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chore(docs): add more info with rerun doc link

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Steven Palma 2025-04-08 17:00:51 +02:00
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7
examples/10_use_so100.md
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@ -497,6 +497,13 @@ python lerobot/scripts/control_robot.py \
#### a. Teleop with displaying cameras
Follow [this guide to setup your cameras](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#c-add-your-cameras-with-opencvcamera). Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset.
> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`. You can adjust the viewer's behavior with these environment variables (refer to `rerun` documentation for more information):
> - [`RERUN_FLUSH_NUM_BYTES`](https://rerun.io/docs/reference/sdk/micro-batching) [default: 8000]
> - [`LEROBOT_RERUN_MEMORY_LIMIT`](https://rerun.io/docs/howto/visualization/limit-ram) [default: 5%]
> - [`LEROBOT_VIEWER_IP`](https://ref.rerun.io/docs/python/0.22.1/common/initialization_functions/#rerun.connect_tcp) (only for remote robots) [default: None]
> - [`LEROBOT_VIEWER_PORT`](https://ref.rerun.io/docs/python/0.22.1/common/initialization_functions/#rerun.connect_tcp) (only for remote robots) [default: 9876]
```bash
python lerobot/scripts/control_robot.py \
--robot.type=so100 \

6
examples/11_use_lekiwi.md
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@ -424,6 +424,12 @@ python lerobot/scripts/control_robot.py \
--control.fps=30
```
> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`. You can adjust the viewer's behavior with these environment variables (refer to `rerun` documentation for more information):
> - [`RERUN_FLUSH_NUM_BYTES`](https://rerun.io/docs/reference/sdk/micro-batching) [default: 8000]
> - [`LEROBOT_RERUN_MEMORY_LIMIT`](https://rerun.io/docs/howto/visualization/limit-ram) [default: 5%]
> - [`LEROBOT_VIEWER_IP`](https://ref.rerun.io/docs/python/0.22.1/common/initialization_functions/#rerun.connect_tcp) (only for remote robots) [default: None]
> - [`LEROBOT_VIEWER_PORT`](https://ref.rerun.io/docs/python/0.22.1/common/initialization_functions/#rerun.connect_tcp) (only for remote robots) [default: 9876]
You should see on your laptop something like this: ```[INFO] Connected to remote robot at tcp://172.17.133.91:5555 and video stream at tcp://172.17.133.91:5556.``` Now you can move the leader arm and use the keyboard (w,a,s,d) to drive forward, left, backwards, right. And use (z,x) to turn left or turn right. You can use (r,f) to increase and decrease the speed of the mobile robot. There are three speed modes, see the table below:
| Speed Mode | Linear Speed (m/s) | Rotation Speed (deg/s) |
| ---------- | ------------------ | ---------------------- |

7
examples/11_use_moss.md
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@ -218,6 +218,13 @@ python lerobot/scripts/control_robot.py \
**Teleop with displaying cameras**
Follow [this guide to setup your cameras](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#c-add-your-cameras-with-opencvcamera). Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset.
> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`. You can adjust the viewer's behavior with these environment variables (refer to `rerun` documentation for more information):
> - [`RERUN_FLUSH_NUM_BYTES`](https://rerun.io/docs/reference/sdk/micro-batching) [default: 8000]
> - [`LEROBOT_RERUN_MEMORY_LIMIT`](https://rerun.io/docs/howto/visualization/limit-ram) [default: 5%]
> - [`LEROBOT_VIEWER_IP`](https://ref.rerun.io/docs/python/0.22.1/common/initialization_functions/#rerun.connect_tcp) (only for remote robots) [default: None]
> - [`LEROBOT_VIEWER_PORT`](https://ref.rerun.io/docs/python/0.22.1/common/initialization_functions/#rerun.connect_tcp) (only for remote robots) [default: 9876]
```bash
python lerobot/scripts/control_robot.py \
--robot.type=moss \

7
examples/7_get_started_with_real_robot.md
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@ -55,6 +55,13 @@ Finally, connect both arms to your computer via USB. Note that the USB doesn't p
Now you are ready to configure your motors for the first time, as detailed in the sections below. In the upcoming sections, you'll learn about our classes and functions by running some python code in an interactive session, or by copy-pasting it in a python file.
If you have already configured your motors the first time, you can streamline the process by directly running the teleoperate script (which is detailed further in the tutorial):
> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`. You can adjust the viewer's behavior with these environment variables (refer to `rerun` documentation for more information):
> - [`RERUN_FLUSH_NUM_BYTES`](https://rerun.io/docs/reference/sdk/micro-batching) [default: 8000]
> - [`LEROBOT_RERUN_MEMORY_LIMIT`](https://rerun.io/docs/howto/visualization/limit-ram) [default: 5%]
> - [`LEROBOT_VIEWER_IP`](https://ref.rerun.io/docs/python/0.22.1/common/initialization_functions/#rerun.connect_tcp) (only for remote robots) [default: None]
> - [`LEROBOT_VIEWER_PORT`](https://ref.rerun.io/docs/python/0.22.1/common/initialization_functions/#rerun.connect_tcp) (only for remote robots) [default: 9876]
```bash
python lerobot/scripts/control_robot.py \
--robot.type=koch \

7
examples/8_use_stretch.md
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@ -102,6 +102,13 @@ This is equivalent to running `stretch_robot_home.py`
Before trying teleoperation, you need activate the gamepad controller by pressing the middle button. For more info, see Stretch's [doc](https://docs.hello-robot.com/0.3/getting_started/hello_robot/#gamepad-teleoperation).
Now try out teleoperation (see above documentation to learn about the gamepad controls):
> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`. You can adjust the viewer's behavior with these environment variables (refer to `rerun` documentation for more information):
> - [`RERUN_FLUSH_NUM_BYTES`](https://rerun.io/docs/reference/sdk/micro-batching) [default: 8000]
> - [`LEROBOT_RERUN_MEMORY_LIMIT`](https://rerun.io/docs/howto/visualization/limit-ram) [default: 5%]
> - [`LEROBOT_VIEWER_IP`](https://ref.rerun.io/docs/python/0.22.1/common/initialization_functions/#rerun.connect_tcp) (only for remote robots) [default: None]
> - [`LEROBOT_VIEWER_PORT`](https://ref.rerun.io/docs/python/0.22.1/common/initialization_functions/#rerun.connect_tcp) (only for remote robots) [default: 9876]
```bash
python lerobot/scripts/control_robot.py \
--robot.type=stretch \

7
examples/9_use_aloha.md
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@ -48,6 +48,13 @@ Teleoperation consists in manually operating the leader arms to move the followe
2. Our code assumes that your robot has been assembled following Trossen Robotics instructions. This allows us to skip calibration, as we use the pre-defined calibration files in `.cache/calibration/aloha_default`. If you replace a motor, make sure you follow the exact instructions from Trossen Robotics.
By running the following code, you can start your first **SAFE** teleoperation:
> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`. You can adjust the viewer's behavior with these environment variables (refer to `rerun` documentation for more information):
> - [`RERUN_FLUSH_NUM_BYTES`](https://rerun.io/docs/reference/sdk/micro-batching) [default: 8000]
> - [`LEROBOT_RERUN_MEMORY_LIMIT`](https://rerun.io/docs/howto/visualization/limit-ram) [default: 5%]
> - [`LEROBOT_VIEWER_IP`](https://ref.rerun.io/docs/python/0.22.1/common/initialization_functions/#rerun.connect_tcp) (only for remote robots) [default: None]
> - [`LEROBOT_VIEWER_PORT`](https://ref.rerun.io/docs/python/0.22.1/common/initialization_functions/#rerun.connect_tcp) (only for remote robots) [default: 9876]
```bash
python lerobot/scripts/control_robot.py \
--robot.type=aloha \