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This commit is contained in:
Remi Cadene 2024-07-28 17:38:35 +02:00
parent 03e00a26f9
commit 05ef3ece2a
2 changed files with 4 additions and 4 deletions
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6
lerobot/common/robot_devices/robots/koch.py
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@ -264,12 +264,12 @@ class KochRobot:
Example of highest frequency data collection with cameras:
```python
# Defines how to communicate with 2 cameras connected to the computer.
# Here, the webcam of the mackbookpro and the iphone (connected in USB to the macbookpro)
# Here, the webcam of the laptop and the phone (connected in USB to the laptop)
# can be reached respectively using the camera indices 0 and 1. These indices can be
# arbitrary. See the documentation of `OpenCVCamera` to find your own camera indices.
cameras = {
"macbookpro": OpenCVCamera(camera_index=0, fps=30, width=640, height=480),
"iphone": OpenCVCamera(camera_index=1, fps=30, width=640, height=480),
"laptop": OpenCVCamera(camera_index=0, fps=30, width=640, height=480),
"phone": OpenCVCamera(camera_index=1, fps=30, width=640, height=480),
}
# Assumes leader and follower arms have been instantiated already (see first example)

2
lerobot/scripts/control_robot.py
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@ -6,7 +6,7 @@ Examples of usage:
python lerobot/scripts/control_robot.py teleoperate
# Remove the cameras from the robot definition. They are not used in 'teleoperate' anyway.
python lerobot/scripts/control_robot.py teleoperate '~cameras'
python lerobot/scripts/control_robot.py teleoperate --robot-overrides '~cameras'
```
- Unlimited teleoperation at a limited frequency of 30 Hz, to simulate data recording frequency: