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update record example

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Nikodem Bartnik
2026-05-18 09:39:16 +02:00
parent 4a6d7f44f1
commit dca76c07a9
1 changed files with 89 additions and 83 deletions
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docs/source/il_robots.mdx
+19 -13
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@@ -218,9 +218,9 @@ lerobot-record \
from lerobot.cameras.opencv import OpenCVCameraConfig from lerobot.cameras.opencv import OpenCVCameraConfig
from lerobot.datasets.lerobot_dataset import LeRobotDataset from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.utils.feature_utils import hw_to_dataset_features from lerobot.utils.feature_utils import hw_to_dataset_features
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig from lerobot.robots.so_follower import SO101Follower, SO101FollowerConfig
from lerobot.teleoperators.so_leader.config_so_leader import SO100LeaderConfig from lerobot.teleoperators.so_leader.config_so_leader import SO101LeaderConfig
from lerobot.teleoperators.so_leader.so_leader import SO100Leader from lerobot.teleoperators.so_leader.so_leader import SO101Leader
from lerobot.common.control_utils import init_keyboard_listener from lerobot.common.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
@@ -233,23 +233,25 @@ EPISODE_TIME_SEC = 60
RESET_TIME_SEC = 10 RESET_TIME_SEC = 10
TASK_DESCRIPTION = "My task description" TASK_DESCRIPTION = "My task description"
def main():
# Create robot configuration # Create robot configuration
robot_config = SO100FollowerConfig( robot_config = SO101FollowerConfig(
id="my_awesome_follower_arm", port="/dev/tty.usbmodem5AB90687491",
id="my_follower_arm",
cameras={ cameras={
"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS) # Optional: fourcc="MJPG" for troubleshooting OpenCV async error. "wrist": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=30),
}, "top": OpenCVCameraConfig(index_or_path=1, width=640, height=480, fps=30)
port="/dev/tty.usbmodem58760434471", }
) )
teleop_config = SO100LeaderConfig( teleop_config = SO101LeaderConfig(
id="my_awesome_leader_arm", port="/dev/tty.usbmodem5AB90689011",
port="/dev/tty.usbmodem585A0077581", id="my_leader_arm",
) )
# Initialize the robot and teleoperator # Initialize the robot and teleoperator
robot = SO100Follower(robot_config) robot = SO101Follower(robot_config)
teleop = SO100Leader(teleop_config) teleop = SO101Leader(teleop_config)
# Configure the dataset features # Configure the dataset features
action_features = hw_to_dataset_features(robot.action_features, "action") action_features = hw_to_dataset_features(robot.action_features, "action")
@@ -329,6 +331,10 @@ log_say("Stop recording")
robot.disconnect() robot.disconnect()
teleop.disconnect() teleop.disconnect()
dataset.push_to_hub() dataset.push_to_hub()
if __name__ == "__main__":
main()
``` ```
<!-- prettier-ignore-end --> <!-- prettier-ignore-end -->