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Added possiblity to record and replay delta actions during teleoperation rather than absolute actions

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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi
2025-02-12 19:25:41 +01:00
committed by AdilZouitine
parent 4057904238
commit 9c14830cd9
11 changed files with 63 additions and 618 deletions
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lerobot/scripts/server/crop_dataset_roi.py
+5 -1
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@@ -239,13 +239,17 @@ if __name__ == "__main__":
)
args = parser.parse_args()
dataset = LeRobotDataset(repo_id=args.repo_id, root=args.root)
dataset = LeRobotDataset(repo_id=args.repo_id, root=args.root, local_files_only=True)
images = get_image_from_lerobot_dataset(dataset)
images = {k: v.cpu().permute(1, 2, 0).numpy() for k, v in images.items()}
images = {k: (v * 255).astype("uint8") for k, v in images.items()}
rois = select_square_roi_for_images(images)
# rois = {
# "observation.images.front": [126, 43, 329, 518],
# "observation.images.side": [93, 69, 381, 434],
# }
# Print the selected rectangular ROIs
print("\nSelected Rectangular Regions of Interest (top, left, height, width):")