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https://github.com/huggingface/lerobot.git
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Nikodem Bartnik
58 lines
2.3 KiB
Plaintext
58 lines
2.3 KiB
Plaintext
# Cheat sheet
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All of the LeRobot commands in one place. If you forgot how to use a specific command or want to learn about a new one you can do it here.
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> [!WARNING]
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>For all of the commands listed below remember to change the ports/names/ids to your own values!
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> [!TIP]
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> Another grate way to look at all the comands and get them configured for your specific setup is to use this [Jupyter Notebook](https://github.com/huggingface/lerobot/blob/main/examples/notebooks/quickstart.ipynb).
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### Install
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### Useful tools
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###### Find port
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You will need to idetify the ports that your robots are connected to. To do so run the following function and follow the instructions in your terminal. You will need to unplug the USB cable and press enter, the serial port of that robot will be printed on the terminal.
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```bash
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lerobot-find-port
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```
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###### Find cameras
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In a similar way you can easily find the cameras connected to your computer. The information on the cameras will be printed to the terminal but also images from each camera will be saved into the folder```lerobot/outputs/captured_images```
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```bash
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lerobot-find-cameras
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```
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### Calibration
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In most cases you will need to perform callibration just once for each robot and teleoperation device.
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```bash
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lerobot-calibrate \
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--robot.type=so101_follower \
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--robot.port=/dev/ttyACM0 \
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--robot.id=my_follower_arm
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```
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### Teleoperation
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### Recording a dataset
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### Training
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### Inference
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Inference means running the trained policy/model on a robot. For that we use ```lerobot-rollout```. You will need to provide a path to your policy. It can be a local path or a path to Hugging Face for example "lerobot/folding_latest". You cameras configuration need to match what was used when collecting the dataset. Duration is in seconds if unspecified it will run forever.
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> [!TIP]
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> If you are using the previous release V0.5.1 instead of ```lerobot-rollout``` you need to use ```lerobot-record```
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``` bash
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lerobot-rollout \
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--strategy.type=base \
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--policy.path=${HF_USER}/my_policy \
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--robot.type=so101_follower \
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--robot.port=/dev/ttyACM1 \
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--robot.cameras="{ up: {type: opencv, index_or_path: /dev/video1, width: 640, height: 480, fps: 30}, side: {type: opencv, index_or_path: /dev/video5, width: 640, height: 480, fps: 30}}" \
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--task="Put lego brick into the transparent box" \
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--duration=60
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```
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