From 05ef3ece2af727716d0df468a186506cbd536da1 Mon Sep 17 00:00:00 2001 From: Remi Cadene Date: Sun, 28 Jul 2024 17:38:35 +0200 Subject: [PATCH] doc --- lerobot/common/robot_devices/robots/koch.py | 6 +++--- lerobot/scripts/control_robot.py | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/lerobot/common/robot_devices/robots/koch.py b/lerobot/common/robot_devices/robots/koch.py index 0b508bb6..5a163613 100644 --- a/lerobot/common/robot_devices/robots/koch.py +++ b/lerobot/common/robot_devices/robots/koch.py @@ -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) diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py index 651d6fdf..dae6f79e 100644 --- a/lerobot/scripts/control_robot.py +++ b/lerobot/scripts/control_robot.py @@ -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: