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This commit is contained in:
croissant
2025-11-17 10:46:22 +01:00
committed by Michel Aractingi
parent 40e98ba690
commit 9b04fd25b6
4 changed files with 34 additions and 17 deletions
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examples/openarms/evaluate.py
+12 -12
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@@ -44,29 +44,29 @@ from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import init_rerun from lerobot.utils.visualization_utils import init_rerun
HF_MODEL_ID = "lerobot-data-collection/two-folds-act" # TODO: Replace with your trained model HF_MODEL_ID = "lerobot-data-collection/three-folds-pi0" # TODO: Replace with your trained model
HF_EVAL_DATASET_ID = "lerobot-data-collection/eval-two-folds-act-50k-9" # TODO: Replace with your eval dataset name HF_EVAL_DATASET_ID = "lerobot-data-collection/three-folds-pi0_eval7" # TODO: Replace with your eval dataset name
TASK_DESCRIPTION = "two-folds-dataset" # TODO: Replace with your task, this should match!! TASK_DESCRIPTION = "three-folds-dataset" # TODO: Replace with your task, this should match!!
NUM_EPISODES = 5 NUM_EPISODES = 1
FPS = 30 FPS = 30
EPISODE_TIME_SEC = 120 EPISODE_TIME_SEC = 300
RESET_TIME_SEC = 60 RESET_TIME_SEC = 60
# Robot CAN interfaces # Robot CAN interfaces
FOLLOWER_LEFT_PORT = "can2" FOLLOWER_LEFT_PORT = "can0"
FOLLOWER_RIGHT_PORT = "can3" FOLLOWER_RIGHT_PORT = "can1"
# If enabled, you can manually reset the environment between evaluation episodes # If enabled, you can manually reset the environment between evaluation episodes
USE_LEADER_FOR_RESETS = True # Set to False if you don't want to use leader USE_LEADER_FOR_RESETS = True # Set to False if you don't want to use leader
LEADER_LEFT_PORT = "can0" LEADER_LEFT_PORT = "can2"
LEADER_RIGHT_PORT = "can1" LEADER_RIGHT_PORT = "can3"
# Camera configuration # Camera configuration
CAMERA_CONFIG = { CAMERA_CONFIG = {
"left_wrist": OpenCVCameraConfig(index_or_path="/dev/video0", width=640, height=480, fps=FPS), "left_wrist": OpenCVCameraConfig(index_or_path="/dev/video5", width=640, height=480, fps=FPS),
"right_wrist": OpenCVCameraConfig(index_or_path="/dev/video4", width=640, height=480, fps=FPS), "right_wrist": OpenCVCameraConfig(index_or_path="/dev/video1", width=640, height=480, fps=FPS),
"base": OpenCVCameraConfig(index_or_path="/dev/video7", width=640, height=480, fps=FPS), "base": OpenCVCameraConfig(index_or_path="/dev/video3", width=640, height=480, fps=FPS),
} }
def main(): def main():
examples/openarms_web_interface/App.jsx
+15
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@@ -96,6 +96,21 @@ function App() {
}; };
const setupRobots = async () => { const setupRobots = async () => {
// Show warning to verify camera positions
const confirmed = window.confirm(
'⚠️ IMPORTANT: Before connecting robots, please verify:\n\n' +
'📹 Check that cameras are correctly positioned:\n' +
' • LEFT wrist camera is actually on the LEFT arm\n' +
' • RIGHT wrist camera is actually on the RIGHT arm\n' +
' • BASE camera is actually the BASE/overhead camera\n\n' +
'Incorrect camera positioning will result in invalid training data!\n\n' +
'Click OK to continue with robot setup, or Cancel to review configuration.'
);
if (!confirmed) {
return; // User cancelled, don't proceed
}
setError(null); setError(null);
try { try {
const response = await fetch(`${API_BASE}/robots/setup`, { const response = await fetch(`${API_BASE}/robots/setup`, {
examples/openarms_web_interface/web_record_server.py
+2 -2
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@@ -176,8 +176,8 @@ def initialize_robots_only(config: RobotSetupConfig):
# Update status: Configuring cameras # Update status: Configuring cameras
recording_state["status_message"] = "Configuring cameras..." recording_state["status_message"] = "Configuring cameras..."
camera_config = { camera_config = {
"left_wrist": OpenCVCameraConfig(index_or_path=config.left_wrist, width=640, height=480, fps=FPS), "left_wrist": OpenCVCameraConfig(index_or_path=config.left_wrist, width=1280, height=720, fps=FPS),
"right_wrist": OpenCVCameraConfig(index_or_path=config.right_wrist, width=640, height=480, fps=FPS), "right_wrist": OpenCVCameraConfig(index_or_path=config.right_wrist, width=1280, height=720, fps=FPS),
"base": OpenCVCameraConfig(index_or_path=config.base, width=640, height=480, fps=FPS), "base": OpenCVCameraConfig(index_or_path=config.base, width=640, height=480, fps=FPS),
} }
loop_datasets.py
+5 -3
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@@ -2,7 +2,9 @@ from huggingface_hub import HfApi, list_datasets
api = HfApi() api = HfApi()
datasets = list_datasets(author="lerobot-data-collection") datasets = list_datasets(author="lerobot-data-collection")
print('"[', end="")
i=0
for dataset in datasets: for dataset in datasets:
if "two-folds-dataset" in dataset.id: if "three-folds-dataset" in dataset.id:
print("'" + dataset.id + "',", end=" ") print("'" + dataset.id + "',", end="")
print("\n") print(']"',)