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glannuzel
98 lines
3.8 KiB
Plaintext
98 lines
3.8 KiB
Plaintext
# Reachy 2
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## Prerequisites
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- Check the services images on your robot are meeting the minimal versions:
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- **reachy2-core >= 1.7.5.2**
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- **webrtc >= 2.0.1.1**
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- Install [Reachy 2 teleoperation application](https://docs.pollen-robotics.com/teleoperation/teleoperation-introduction/discover-teleoperation/).
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The teleoperation version must be **>=v1.2.0**
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Currently, the teleoperation is done through Pollen Robotics teleoperation, which is not included in LeRobot.
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We will work on teleoperators directly included soon!
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We advise to have one computer running the teleoperation, while another one is running the record session with LeRobot.
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## Install LeRobot
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Follow the [installation instructions](https://github.com/huggingface/lerobot#installation) to install LeRobot.
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Install LeRobot with Reachy 2 dependencies (reachy2-sdk is required):
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```bash
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pip install -e ".[reachy2]"
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```
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## Reachy 2 IP address
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Before starting teleoperation and data recording, you need to find the [robot IP address](https://docs.pollen-robotics.com/getting-started/setup-reachy2/connect-reachy2/).
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We strongly advise to get all your devices (computer, robot) plugged through ethernet cables.
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## Recording
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There are two ways of managing recording sessions using the teleoeperation application for Reachy 2:
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- using the LeRobot record script: LeRobot is in charge of the session management, and decides when to start and stop an episode. The teleoperation application is only used to control the robot's movements.
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- using the included data acquisition server for Reachy 2 (recommended): the teleoperation application does manage the session management, requesting LeRobot to start or stop an episode, in addition to controlling the robot's movements.
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### Option 1: Teleoperation and lerobot.record
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Reachy 2 is supported as the other robots by the record features.
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Here is an example of record, without mobile base:
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```bash
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python -m lerobot.record \
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--robot.type=reachy2 \
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--robot.ip_address=192.168.0.200 \
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--robot.use_external_commands=true \
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--robot.with_mobile_base=false \
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--teleop.type=reachy2_fake_teleoperator \
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--teleop.ip_address=192.168.0.200 \
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--teleop.with_mobile_base=false \
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--dataset.repo_id=pollen_robotics/record_test \
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--dataset.single_task="Reachy 2 recording test" \
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--dataset.num_episodes=1 \
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--dataset.episode_time_s=5 \
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--dataset.fps=15 \
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--dataset.push_to_hub=true \
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--dataset.private=true \
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--display_data=true
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```
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Then get into the teleoperation application and choose "Standard session".
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### Option 2: Using data acquisition server (recommended)
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Launch the data acquisition server to be able to manage your session directly from the teleoperation application:
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```bash
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python -m lerobot.data_acquisition_server \
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--robot.type=reachy2 \
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--robot.ip_address=192.168.0.200 \
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--robot.use_external_commands=true \
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--robot.with_mobile_base=false \
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--teleop.type=reachy2_fake_teleoperator \
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--teleop.ip_address=192.168.0.200 \
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--teleop.with_mobile_base=false \
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--dataset.repo_id=pollen_robotics/record_test \
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--dataset.single_task="Reachy 2 recording test" \
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--dataset.num_episodes=1 \
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--dataset.episode_time_s=5 \
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--dataset.fps=15 \
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--dataset.push_to_hub=true \
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--dataset.private=true \
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--display_data=true
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```
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### Choose your arguments!
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From our first tests, we saw that recording all the joints with some policies while only some of them are moving does reduce the quality of the models.
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So choose with parts to record / replay, using the arguments `--robot.with_{part}=false`,
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with part being one of : "mobile_base", "l_arm", "r_arm", "neck", "antennas".
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By default, all parts are recorded.
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You can do the same for the cameras, where only the teleop cameras are recording by default.
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## Step 3: Record, Replay, Train
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