-- prettier-ignore-end -->
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</hfoption>
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</hfoptions>
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Congrats 🎉, your robot is all set to learn a task on its own. Start training it by following this tutorial: [Getting started with real-world robots](./getting_started_real_world_robot)
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> [!TIP]
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> If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb).
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> If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb).
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