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fixes in 7_get_started_with_real_robot.md (#677)

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Raul Garreta 2025-02-25 10:03:29 -08:00 committed by GitHub
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examples/7_get_started_with_real_robot.md
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@ -626,7 +626,7 @@ Finally, run this code to instantiate and connectyour camera:
from lerobot.common.robot_devices.cameras.configs import OpenCVCameraConfig from lerobot.common.robot_devices.cameras.configs import OpenCVCameraConfig
from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
camera_config = OpenCVCameraConfig(camera_index=0) config = OpenCVCameraConfig(camera_index=0)
camera = OpenCVCamera(config) camera = OpenCVCamera(config)
camera.connect() camera.connect()
color_image = camera.read() color_image = camera.read()
@ -668,13 +668,15 @@ Additionaly, you can set up your robot to work with your cameras.
Modify the following Python code with the appropriate camera names and configurations: Modify the following Python code with the appropriate camera names and configurations:
```python ```python
robot = ManipulatorRobot( robot = ManipulatorRobot(
leader_arms={"main": leader_arm}, KochRobotConfig(
follower_arms={"main": follower_arm}, leader_arms={"main": leader_arm},
calibration_dir=".cache/calibration/koch", follower_arms={"main": follower_arm},
cameras={ calibration_dir=".cache/calibration/koch",
"laptop": OpenCVCameraConfig(0, fps=30, width=640, height=480), cameras={
"phone": OpenCVCameraConfig(1, fps=30, width=640, height=480), "laptop": OpenCVCameraConfig(0, fps=30, width=640, height=480),
}, "phone": OpenCVCameraConfig(1, fps=30, width=640, height=480),
},
)
) )
robot.connect() robot.connect()
``` ```
@ -711,7 +713,7 @@ python lerobot/scripts/control_robot.py \
You will see a lot of lines appearing like this one: You will see a lot of lines appearing like this one:
``` ```
INFO 2024-08-10 11:15:03 ol_robot.py:209 dt: 5.12 (195.1hz) dtRlead: 4.93 (203.0hz) dtRfoll: 0.19 (5239.0hz) INFO 2024-08-10 11:15:03 ol_robot.py:209 dt: 5.12 (195.1hz) dtRlead: 4.93 (203.0hz) dtWfoll: 0.19 (5239.0hz)
``` ```
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