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docs: update IL robots API example and add OpenCV workaround (#2648)

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* docs: update IL robots API example and add OpenCV workaround

- Fix import path from lerobot.record to lerobot.scripts.lerobot_record
- Add required processor parameters to record_loop calls
- Document fourcc="MJPG" workaround for OpenCV async errors
- Improve code formatting in robot configuration examples

Fixes compatibility issues for users following the tutorial on embedded systems
and ensures API examples match current codebase requirements.

* Update il_robots.mdx

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Signed-off-by: ./c² <cagataycali@icloud.com>

---------

Signed-off-by: ./c² <cagataycali@icloud.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
./c²
2025-12-15 11:56:33 -05:00
committed by GitHub
parent a6c3a0fa09
commit 81ebcac8d7
1 changed files with 22 additions and 5 deletions
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docs/source/il_robots.mdx
+22 -5
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@@ -201,7 +201,8 @@ from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
from lerobot.utils.control_utils import init_keyboard_listener from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import init_rerun from lerobot.utils.visualization_utils import init_rerun
from lerobot.record import record_loop from lerobot.scripts.lerobot_record import record_loop
from lerobot.processor import make_default_processors
NUM_EPISODES = 5 NUM_EPISODES = 5
FPS = 30 FPS = 30
@@ -209,12 +210,19 @@ EPISODE_TIME_SEC = 60
RESET_TIME_SEC = 10 RESET_TIME_SEC = 10
TASK_DESCRIPTION = "My task description" TASK_DESCRIPTION = "My task description"
# Create the robot and teleoperator configurations # Create robot configuration
camera_config = {"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS)}
robot_config = SO100FollowerConfig( robot_config = SO100FollowerConfig(
port="/dev/tty.usbmodem58760434471", id="my_awesome_follower_arm", cameras=camera_config id="my_awesome_follower_arm",
cameras={
"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS) # Optional: fourcc="MJPG" for troubleshooting OpenCV async error.
},
port="/dev/tty.usbmodem58760434471",
)
teleop_config = SO100LeaderConfig(
id="my_awesome_leader_arm",
port="/dev/tty.usbmodem585A0077581",
) )
teleop_config = SO100LeaderConfig(port="/dev/tty.usbmodem585A0077581", id="my_awesome_leader_arm")
# Initialize the robot and teleoperator # Initialize the robot and teleoperator
robot = SO100Follower(robot_config) robot = SO100Follower(robot_config)
@@ -243,6 +251,9 @@ init_rerun(session_name="recording")
robot.connect() robot.connect()
teleop.connect() teleop.connect()
# Create the required processors
teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
episode_idx = 0 episode_idx = 0
while episode_idx < NUM_EPISODES and not events["stop_recording"]: while episode_idx < NUM_EPISODES and not events["stop_recording"]:
log_say(f"Recording episode {episode_idx + 1} of {NUM_EPISODES}") log_say(f"Recording episode {episode_idx + 1} of {NUM_EPISODES}")
@@ -251,6 +262,9 @@ while episode_idx < NUM_EPISODES and not events["stop_recording"]:
robot=robot, robot=robot,
events=events, events=events,
fps=FPS, fps=FPS,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
teleop=teleop, teleop=teleop,
dataset=dataset, dataset=dataset,
control_time_s=EPISODE_TIME_SEC, control_time_s=EPISODE_TIME_SEC,
@@ -265,6 +279,9 @@ while episode_idx < NUM_EPISODES and not events["stop_recording"]:
robot=robot, robot=robot,
events=events, events=events,
fps=FPS, fps=FPS,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
teleop=teleop, teleop=teleop,
control_time_s=RESET_TIME_SEC, control_time_s=RESET_TIME_SEC,
single_task=TASK_DESCRIPTION, single_task=TASK_DESCRIPTION,