Merge d58fd843aa into c10c5a0e64

Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>

.pre-commit-config.yaml

@@ -48,7 +48,7 @@ repos:
     -   id: pyupgrade
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.11.4
+    rev: v0.11.5
     hooks:
       - id: ruff
         args: [--fix]
@@ -57,7 +57,7 @@ repos:
 
   ##### Security #####
   - repo: https://github.com/gitleaks/gitleaks
-    rev: v8.24.2
+    rev: v8.24.3
     hooks:
       - id: gitleaks
 

README.md

@@ -103,6 +103,13 @@ When using `miniconda`, install `ffmpeg` in your environment:
 conda install ffmpeg -c conda-forge
 ```
 
+> **NOTE:** This usually installs `ffmpeg 7.X` for your platform compiled with the `libsvtav1` encoder. If `libsvtav1` is not supported (check supported encoders with `ffmpeg -encoders`), you can:
+>  - _[On any platform]_ Explicitly install `ffmpeg 7.X` using:
+>  ```bash
+>  conda install ffmpeg=7.1.1 -c conda-forge
+>  ```
+>  - _[On Linux only]_ Install [ffmpeg build dependencies](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#GettheDependencies) and [compile ffmpeg from source with libsvtav1](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#libsvtav1), and make sure you use the corresponding ffmpeg binary to your install with `which ffmpeg`.
+
 Install 🤗 LeRobot:
 ```bash
 pip install -e .

examples/4_train_policy_with_script.md

@@ -4,7 +4,7 @@ This tutorial will explain the training script, how to use it, and particularly
 
 ## The training script
 
-LeRobot offers a training script at [`lerobot/scripts/train.py`](../../lerobot/scripts/train.py). At a high level it does the following:
+LeRobot offers a training script at [`lerobot/scripts/train.py`](../lerobot/scripts/train.py). At a high level it does the following:
 
 - Initialize/load a configuration for the following steps using.
 - Instantiates a dataset.
@@ -21,7 +21,7 @@ In the training script, the main function `train` expects a `TrainPipelineConfig
 def train(cfg: TrainPipelineConfig):
 ```
 
-You can inspect the `TrainPipelineConfig` defined in [`lerobot/configs/train.py`](../../lerobot/configs/train.py) (which is heavily commented and meant to be a reference to understand any option)
+You can inspect the `TrainPipelineConfig` defined in [`lerobot/configs/train.py`](../lerobot/configs/train.py) (which is heavily commented and meant to be a reference to understand any option)
 
 When running the script, inputs for the command line are parsed thanks to the `@parser.wrap()` decorator and an instance of this class is automatically generated. Under the hood, this is done with [Draccus](https://github.com/dlwh/draccus) which is a tool dedicated for this purpose. If you're familiar with Hydra, Draccus can similarly load configurations from config files (.json, .yaml) and also override their values through command line inputs. Unlike Hydra, these configurations are pre-defined in the code through dataclasses rather than being defined entirely in config files. This allows for more rigorous serialization/deserialization, typing, and to manipulate configuration as objects directly in the code and not as dictionaries or namespaces (which enables nice features in an IDE such as autocomplete, jump-to-def, etc.)
 
@@ -50,7 +50,7 @@ By default, every field takes its default value specified in the dataclass. If a
 
 ## Specifying values from the CLI
 
-Let's say that we want to train [Diffusion Policy](../../lerobot/common/policies/diffusion) on the [pusht](https://huggingface.co/datasets/lerobot/pusht) dataset, using the [gym_pusht](https://github.com/huggingface/gym-pusht) environment for evaluation. The command to do so would look like this:
+Let's say that we want to train [Diffusion Policy](../lerobot/common/policies/diffusion) on the [pusht](https://huggingface.co/datasets/lerobot/pusht) dataset, using the [gym_pusht](https://github.com/huggingface/gym-pusht) environment for evaluation. The command to do so would look like this:
 ```bash
 python lerobot/scripts/train.py \
     --dataset.repo_id=lerobot/pusht \
@@ -60,10 +60,10 @@ python lerobot/scripts/train.py \
 
 Let's break this down:
 - To specify the dataset, we just need to specify its `repo_id` on the hub which is the only required argument in the `DatasetConfig`. The rest of the fields have default values and in this case we are fine with those so we can just add the option `--dataset.repo_id=lerobot/pusht`.
-- To specify the policy, we can just select diffusion policy using `--policy` appended with `.type`. Here, `.type` is a special argument which allows us to select config classes inheriting from `draccus.ChoiceRegistry` and that have been decorated with the `register_subclass()` method. To have a better explanation of this feature, have a look at this [Draccus demo](https://github.com/dlwh/draccus?tab=readme-ov-file#more-flexible-configuration-with-choice-types). In our code, we use this mechanism mainly to select policies, environments, robots, and some other components like optimizers. The policies available to select are located in [lerobot/common/policies](../../lerobot/common/policies)
-- Similarly, we select the environment with `--env.type=pusht`. The different environment configs are available in [`lerobot/common/envs/configs.py`](../../lerobot/common/envs/configs.py)
+- To specify the policy, we can just select diffusion policy using `--policy` appended with `.type`. Here, `.type` is a special argument which allows us to select config classes inheriting from `draccus.ChoiceRegistry` and that have been decorated with the `register_subclass()` method. To have a better explanation of this feature, have a look at this [Draccus demo](https://github.com/dlwh/draccus?tab=readme-ov-file#more-flexible-configuration-with-choice-types). In our code, we use this mechanism mainly to select policies, environments, robots, and some other components like optimizers. The policies available to select are located in [lerobot/common/policies](../lerobot/common/policies)
+- Similarly, we select the environment with `--env.type=pusht`. The different environment configs are available in [`lerobot/common/envs/configs.py`](../lerobot/common/envs/configs.py)
 
-Let's see another example. Let's say you've been training [ACT](../../lerobot/common/policies/act) on [lerobot/aloha_sim_insertion_human](https://huggingface.co/datasets/lerobot/aloha_sim_insertion_human) using the [gym-aloha](https://github.com/huggingface/gym-aloha) environment for evaluation with:
+Let's see another example. Let's say you've been training [ACT](../lerobot/common/policies/act) on [lerobot/aloha_sim_insertion_human](https://huggingface.co/datasets/lerobot/aloha_sim_insertion_human) using the [gym-aloha](https://github.com/huggingface/gym-aloha) environment for evaluation with:
 ```bash
 python lerobot/scripts/train.py \
     --policy.type=act \
@@ -74,7 +74,7 @@ python lerobot/scripts/train.py \
 > Notice we added `--output_dir` to explicitly tell where to write outputs from this run (checkpoints, training state, configs etc.). This is not mandatory and if you don't specify it, a default directory will be created from the current date and time, env.type and policy.type. This will typically look like `outputs/train/2025-01-24/16-10-05_aloha_act`.
 
 We now want to train a different policy for aloha on another task. We'll change the dataset and use [lerobot/aloha_sim_transfer_cube_human](https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human) instead. Of course, we also need to change the task of the environment as well to match this other task.
-Looking at the [`AlohaEnv`](../../lerobot/common/envs/configs.py) config, the task is `"AlohaInsertion-v0"` by default, which corresponds to the task we trained on in the command above. The [gym-aloha](https://github.com/huggingface/gym-aloha?tab=readme-ov-file#description) environment also has the `AlohaTransferCube-v0` task which corresponds to this other task we want to train on. Putting this together, we can train this new policy on this different task using:
+Looking at the [`AlohaEnv`](../lerobot/common/envs/configs.py) config, the task is `"AlohaInsertion-v0"` by default, which corresponds to the task we trained on in the command above. The [gym-aloha](https://github.com/huggingface/gym-aloha?tab=readme-ov-file#description) environment also has the `AlohaTransferCube-v0` task which corresponds to this other task we want to train on. Putting this together, we can train this new policy on this different task using:
 ```bash
 python lerobot/scripts/train.py \
     --policy.type=act \

examples/7_get_started_with_real_robot.md

@@ -830,11 +830,6 @@ It contains:
 - `dtRphone:33.84 (29.5hz)` which is the delta time of capturing an image from the phone camera in the thread running asynchronously.
 
 Troubleshooting:
-- On Linux, if you encounter any issue during video encoding with `ffmpeg: unknown encoder libsvtav1`, you can:
-   - install with conda-forge by running `conda install -c conda-forge ffmpeg` (it should be compiled with `libsvtav1`),
-> **NOTE:** This usually installs `ffmpeg 7.X` for your platform (check the version installed with `ffmpeg -encoders | grep libsvtav1`). If it isn't `ffmpeg 7.X` or lacks `libsvtav1` support, you can explicitly install `ffmpeg 7.X` using: `conda install ffmpeg=7.1.1 -c conda-forge`
-   - or, install [ffmpeg build dependencies](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#GettheDependencies) and [compile ffmpeg from source with libsvtav1](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#libsvtav1),
-   - and, make sure you use the corresponding ffmpeg binary to your install with `which ffmpeg`.
 - On Linux, if the left and right arrow keys and escape key don't have any effect during data recording, make sure you've set the `$DISPLAY` environment variable. See [pynput limitations](https://pynput.readthedocs.io/en/latest/limitations.html#linux).
 
 At the end of data recording, your dataset will be uploaded on your Hugging Face page (e.g. https://huggingface.co/datasets/cadene/koch_test) that you can obtain by running:

lerobot/assets/low_cost_robot_6dof/config.json

@@ -0,0 +1,5 @@
+{
+    "documentId": "232c3bce7b3657eb9239ef70",
+    "outputFormat": "urdf",
+    "assemblyName": "Robot Arm v11 onshape-to-robot",
+}

lerobot/assets/low_cost_robot_6dof/lift_cube.xml

@@ -0,0 +1,135 @@
+<mujoco model="bd1 scene">
+	<option timestep="0.005"/>
+
+	<compiler angle="radian" autolimits="true"/>
+
+	<asset>
+		<mesh name="base" file="base.stl"/>
+		<mesh name="dc11_a01_spacer_dummy" file="dc11_a01_spacer_dummy.stl"/>
+		<mesh name="dc11_a01_dummy" file="dc11_a01_dummy.stl"/>
+		<mesh name="rotation_connector" file="rotation_connector.stl"/>
+		<mesh name="arm_connector" file="arm_connector.stl"/>
+		<mesh name="dc15_a01_horn_idle2_dummy" file="dc15_a01_horn_idle2_dummy.stl"/>
+		<mesh name="dc15_a01_case_m_dummy" file="dc15_a01_case_m_dummy.stl"/>
+		<mesh name="dc15_a01_case_f_dummy" file="dc15_a01_case_f_dummy.stl"/>
+		<mesh name="dc15_a01_horn_dummy" file="dc15_a01_horn_dummy.stl"/>
+		<mesh name="dc15_a01_case_b_dummy" file="dc15_a01_case_b_dummy.stl"/>
+		<mesh name="connector" file="connector.stl"/>
+		<mesh name="shoulder_rotation" file="shoulder_rotation.stl"/>
+		<mesh name="static_side" file="static_side.stl"/>
+		<mesh name="moving_side" file="moving_side.stl"/>
+		<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+		<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+		<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+	</asset>
+
+	<visual>
+		<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+		<rgba haze="0.15 0.25 0.35 1" />
+		<global azimuth="150" elevation="-20" offheight="640" />
+	</visual>
+
+	<worldbody>
+		<light pos="0 0 3" dir="0 0 -1" directional="false" />
+		<body name="floor">
+			<geom pos="0 0 0" name="floor" size="0 0 .125" type="plane" material="groundplane" conaffinity="1" contype="1" />
+		</body>
+
+		<body name="cube" pos="0.1 0.1 0.01">
+			<freejoint name="cube"/>
+			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>
+			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube" rgba="0.5 0 0 1" priority="1"/>
+		</body>
+
+
+		<camera name="camera_front" pos="0.049 0.888 0.317" xyaxes="-0.998 0.056 -0.000 -0.019 -0.335 0.942"/>
+		<camera name="camera_top" pos="0 0 1" euler="0 0 0" mode="fixed"/>
+		<camera name="camera_vizu" pos="-0.1 0.6 0.3" quat="-0.15 -0.1 0.6 1"/>
+		
+		<geom pos="0.0401555 -0.0353754 -0.0242427" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="base"/>
+		<geom pos="0.0511555 0.0406246 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.000624643 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 -0.0184427" quat="0 0 1 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0401555 0.0326246 -0.0042427" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+		<geom pos="0.0291555 0.000624643 -0.0184427" quat="0 0.707107 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 0.0099573" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.0406246 -0.0184427" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 -0.0184427" quat="0 -1 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 0.0099573" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+		<body name="pitch1_assembly" pos="0.0401555 0.0326246 0.0166573">
+
+			<inertial pos="-0.000767103 -0.0121505 0.0134241" quat="0.498429 0.53272 -0.473938 0.493113" mass="0.0606831" diaginertia="1.86261e-05 1.72746e-05 1.11693e-05"/>
+			<joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+			<geom pos="0 0 -0.0209" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="rotation_connector"/>
+			<geom pos="-0.014 0.008 0.0264" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0044" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 -0.032 0.0264" quat="0.707107 0 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0002 0 0.0154" quat="0.707107 0 -0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+			<geom pos="0.0144 -0.032 0.0044" quat="0.5 0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 0.008 0.0044" quat="0.5 0.5 -0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0264" quat="0.5 -0.5 0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0044" quat="0 0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0264" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+			<body name="pitch2_assembly" pos="-0.0188 0 0.0154" quat="0 0.707107 0 0.707107">
+
+				<inertial pos="0.0766242 -0.00031229 0.0187402" quat="0.52596 0.513053 0.489778 0.469319" mass="0.0432446" diaginertia="7.21796e-05 7.03107e-05 1.07533e-05"/>
+				<joint name="shoulder_lift_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 1.22173" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+				<geom pos="0 0 0.019" quat="0.5 -0.5 -0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="arm_connector"/>
+				<geom pos="0.1083 -0.0148 0.03035" quat="1 0 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+				<geom pos="0.1083 -0.0148 0.00715" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+				<geom pos="0.1083 -0.0148 0.03025" quat="0 -1 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+				<body name="pitch3_assembly" pos="0.1083 -0.0148 0.00425" quat="0.707107 0 0 0.707107">
+					<inertial pos="-0.0551014 -0.00287792 0.0144813" quat="0.500323 0.499209 0.499868 0.5006" mass="0.0788335" diaginertia="6.80912e-05 6.45748e-05 9.84479e-06"/>
+					<joint name="elbow_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.48353 1.74533"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+					<geom pos="-0.00863031 0.00847376 0.0145" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="connector"/>
+					<geom pos="-0.100476 -0.00269986 0.02635" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00315" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.02625" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+					<body name="effector_roll_assembly" pos="-0.100476 -0.00269986 0.02925" quat="0 -0.707107 -0.707107 0">
+						<inertial pos="-1.65017e-05 -0.02659 0.0195388" quat="0.936813 0.349829 -0.00055331 -0.000300569" mass="0.0240506" diaginertia="6.03208e-06 4.12894e-06 3.3522e-06"/>
+						<joint name="wrist_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.91986 1.91986"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+						<geom pos="-0.0109998 -0.0190002 0.039" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="shoulder_rotation"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+						<geom pos="-7.44154e-06 -0.0421002 0.0133967" quat="0 1 0 0" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+						<geom pos="-7.44154e-06 -0.0190002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+						<body name="gripper_assembly" pos="-7.44154e-06 -0.0450002 0.0133967" quat="0.5 -0.5 -0.5 -0.5">
+							<inertial pos="-0.00548595 -0.000433143 -0.0190793" quat="0.700194 0.164851 0.167361 0.674197" mass="0.0360627" diaginertia="1.3261e-05 1.231e-05 5.3532e-06"/>
+							<joint name="wrist_roll_joint" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+							<geom pos="-0.00075 -0.01475 -0.02" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="static_side"/>
+							<geom pos="0.00755 0.01135 -0.013" quat="0.5 -0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+							<geom pos="0.00755 -0.01185 -0.013" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+							<geom pos="0.00755 0.01125 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+							<body name="moving_side" pos="0.00755 -0.01475 -0.013" quat="0.707107 -0.707107 0 0">
+								<inertial pos="-0.000395599 0.022415 0.0145636" quat="0.722353 0.689129 0.0389102 0.0423547" mass="0.0089856" diaginertia="3.28451e-06 2.24898e-06 1.41539e-06"/>
+								<joint name="gripper_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0.0523599"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+								<geom pos="-0.00838199 -0.000256591 -0.003" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="moving_side"/>
+							</body>
+						</body>
+					</body>
+				</body>
+			</body>
+		</body>
+	</worldbody>
+
+	<actuator>
+		<position joint="shoulder_pan_joint" ctrlrange="-3.14159 3.14159" ctrllimited="true" kp="20" />
+		<position joint="shoulder_lift_joint" ctrlrange="-1.5708 1.22173" ctrllimited="true" kp="20" />
+		<position joint="elbow_flex_joint" ctrlrange="-1.48353 1.74533" ctrllimited="true" kp="20" />
+		<position joint="wrist_flex_joint" ctrlrange="-1.91986 1.91986" ctrllimited="true" kp="20" />
+		<position joint="wrist_roll_joint" ctrlrange="-2.96706 2.96706" ctrllimited="true" kp="20" />
+		<position joint="gripper_joint" ctrlrange="-1.74533 0.0523599" ctrllimited="true" kp="20" />
+	</actuator>
+</mujoco>

lerobot/assets/low_cost_robot_6dof/pick_place_cube.xml

@@ -0,0 +1,137 @@
+<mujoco model="bd1 scene">
+
+	<option gravity="0 0 -9.81"/>
+	<option timestep="0.005"/>
+
+	<compiler angle="radian" autolimits="true" convexhull="false"/>
+
+	<asset>
+		<mesh name="base" file="base.stl"/>
+		<mesh name="dc11_a01_spacer_dummy" file="dc11_a01_spacer_dummy.stl"/>
+		<mesh name="dc11_a01_dummy" file="dc11_a01_dummy.stl"/>
+		<mesh name="rotation_connector" file="rotation_connector.stl"/>
+		<mesh name="arm_connector" file="arm_connector.stl"/>
+		<mesh name="dc15_a01_horn_idle2_dummy" file="dc15_a01_horn_idle2_dummy.stl"/>
+		<mesh name="dc15_a01_case_m_dummy" file="dc15_a01_case_m_dummy.stl"/>
+		<mesh name="dc15_a01_case_f_dummy" file="dc15_a01_case_f_dummy.stl"/>
+		<mesh name="dc15_a01_horn_dummy" file="dc15_a01_horn_dummy.stl"/>
+		<mesh name="dc15_a01_case_b_dummy" file="dc15_a01_case_b_dummy.stl"/>
+		<mesh name="connector" file="connector.stl"/>
+		<mesh name="shoulder_rotation" file="shoulder_rotation.stl"/>
+		<mesh name="static_side" file="static_side.stl"/>
+		<mesh name="moving_side" file="moving_side.stl"/>
+		<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+		<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+		<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+	</asset>
+
+	<visual>
+		<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+		<rgba haze="0.15 0.25 0.35 1" />
+		<global azimuth="150" elevation="-20" offheight="640" />
+	</visual>
+
+	<worldbody>
+
+		<light pos="0 0 3" dir="0 0 -1" directional="false" />
+		<body name="floor">
+			<geom pos="0 0 0" name="floor" size="0 0 .125" type="plane" material="groundplane" conaffinity="1" contype="1" />
+		</body>
+
+		<body name="cube" pos="0.1 0.1 0.01">
+			<freejoint name="cube"/>
+			<inertial pos="0 0 0" mass="10.0" diaginertia="0.00001125 0.00001125 0.00001125"/>
+			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube" rgba="0.5 0 0 1" priority="1"/>
+		</body>
+
+		<camera name="camera_front" pos="0.049 0.888 0.317" xyaxes="-0.998 0.056 -0.000 -0.019 -0.335 0.942"/>
+		<camera name="camera_top" pos="0 0 1" euler="0 0 0" mode="fixed"/>
+		<camera name="camera_vizu" pos="-0.1 0.6 0.3" quat="-0.15 -0.1 0.6 1"/>
+		
+		<geom pos="0.0401555 -0.0353754 -0.0242427" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="base"/>
+		<geom pos="0.0511555 0.0406246 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.000624643 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 -0.0184427" quat="0 0 1 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0401555 0.0326246 -0.0042427" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+		<geom pos="0.0291555 0.000624643 -0.0184427" quat="0 0.707107 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 0.0099573" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.0406246 -0.0184427" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 -0.0184427" quat="0 -1 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 0.0099573" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+		<body name="pitch1_assembly" pos="0.0401555 0.0326246 0.0166573">
+
+			<inertial pos="-0.000767103 -0.0121505 0.0134241" quat="0.498429 0.53272 -0.473938 0.493113" mass="0.0606831" diaginertia="1.86261e-05 1.72746e-05 1.11693e-05"/>
+			<joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+			<geom pos="0 0 -0.0209" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="rotation_connector"/>
+			<geom pos="-0.014 0.008 0.0264" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0044" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 -0.032 0.0264" quat="0.707107 0 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0002 0 0.0154" quat="0.707107 0 -0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+			<geom pos="0.0144 -0.032 0.0044" quat="0.5 0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 0.008 0.0044" quat="0.5 0.5 -0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0264" quat="0.5 -0.5 0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0044" quat="0 0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0264" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+			<body name="pitch2_assembly" pos="-0.0188 0 0.0154" quat="0 0.707107 0 0.707107">
+
+				<inertial pos="0.0766242 -0.00031229 0.0187402" quat="0.52596 0.513053 0.489778 0.469319" mass="0.0432446" diaginertia="7.21796e-05 7.03107e-05 1.07533e-05"/>
+				<joint name="shoulder_lift_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 1.22173" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+				<geom pos="0 0 0.019" quat="0.5 -0.5 -0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="arm_connector"/>
+				<geom pos="0.1083 -0.0148 0.03035" quat="1 0 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+				<geom pos="0.1083 -0.0148 0.00715" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+				<geom pos="0.1083 -0.0148 0.03025" quat="0 -1 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+				<body name="pitch3_assembly" pos="0.1083 -0.0148 0.00425" quat="0.707107 0 0 0.707107">
+					<inertial pos="-0.0551014 -0.00287792 0.0144813" quat="0.500323 0.499209 0.499868 0.5006" mass="0.0788335" diaginertia="6.80912e-05 6.45748e-05 9.84479e-06"/>
+					<joint name="elbow_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.48353 1.74533"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+					<geom pos="-0.00863031 0.00847376 0.0145" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="connector"/>
+					<geom pos="-0.100476 -0.00269986 0.02635" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00315" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.02625" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+					<body name="effector_roll_assembly" pos="-0.100476 -0.00269986 0.02925" quat="0 -0.707107 -0.707107 0">
+						<inertial pos="-1.65017e-05 -0.02659 0.0195388" quat="0.936813 0.349829 -0.00055331 -0.000300569" mass="0.0240506" diaginertia="6.03208e-06 4.12894e-06 3.3522e-06"/>
+						<joint name="wrist_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.91986 1.91986"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+						<geom pos="-0.0109998 -0.0190002 0.039" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="shoulder_rotation"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+						<geom pos="-7.44154e-06 -0.0421002 0.0133967" quat="0 1 0 0" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+						<geom pos="-7.44154e-06 -0.0190002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+						<body name="gripper_assembly" pos="-7.44154e-06 -0.0450002 0.0133967" quat="0.5 -0.5 -0.5 -0.5">
+							<inertial pos="-0.00548595 -0.000433143 -0.0190793" quat="0.700194 0.164851 0.167361 0.674197" mass="0.0360627" diaginertia="1.3261e-05 1.231e-05 5.3532e-06"/>
+							<joint name="wrist_roll_joint" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+							<geom pos="-0.00075 -0.01475 -0.02" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="static_side"/>
+							<geom pos="0.00755 0.01135 -0.013" quat="0.5 -0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+							<geom pos="0.00755 -0.01185 -0.013" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+							<geom pos="0.00755 0.01125 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+							<body name="moving_side" pos="0.00755 -0.01475 -0.013" quat="0.707107 -0.707107 0 0">
+								<inertial pos="-0.000395599 0.022415 0.0145636" quat="0.722353 0.689129 0.0389102 0.0423547" mass="0.0089856" diaginertia="3.28451e-06 2.24898e-06 1.41539e-06"/>
+								<joint name="gripper_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0.0523599"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+								<geom pos="-0.00838199 -0.000256591 -0.003" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="moving_side"/>
+							</body>
+						</body>
+					</body>
+				</body>
+			</body>
+		</body>
+	</worldbody>
+
+	<actuator>
+		<position joint="shoulder_pan_joint" ctrlrange="-3.14159 3.14159" ctrllimited="true" kp="20" />
+		<position joint="shoulder_lift_joint" ctrlrange="-1.5708 1.22173" ctrllimited="true" kp="20" />
+		<position joint="elbow_flex_joint" ctrlrange="-1.48353 1.74533" ctrllimited="true" kp="20" />
+		<position joint="wrist_flex_joint" ctrlrange="-1.91986 1.91986" ctrllimited="true" kp="20" />
+		<position joint="wrist_roll_joint" ctrlrange="-2.96706 2.96706" ctrllimited="true" kp="20" />
+		<position joint="gripper_joint" ctrlrange="-1.74533 0.0523599" ctrllimited="true" kp="20" />
+	</actuator>
+</mujoco>

lerobot/assets/low_cost_robot_6dof/push_cube.xml

@@ -0,0 +1,137 @@
+<mujoco model="bd1 scene">
+	<option timestep="0.005"/>
+
+	<compiler angle="radian" autolimits="true"/>
+
+	<asset>
+		<mesh name="base" file="base.stl"/>
+		<mesh name="dc11_a01_spacer_dummy" file="dc11_a01_spacer_dummy.stl"/>
+		<mesh name="dc11_a01_dummy" file="dc11_a01_dummy.stl"/>
+		<mesh name="rotation_connector" file="rotation_connector.stl"/>
+		<mesh name="arm_connector" file="arm_connector.stl"/>
+		<mesh name="dc15_a01_horn_idle2_dummy" file="dc15_a01_horn_idle2_dummy.stl"/>
+		<mesh name="dc15_a01_case_m_dummy" file="dc15_a01_case_m_dummy.stl"/>
+		<mesh name="dc15_a01_case_f_dummy" file="dc15_a01_case_f_dummy.stl"/>
+		<mesh name="dc15_a01_horn_dummy" file="dc15_a01_horn_dummy.stl"/>
+		<mesh name="dc15_a01_case_b_dummy" file="dc15_a01_case_b_dummy.stl"/>
+		<mesh name="connector" file="connector.stl"/>
+		<mesh name="shoulder_rotation" file="shoulder_rotation.stl"/>
+		<mesh name="static_side" file="static_side.stl"/>
+		<mesh name="moving_side" file="moving_side.stl"/>
+		<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+		<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+		<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+	</asset>
+
+	<visual>
+		<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+		<rgba haze="0.15 0.25 0.35 1" />
+		<global azimuth="150" elevation="-20" offheight="640" />
+	</visual>
+
+	<worldbody>
+		<light pos="0 0 3" dir="0 0 -1" directional="false" />
+		<body name="floor">
+			<geom pos="0 0 0" name="floor" size="0 0 .125" type="plane" material="groundplane" conaffinity="1" contype="1" />
+		</body>
+
+		<body name="cube" pos="0.1 0.1 0.01">
+			<freejoint name="cube"/>
+			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>
+			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube" rgba="0.5 0 0 1" priority="1"/>
+		</body>
+
+		<camera name="camera_front" pos="0.049 0.888 0.317" xyaxes="-0.998 0.056 -0.000 -0.019 -0.335 0.942"/>
+		<camera name="camera_top" pos="0 0 1" euler="0 0 0" mode="fixed"/>
+		<camera name="camera_vizu" pos="-0.1 0.6 0.3" quat="-0.15 -0.1 0.6 1"/>
+		
+		<geom pos="0.0401555 -0.0353754 -0.0242427" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="base"/>
+		<geom pos="0.0511555 0.0406246 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.000624643 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 -0.0184427" quat="0 0 1 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0401555 0.0326246 -0.0042427" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+		<geom pos="0.0291555 0.000624643 -0.0184427" quat="0 0.707107 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 0.0099573" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.0406246 -0.0184427" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 -0.0184427" quat="0 -1 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 0.0099573" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+		<body name="pitch1_assembly" pos="0.0401555 0.0326246 0.0166573">
+
+			<inertial pos="-0.000767103 -0.0121505 0.0134241" quat="0.498429 0.53272 -0.473938 0.493113" mass="0.0606831" diaginertia="1.86261e-05 1.72746e-05 1.11693e-05"/>
+			<joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+			<geom pos="0 0 -0.0209" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="rotation_connector"/>
+			<geom pos="-0.014 0.008 0.0264" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0044" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 -0.032 0.0264" quat="0.707107 0 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0002 0 0.0154" quat="0.707107 0 -0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+			<geom pos="0.0144 -0.032 0.0044" quat="0.5 0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 0.008 0.0044" quat="0.5 0.5 -0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0264" quat="0.5 -0.5 0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0044" quat="0 0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0264" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+			<body name="pitch2_assembly" pos="-0.0188 0 0.0154" quat="0 0.707107 0 0.707107">
+
+				<inertial pos="0.0766242 -0.00031229 0.0187402" quat="0.52596 0.513053 0.489778 0.469319" mass="0.0432446" diaginertia="7.21796e-05 7.03107e-05 1.07533e-05"/>
+				<joint name="shoulder_lift_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 1.22173" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+				<geom pos="0 0 0.019" quat="0.5 -0.5 -0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="arm_connector"/>
+				<geom pos="0.1083 -0.0148 0.03035" quat="1 0 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+				<geom pos="0.1083 -0.0148 0.00715" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+				<geom pos="0.1083 -0.0148 0.03025" quat="0 -1 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+				<body name="pitch3_assembly" pos="0.1083 -0.0148 0.00425" quat="0.707107 0 0 0.707107">
+					<inertial pos="-0.0551014 -0.00287792 0.0144813" quat="0.500323 0.499209 0.499868 0.5006" mass="0.0788335" diaginertia="6.80912e-05 6.45748e-05 9.84479e-06"/>
+					<joint name="elbow_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.48353 1.74533"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+					<geom pos="-0.00863031 0.00847376 0.0145" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="connector"/>
+					<geom pos="-0.100476 -0.00269986 0.02635" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00315" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.02625" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+					<body name="effector_roll_assembly" pos="-0.100476 -0.00269986 0.02925" quat="0 -0.707107 -0.707107 0">
+						<inertial pos="-1.65017e-05 -0.02659 0.0195388" quat="0.936813 0.349829 -0.00055331 -0.000300569" mass="0.0240506" diaginertia="6.03208e-06 4.12894e-06 3.3522e-06"/>
+						<joint name="wrist_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.91986 1.91986"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+						<geom pos="-0.0109998 -0.0190002 0.039" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="shoulder_rotation"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+						<geom pos="-7.44154e-06 -0.0421002 0.0133967" quat="0 1 0 0" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+						<geom pos="-7.44154e-06 -0.0190002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+						<body name="gripper_assembly" pos="-7.44154e-06 -0.0450002 0.0133967" quat="0.5 -0.5 -0.5 -0.5">
+							<inertial pos="-0.00548595 -0.000433143 -0.0190793" quat="0.700194 0.164851 0.167361 0.674197" mass="0.0360627" diaginertia="1.3261e-05 1.231e-05 5.3532e-06"/>
+							<joint name="wrist_roll_joint" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+							<geom pos="-0.00075 -0.01475 -0.02" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="static_side"/>
+							<geom pos="0.00755 0.01135 -0.013" quat="0.5 -0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+							<geom pos="0.00755 -0.01185 -0.013" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+							<geom pos="0.00755 0.01125 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+							<body name="moving_side" pos="0.00755 -0.01475 -0.013" quat="0.707107 -0.707107 0 0">
+								<inertial pos="-0.000395599 0.022415 0.0145636" quat="0.722353 0.689129 0.0389102 0.0423547" mass="0.0089856" diaginertia="3.28451e-06 2.24898e-06 1.41539e-06"/>
+								<joint name="gripper_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0.0523599"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+								<geom pos="-0.00838199 -0.000256591 -0.003" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="moving_side"/>
+							</body>
+						</body>
+					</body>
+				</body>
+			</body>
+		</body>
+
+		<site name="cube_target" pos="1 0 0" size="0.01" rgba="1 0 0 1" />
+
+	</worldbody>
+
+	<actuator>
+		<position joint="shoulder_pan_joint" ctrlrange="-3.14159 3.14159" ctrllimited="true" kp="20" />
+		<position joint="shoulder_lift_joint" ctrlrange="-1.5708 1.22173" ctrllimited="true" kp="20" />
+		<position joint="elbow_flex_joint" ctrlrange="-1.48353 1.74533" ctrllimited="true" kp="20" />
+		<position joint="wrist_flex_joint" ctrlrange="-1.91986 1.91986" ctrllimited="true" kp="20" />
+		<position joint="wrist_roll_joint" ctrlrange="-2.96706 2.96706" ctrllimited="true" kp="20" />
+		<position joint="gripper_joint" ctrlrange="-1.74533 0.0523599" ctrllimited="true" kp="20" />
+	</actuator>
+</mujoco>

lerobot/assets/low_cost_robot_6dof/reach_cube.xml

@@ -0,0 +1,135 @@
+<mujoco model="bd1 scene">
+	<option timestep="0.005"/>
+
+	<compiler angle="radian" autolimits="true"/>
+
+	<asset>
+		<mesh name="base" file="base.stl"/>
+		<mesh name="dc11_a01_spacer_dummy" file="dc11_a01_spacer_dummy.stl"/>
+		<mesh name="dc11_a01_dummy" file="dc11_a01_dummy.stl"/>
+		<mesh name="rotation_connector" file="rotation_connector.stl"/>
+		<mesh name="arm_connector" file="arm_connector.stl"/>
+		<mesh name="dc15_a01_horn_idle2_dummy" file="dc15_a01_horn_idle2_dummy.stl"/>
+		<mesh name="dc15_a01_case_m_dummy" file="dc15_a01_case_m_dummy.stl"/>
+		<mesh name="dc15_a01_case_f_dummy" file="dc15_a01_case_f_dummy.stl"/>
+		<mesh name="dc15_a01_horn_dummy" file="dc15_a01_horn_dummy.stl"/>
+		<mesh name="dc15_a01_case_b_dummy" file="dc15_a01_case_b_dummy.stl"/>
+		<mesh name="connector" file="connector.stl"/>
+		<mesh name="shoulder_rotation" file="shoulder_rotation.stl"/>
+		<mesh name="static_side" file="static_side.stl"/>
+		<mesh name="moving_side" file="moving_side.stl"/>
+		<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+		<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+		<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+	</asset>
+
+	<visual>
+		<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+		<rgba haze="0.15 0.25 0.35 1" />
+		<global azimuth="150" elevation="-20" offheight="640" />
+	</visual>
+
+	<worldbody>
+		<light pos="0 0 3" dir="0 0 -1" directional="false" />
+		<body name="floor">
+			<geom pos="0 0 0" name="floor" size="0 0 .125" type="plane" material="groundplane" conaffinity="1" contype="1" />
+		</body>
+
+		<body name="cube" pos="0.1 0.1 0.01">
+			<freejoint name="cube"/>
+			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>
+			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube" rgba="0.5 0 0 1" priority="1"/>
+		</body>
+
+
+		<camera name="camera_front" pos="0.049 0.888 0.317" xyaxes="-0.998 0.056 -0.000 -0.019 -0.335 0.942"/>
+		<camera name="camera_top" pos="0 0 1" euler="0 0 0" mode="fixed"/>
+		<camera name="camera_vizu" pos="-0.1 0.6 0.3" quat="-0.15 -0.1 0.6 1"/>
+		
+		<geom pos="0.0401555 -0.0353754 -0.0242427" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="base"/>
+		<geom pos="0.0511555 0.0406246 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.000624643 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 -0.0184427" quat="0 0 1 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0401555 0.0326246 -0.0042427" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+		<geom pos="0.0291555 0.000624643 -0.0184427" quat="0 0.707107 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 0.0099573" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.0406246 -0.0184427" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 -0.0184427" quat="0 -1 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 0.0099573" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+		<body name="pitch1_assembly" pos="0.0401555 0.0326246 0.0166573">
+
+			<inertial pos="-0.000767103 -0.0121505 0.0134241" quat="0.498429 0.53272 -0.473938 0.493113" mass="0.0606831" diaginertia="1.86261e-05 1.72746e-05 1.11693e-05"/>
+			<joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+			<geom pos="0 0 -0.0209" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="rotation_connector"/>
+			<geom pos="-0.014 0.008 0.0264" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0044" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 -0.032 0.0264" quat="0.707107 0 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0002 0 0.0154" quat="0.707107 0 -0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+			<geom pos="0.0144 -0.032 0.0044" quat="0.5 0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 0.008 0.0044" quat="0.5 0.5 -0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0264" quat="0.5 -0.5 0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0044" quat="0 0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0264" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+			<body name="pitch2_assembly" pos="-0.0188 0 0.0154" quat="0 0.707107 0 0.707107">
+
+				<inertial pos="0.0766242 -0.00031229 0.0187402" quat="0.52596 0.513053 0.489778 0.469319" mass="0.0432446" diaginertia="7.21796e-05 7.03107e-05 1.07533e-05"/>
+				<joint name="shoulder_lift_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 1.22173" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+				<geom pos="0 0 0.019" quat="0.5 -0.5 -0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="arm_connector"/>
+				<geom pos="0.1083 -0.0148 0.03035" quat="1 0 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+				<geom pos="0.1083 -0.0148 0.00715" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+				<geom pos="0.1083 -0.0148 0.03025" quat="0 -1 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+				<body name="pitch3_assembly" pos="0.1083 -0.0148 0.00425" quat="0.707107 0 0 0.707107">
+					<inertial pos="-0.0551014 -0.00287792 0.0144813" quat="0.500323 0.499209 0.499868 0.5006" mass="0.0788335" diaginertia="6.80912e-05 6.45748e-05 9.84479e-06"/>
+					<joint name="elbow_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.48353 1.74533"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+					<geom pos="-0.00863031 0.00847376 0.0145" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="connector"/>
+					<geom pos="-0.100476 -0.00269986 0.02635" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00315" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.02625" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+					<body name="effector_roll_assembly" pos="-0.100476 -0.00269986 0.02925" quat="0 -0.707107 -0.707107 0">
+						<inertial pos="-1.65017e-05 -0.02659 0.0195388" quat="0.936813 0.349829 -0.00055331 -0.000300569" mass="0.0240506" diaginertia="6.03208e-06 4.12894e-06 3.3522e-06"/>
+						<joint name="wrist_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.91986 1.91986"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+						<geom pos="-0.0109998 -0.0190002 0.039" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="shoulder_rotation"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+						<geom pos="-7.44154e-06 -0.0421002 0.0133967" quat="0 1 0 0" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+						<geom pos="-7.44154e-06 -0.0190002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+						<body name="gripper_assembly" pos="-7.44154e-06 -0.0450002 0.0133967" quat="0.5 -0.5 -0.5 -0.5">
+							<inertial pos="-0.00548595 -0.000433143 -0.0190793" quat="0.700194 0.164851 0.167361 0.674197" mass="0.0360627" diaginertia="1.3261e-05 1.231e-05 5.3532e-06"/>
+							<joint name="wrist_roll_joint" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+							<geom pos="-0.00075 -0.01475 -0.02" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="static_side"/>
+							<geom pos="0.00755 0.01135 -0.013" quat="0.5 -0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+							<geom pos="0.00755 -0.01185 -0.013" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+							<geom pos="0.00755 0.01125 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+							<body name="moving_side" pos="0.00755 -0.01475 -0.013" quat="0.707107 -0.707107 0 0">
+								<inertial pos="-0.000395599 0.022415 0.0145636" quat="0.722353 0.689129 0.0389102 0.0423547" mass="0.0089856" diaginertia="3.28451e-06 2.24898e-06 1.41539e-06"/>
+								<joint name="gripper_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0.0523599"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+								<geom pos="-0.00838199 -0.000256591 -0.003" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="moving_side"/>
+							</body>
+						</body>
+					</body>
+				</body>
+			</body>
+		</body>
+	</worldbody>
+
+	<actuator>
+		<position joint="shoulder_pan_joint" ctrlrange="-3.14159 3.14159" ctrllimited="true" kp="20" />
+		<position joint="shoulder_lift_joint" ctrlrange="-1.5708 1.22173" ctrllimited="true" kp="20" />
+		<position joint="elbow_flex_joint" ctrlrange="-1.48353 1.74533" ctrllimited="true" kp="20" />
+		<position joint="wrist_flex_joint" ctrlrange="-1.91986 1.91986" ctrllimited="true" kp="20" />
+		<position joint="wrist_roll_joint" ctrlrange="-2.96706 2.96706" ctrllimited="true" kp="20" />
+		<position joint="gripper_joint" ctrlrange="-1.74533 0.0523599" ctrllimited="true" kp="20" />
+	</actuator>
+</mujoco>

lerobot/assets/low_cost_robot_6dof/stack_two_cubes.xml

@@ -0,0 +1,141 @@
+<mujoco model="bd1 scene">
+	<option timestep="0.005"/>
+
+	<compiler angle="radian" autolimits="true"/>
+
+	<asset>
+		<mesh name="base" file="base.stl"/>
+		<mesh name="dc11_a01_spacer_dummy" file="dc11_a01_spacer_dummy.stl"/>
+		<mesh name="dc11_a01_dummy" file="dc11_a01_dummy.stl"/>
+		<mesh name="rotation_connector" file="rotation_connector.stl"/>
+		<mesh name="arm_connector" file="arm_connector.stl"/>
+		<mesh name="dc15_a01_horn_idle2_dummy" file="dc15_a01_horn_idle2_dummy.stl"/>
+		<mesh name="dc15_a01_case_m_dummy" file="dc15_a01_case_m_dummy.stl"/>
+		<mesh name="dc15_a01_case_f_dummy" file="dc15_a01_case_f_dummy.stl"/>
+		<mesh name="dc15_a01_horn_dummy" file="dc15_a01_horn_dummy.stl"/>
+		<mesh name="dc15_a01_case_b_dummy" file="dc15_a01_case_b_dummy.stl"/>
+		<mesh name="connector" file="connector.stl"/>
+		<mesh name="shoulder_rotation" file="shoulder_rotation.stl"/>
+		<mesh name="static_side" file="static_side.stl"/>
+		<mesh name="moving_side" file="moving_side.stl"/>
+		<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+		<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+		<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+	</asset>
+
+	<visual>
+		<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+		<rgba haze="0.15 0.25 0.35 1" />
+		<global azimuth="150" elevation="-20" offheight="640" />
+	</visual>
+
+	<worldbody>
+		<light pos="0 0 3" dir="0 0 -1" directional="false" />
+		<body name="floor">
+			<geom pos="0 0 0" name="floor" size="0 0 .125" type="plane" material="groundplane" conaffinity="1" contype="1" />
+		</body>
+
+		<body name="cube_red" pos="0.1 0.1 0.01">
+			<freejoint name="cube_red"/>
+			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>
+			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube_red" rgba="0.5 0 0 1" priority="1"/>
+		</body>
+
+		<body name="cube_blue" pos="-0.1 -0.1 0.01">
+			<freejoint name="cube_blue"/>
+			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>
+			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube_blue" rgba="0 0 0.5 1" priority="1"/>
+		</body>
+
+
+		<camera name="camera_front" pos="0.049 0.888 0.317" xyaxes="-0.998 0.056 -0.000 -0.019 -0.335 0.942"/>
+		<camera name="camera_top" pos="0 0 1" euler="0 0 0" mode="fixed"/>
+		<camera name="camera_vizu" pos="-0.1 0.6 0.3" quat="-0.15 -0.1 0.6 1"/>
+		
+		<geom pos="0.0401555 -0.0353754 -0.0242427" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="base"/>
+		<geom pos="0.0511555 0.0406246 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.000624643 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 -0.0184427" quat="0 0 1 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0401555 0.0326246 -0.0042427" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+		<geom pos="0.0291555 0.000624643 -0.0184427" quat="0 0.707107 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 0.0099573" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.0406246 -0.0184427" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 -0.0184427" quat="0 -1 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 0.0099573" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+		<body name="pitch1_assembly" pos="0.0401555 0.0326246 0.0166573">
+
+			<inertial pos="-0.000767103 -0.0121505 0.0134241" quat="0.498429 0.53272 -0.473938 0.493113" mass="0.0606831" diaginertia="1.86261e-05 1.72746e-05 1.11693e-05"/>
+			<joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+			<geom pos="0 0 -0.0209" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="rotation_connector"/>
+			<geom pos="-0.014 0.008 0.0264" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0044" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 -0.032 0.0264" quat="0.707107 0 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0002 0 0.0154" quat="0.707107 0 -0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+			<geom pos="0.0144 -0.032 0.0044" quat="0.5 0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 0.008 0.0044" quat="0.5 0.5 -0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0264" quat="0.5 -0.5 0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0044" quat="0 0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0264" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+			<body name="pitch2_assembly" pos="-0.0188 0 0.0154" quat="0 0.707107 0 0.707107">
+
+				<inertial pos="0.0766242 -0.00031229 0.0187402" quat="0.52596 0.513053 0.489778 0.469319" mass="0.0432446" diaginertia="7.21796e-05 7.03107e-05 1.07533e-05"/>
+				<joint name="shoulder_lift_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 1.22173" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+				<geom pos="0 0 0.019" quat="0.5 -0.5 -0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="arm_connector"/>
+				<geom pos="0.1083 -0.0148 0.03035" quat="1 0 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+				<geom pos="0.1083 -0.0148 0.00715" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+				<geom pos="0.1083 -0.0148 0.03025" quat="0 -1 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+				<body name="pitch3_assembly" pos="0.1083 -0.0148 0.00425" quat="0.707107 0 0 0.707107">
+					<inertial pos="-0.0551014 -0.00287792 0.0144813" quat="0.500323 0.499209 0.499868 0.5006" mass="0.0788335" diaginertia="6.80912e-05 6.45748e-05 9.84479e-06"/>
+					<joint name="elbow_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.48353 1.74533"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+					<geom pos="-0.00863031 0.00847376 0.0145" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="connector"/>
+					<geom pos="-0.100476 -0.00269986 0.02635" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00315" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.02625" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+					<body name="effector_roll_assembly" pos="-0.100476 -0.00269986 0.02925" quat="0 -0.707107 -0.707107 0">
+						<inertial pos="-1.65017e-05 -0.02659 0.0195388" quat="0.936813 0.349829 -0.00055331 -0.000300569" mass="0.0240506" diaginertia="6.03208e-06 4.12894e-06 3.3522e-06"/>
+						<joint name="wrist_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.91986 1.91986"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+						<geom pos="-0.0109998 -0.0190002 0.039" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="shoulder_rotation"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+						<geom pos="-7.44154e-06 -0.0421002 0.0133967" quat="0 1 0 0" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+						<geom pos="-7.44154e-06 -0.0190002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+						<body name="gripper_assembly" pos="-7.44154e-06 -0.0450002 0.0133967" quat="0.5 -0.5 -0.5 -0.5">
+							<inertial pos="-0.00548595 -0.000433143 -0.0190793" quat="0.700194 0.164851 0.167361 0.674197" mass="0.0360627" diaginertia="1.3261e-05 1.231e-05 5.3532e-06"/>
+							<joint name="wrist_roll_joint" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+							<geom pos="-0.00075 -0.01475 -0.02" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="static_side"/>
+							<geom pos="0.00755 0.01135 -0.013" quat="0.5 -0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+							<geom pos="0.00755 -0.01185 -0.013" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+							<geom pos="0.00755 0.01125 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+							<body name="moving_side" pos="0.00755 -0.01475 -0.013" quat="0.707107 -0.707107 0 0">
+								<inertial pos="-0.000395599 0.022415 0.0145636" quat="0.722353 0.689129 0.0389102 0.0423547" mass="0.0089856" diaginertia="3.28451e-06 2.24898e-06 1.41539e-06"/>
+								<joint name="gripper_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0.0523599"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+								<geom pos="-0.00838199 -0.000256591 -0.003" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="moving_side"/>
+							</body>
+						</body>
+					</body>
+				</body>
+			</body>
+		</body>
+	</worldbody>
+
+	<actuator>
+		<position joint="shoulder_pan_joint" ctrlrange="-3.14159 3.14159" ctrllimited="true" kp="20" />
+		<position joint="shoulder_lift_joint" ctrlrange="-1.5708 1.22173" ctrllimited="true" kp="20" />
+		<position joint="elbow_flex_joint" ctrlrange="-1.48353 1.74533" ctrllimited="true" kp="20" />
+		<position joint="wrist_flex_joint" ctrlrange="-1.91986 1.91986" ctrllimited="true" kp="20" />
+		<position joint="wrist_roll_joint" ctrlrange="-2.96706 2.96706" ctrllimited="true" kp="20" />
+		<position joint="gripper_joint" ctrlrange="-1.74533 0.0523599" ctrllimited="true" kp="20" />
+	</actuator>
+</mujoco>

lerobot/assets/urdf_to_mujoco.md

@@ -0,0 +1,92 @@
+
+# Converting an URDF to a MJCF XML for MuJoCo
+
+1. Mujoco does not support `.dae` mesh files.If your mesh files are in `.dae` format, convert them to `.stl` of `.obj` using `meshlab` for example. One way to do this is : `meshlabserver -i in.obj -o out.obj -m vn`. Then rename the paths in the `urdf` file to point to the new mesh files.
+
+2. In the urdf, add the mujoco compiler tag, for example:
+```xml
+<robot>
+	<mujoco>
+    	<compiler meshdir="./mujoco_meshes"/>
+        <!-- if you get : "Error: inertia must satisfy A + B >= C; use 'balanceinertia' to fix", add balanceinertia="true" to the compiler tag -->
+        <!-- You can also add discardvisual="true" discard model elements that are purely visual and have no effect on the simulation. -->
+	</mujoco>
+    ...
+</robot>
+```
+3. Download MuJoCo binaries https://github.com/google-deepmind/mujoco/releases
+
+4. Convert `urdf` to `mjcf`, Run : `./<path_to_mujoco>/bin/compile robot.urdf robot.xml`
+
+5. In `robot.xml`, define actuators for each joints, for example:
+
+```xml
+<mujo>
+    ...
+    <worldbody>
+    ...
+    </worldbody>
+    <actuator>
+        <!-- for position controlled actuators -->
+        <position name="yaw" joint="yaw" inheritrange="1"/>
+        <!-- for torque controlled actuators -->
+        <motor name="yaw" joint="yaw" ctrlrange="-x(N) +y(N)">
+        <!-- for velocity controlled actuators -->
+        <velocity name="yaw" joint="yaw" ctrlrange="-x(rad/s) +y(rad/s)">
+        ...
+    </actuator>
+</mujoco>
+```
+
+(`inheritrange="1"` assumes that the `range` attribute of each joints is correctly defined when controlling in position)
+(Add relevant actuator parameters for your robot. Check https://mujoco.readthedocs.io/en/stable/XMLreference.html#actuator)
+
+6. If your robot is not fixed in the world, you need to define a `freejoint` in the `worldbody`. For example :
+```xml
+<worldbody>
+    <body name="base" pos="0 0 0">
+      <freejoint />
+      <body name="yaw" ...>
+      </body>
+      ...
+    </body>
+</worldbody>
+```
+
+7. You may have to tune some joint parameters in `robot.xml`, mainly `damping`, `frictionloss`, `kp` and `forcerange`. To attribute default values to all joints, you can use the `default` tag. For example:
+```xml
+<mujoco>
+    <default>
+        <joint damping="0.2" frictionloss="0.1"/>
+        <position kp="10" forcerange="-1.0 1.0"/>
+    </default>
+    ...
+</mujoco>
+```
+
+8. Check that everything is working : `./<path_to_mujoco>/bin/simulate robot.xml`. You should be able to control the joints.
+
+9. You can then use your robot in a scene, here is an example scene with lighting, a skybox and a groundplane: 
+```xml
+<mujoco model="scene">
+	<include file="robot.xml" />
+	<visual>
+		<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+		<rgba haze="0.15 0.25 0.35 1" />
+		<global azimuth="150" elevation="-20" />
+	</visual>
+	<asset>
+		<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+		<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+		<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+	</asset>
+	<worldbody>
+		<light pos="0 0 3" dir="0 0 -1" directional="false" />
+		<body name="floor">
+			<geom pos="0 0 0" name="floor" size="0 0 .125" type="plane" material="groundplane"/>
+		</body>
+	</worldbody>
+</mujoco>
+```
+
+10. Just run `./<path_to_mujoco>/bin/simulate scene.xml` to see your robot in the scene.

lerobot/common/robot_devices/cameras/intelrealsense.py

@@ -512,13 +512,13 @@ if __name__ == "__main__":
     )
     parser.add_argument(
         "--width",
-        type=str,
+        type=int,
         default=640,
         help="Set the width for all cameras. If not provided, use the default width of each camera.",
     )
     parser.add_argument(
         "--height",
-        type=str,
+        type=int,
         default=480,
         help="Set the height for all cameras. If not provided, use the default height of each camera.",
     )

lerobot/common/robot_devices/cameras/opencv.py

@@ -492,13 +492,13 @@ if __name__ == "__main__":
     )
     parser.add_argument(
         "--width",
-        type=str,
+        type=int,
         default=None,
         help="Set the width for all cameras. If not provided, use the default width of each camera.",
     )
     parser.add_argument(
         "--height",
-        type=str,
+        type=int,
         default=None,
         help="Set the height for all cameras. If not provided, use the default height of each camera.",
     )

lerobot/common/robot_devices/cameras/sim.py

@@ -0,0 +1,32 @@
+import mujoco
+
+class SimCamera:
+
+    def __init__(self, model, data, id_camera, camera_index, fps=30, width=640, height=480):
+        self.model = model
+        self.data  = data
+        self.camera_index = camera_index
+        self.id_camera = id_camera
+        self.is_connected = False
+        self.fps = fps
+        self.width = width
+        self.height = height
+
+        self.logs = {}
+        self.logs["delta_timestamp_s"] = 1.0 / self.fps
+        
+        self.renderer = mujoco.Renderer(self.model, height=self.height, width=self.width)
+
+    def connect(self):
+        self.is_connected = True
+
+    def disconnect(self):
+        self.is_connected = False
+
+    def __del__(self):
+        if getattr(self, "is_connected", False):
+            self.disconnect()
+
+    def async_read(self):
+            self.renderer.update_scene(self.data, camera=self.id_camera)
+            return self.renderer.render()

lerobot/common/robot_devices/motors/dynamixel_sim.py

@@ -0,0 +1,577 @@
+
+import time
+import numpy as np
+from tqdm import tqdm
+
+import mujoco
+import mujoco.viewer
+
+import argparse
+import copy
+import os
+import pathlib
+import time
+
+import numpy as np
+import torch
+from datasets import Dataset, Features, Sequence, Value
+
+from lerobot.common.datasets.compute_stats import compute_stats
+from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION, DATA_DIR, LeRobotDataset
+from lerobot.common.datasets.push_dataset_to_hub.utils import concatenate_episodes, save_images_concurrently
+from lerobot.common.datasets.utils import (
+    hf_transform_to_torch,
+)
+from lerobot.common.datasets.video_utils import VideoFrame, encode_video_frames
+from lerobot.scripts.push_dataset_to_hub import push_meta_data_to_hub, push_videos_to_hub, save_meta_data
+from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
+from lerobot.common.robot_devices.robots.koch import KochRobot
+
+from lerobot.common.robot_devices.cameras.sim import SimCamera
+
+
+### SimCamera classes
+class SimRobotDeviceNotConnectedError(Exception):
+    """Exception raised when the robot device is not connected."""
+
+    def __init__(
+        self, message="This robot device is not connected. Try calling `robot_device.connect()` first."
+    ):
+        self.message = message
+        super().__init__(self.message)
+
+class SimRobotDeviceAlreadyConnectedError(Exception):
+    """Exception raised when the robot device is already connected."""
+
+    def __init__(
+        self,
+        message="This robot device is already connected. Try not calling `robot_device.connect()` twice.",
+    ):
+        self.message = message
+        super().__init__(self.message)
+
+
+
+### SimDynamixelMotorsBus class
+class SimDynamixelMotorsBus:
+    
+    # TODO(rcadene): Add a script to find the motor indices without DynamixelWizzard2
+    """
+    The DynamixelMotorsBus class allows to efficiently read and write to the simulated Bus managing mujoco environment. 
+    The class is designed to be used with a mujoco environment with the low cost robot 6DoF Robot.
+    """
+
+    def __init__(
+        self,
+        motors,
+        path_scene="lerobot/assets/low_cost_robot_6dof/pick_place_cube.xml"
+    ):
+        
+        self.path_scene = path_scene
+        self.model = mujoco.MjModel.from_xml_path(path_scene)
+        self.data  = mujoco.MjData(self.model)
+        self.is_connected = False
+        self.motors = motors
+        self.logs = {}
+
+    def connect(self):
+        self.is_connected = True
+
+    def reconnect(self):
+        self.is_connected = True
+
+    def are_motors_configured(self):
+        return True
+
+    def configure_motors(self):
+        print("Configuration is done!")
+
+    def find_motor_indices(self, possible_ids=None):
+        return [1, 2, 3, 4, 5, 6]
+
+    def set_bus_baudrate(self, baudrate):
+        return
+
+    @property
+    def motor_names(self) -> list[str]:
+        return list(self.motors.keys())
+
+    @property
+    def motor_models(self) -> list[str]:
+        return [model for _, model in self.motors.values()]
+
+    @property
+    def motor_indices(self) -> list[int]:
+        return [idx for idx, _ in self.motors.values()]
+
+    def set_calibration(self, calibration: dict[str, tuple[int, bool]]):
+        self.calibration = calibration
+
+    def apply_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
+        # Convert from unsigned int32 original range [0, 2**32[ to centered signed int32 range [-2**31, 2**31[
+        values = values.astype(np.int32)
+        return values
+
+    def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
+        """Inverse of `apply_calibration`."""
+        return values
+
+
+    ## read the motor values from the mujoco environment
+    # motor_models: The motor models to read
+    # motor_ids: The motor ids to read
+    # data_name: The data name to read
+    
+    def _read_with_motor_ids(self, motor_models, motor_ids, data_name):
+        return_list = True
+        if not isinstance(motor_ids, list):
+            return_list = False
+            motor_ids = [motor_ids]
+
+        values = []
+        for idx in motor_ids:
+            values.append(self.data.qpos[-6+idx-1])
+
+        if return_list:
+            return values
+        else:
+            return values[0]
+
+    ## read the motor values from the mujoco environment
+    # data_name: The data name to read
+    # motor_names: The motor names to read
+
+    def read(self, data_name, motor_names: str | list[str] | None = None):
+
+        if not self.is_connected:
+            raise SimRobotDeviceNotConnectedError(f"SimDynamixelMotorsBus({self.path_scene}) is not connected. You need to run `motors_bus.connect()`.")
+
+        values = []
+
+        if motor_names is None:
+            for idx in range(1, 7):
+                values.append(self.data.qpos[idx-6-1])
+        else:
+            for name in motor_names:
+                idx_motor = self.motors[name][0]-6-1
+                values.append(self.data.qpos[idx_motor])
+
+        return np.asarray(values)
+
+
+    ## write the motor values to the mujoco environment
+    # data_name: The data name to write
+    # values: The values to write
+    # motor_names: The motor names to write
+
+    def _write_with_motor_ids(self, motor_models, motor_ids, data_name, values):
+        if not self.is_connected:
+            raise SimRobotDeviceNotConnectedError(
+                f"SimDynamixelMotorsBus({self.path_scene}) is not connected. You need to run `motors_bus.connect()`."
+            )        
+        for idx, value in zip(motor_ids, values):
+            self.data.qpos[idx-6-1] = value
+
+
+    ## convert the real robot joint positions to mujoco joint positions
+    # with support for inverted joints
+    # real_positions: Joint positions in degrees
+    # transforms: List of transforms to apply to each joint
+    # oppose: List of oppositions to apply to each joint
+
+    @staticmethod
+    def real_to_mujoco(real_positions, transforms, oppose):
+        """
+        Convert joint positions from real robot (in degrees) to Mujoco (in radians),
+        with support for inverted joints.
+        
+        Parameters:
+        real_positions (np.array): Joint positions in degrees.
+        transforms (list): List of transforms to apply to each joint.
+        oppose (list): List of oppositions to apply to each joint.
+        
+        Returns:
+        np.array: Joint positions in radians.
+        """
+        real_positions = np.array(real_positions)
+        mujoco_positions = real_positions * (np.pi / 180.0)
+
+        for id in range(6):
+            mujoco_positions[id] = transforms[id] + mujoco_positions[id]
+            mujoco_positions[id] *= oppose[id]
+
+        return mujoco_positions
+
+
+    def write(self, data_name, values: int | float | np.ndarray, motor_names: str | list[str] | None = None):
+
+        if not self.is_connected:
+            raise SimRobotDeviceNotConnectedError(
+                f"SimDynamixelMotorsBus({self.path_scene}) is not connected. You need to run `motors_bus.connect()`."
+            )
+        
+        ## do not write the following data for simulation motors so far
+        if data_name in ["Torque_Enable", "Operating_Mode", "Homing_Offset", "Drive_Mode", "Position_P_Gain", "Position_I_Gain", "Position_D_Gain"]:
+            return
+
+        if motor_names is None or len(motor_names) == 6:
+            self.data.qpos[-6:] = self.real_to_mujoco(values, transforms=[0, 
+                                                                          -np.pi / 2.0,
+                                                                          np.pi + np.pi / 2.0,
+                                                                          0,
+                                                                          np.pi -np.pi / 2.0,
+                                                                          0], 
+                                                                          oppose=[-1,1,-1,1,-1,-1])
+
+            ## update the mujoco environment
+            mujoco.mj_step(follower.model, follower.data)
+            viewer.sync()
+
+
+    def disconnect(self):
+        if not self.is_connected:
+            raise SimRobotDeviceNotConnectedError(
+                f"SimDynamixelMotorsBus({self.path_scene}) is not connected. Try running `motors_bus.connect()` first."
+            )
+
+        self.is_connected = False
+
+    def __del__(self):
+        if getattr(self, "is_connected", False):
+            self.disconnect()
+
+
+## test the leader motors reading
+def test_read_leader_position():
+
+    leader = DynamixelMotorsBus(
+                port="/dev/ttyACM0",
+                motors={
+                    # name: (index, model)
+                    "shoulder_pan": (1, "xl330-m077"),
+                    "shoulder_lift": (2, "xl330-m077"),
+                    "elbow_flex": (3, "xl330-m077"),
+                    "wrist_flex": (4, "xl330-m077"),
+                    "wrist_roll": (5, "xl330-m077"),
+                    "gripper": (6, "xl330-m077"),
+                },
+            )
+
+    leader.connect()
+    while True:
+        print(leader.read("Present_Position", 
+                          ["shoulder_pan", "shoulder_lift", 
+                           "elbow_flex", "wrist_flex", 
+                           "wrist_roll", "gripper"]))
+
+    leader.disconnect()
+
+## global variables
+current_motor_ids=1
+stop_episode = False
+stop_record  = False
+
+## callback function for the keyboard control over mujoco environment
+# [1-6] to select the current controlled motor using the keyboard
+# [8] to increase the current motor position
+# [9] to decrease the current motor position
+# [7] to stop the episode
+# [space] to stop the recording
+
+def key_callback(keycode):
+
+    global current_motor_ids
+    global stop_episode
+    global stop_record
+
+    print(f"Key pressed: [{chr(keycode)}]")
+
+    ## stop the episode
+    if chr(keycode) == "7":
+        stop_episode = True
+
+    if chr(keycode) == " ":
+        stop_record = True
+
+    ## change the motor id to control
+    if chr(keycode) in ["1", "2", "3", "4", "5", "6"]:
+        current_motor_ids = int(chr(keycode))
+        print(f"Current motor id: {current_motor_ids}")
+
+    ## increase the motor position
+    if chr(keycode) == "8":
+        idx_motor = current_motor_ids-6-1
+        follower.data.qpos[idx_motor] += 0.1
+        mujoco.mj_forward(follower.model, 
+                follower.data)
+        viewer.sync()
+
+    ## decrease the motor position
+    if chr(keycode) == "9":
+        idx_motor = current_motor_ids-6-1
+        follower.data.qpos[idx_motor] -= 0.1
+        mujoco.mj_forward(follower.model, 
+                follower.data)
+        viewer.sync()
+
+
+## function to replace the cube in the mujoco environment
+def mujoco_replace_cube(model, data):
+    cube_low = np.array([-0.15, 0.10, 0.015])
+    cube_high = np.array([0.15, 0.25, 0.015])
+    cube_pos = np.random.uniform(cube_low, cube_high)
+    cube_rot = np.array([1.0, 0.0, 0.0, 0.0])
+    data.qpos[0:7] = np.concatenate([cube_pos, cube_rot])
+    mujoco.mj_forward(model, data)
+
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser()
+
+    parser.add_argument("--leader-port", type=str, default="/dev/ttyACM0", help="Port for the leader motors")
+    parser.add_argument("--calibration-path", type=str, default=".cache/calibration/koch.pkl", help="Path to the robots calibration file")  
+    parser.add_argument("--test-leader", action="store_true", help="Test the leader motors")
+    parser.add_argument("--mujoco-replace-cube", action="store_true", help="Replace the cube in the mujoco environment")
+
+
+    parser.add_argument("--num-frames", type=int, default=20)
+    parser.add_argument("--num-workers", type=int, default=8)
+    parser.add_argument("--keep-last", action="store_true")
+    parser.add_argument("--repo-id", type=str, default="jnm38")
+    parser.add_argument("--push-to-hub", action="store_true")
+    parser.add_argument("--fps", type=int, default=30, help="Frames per second of the recording.")
+    parser.add_argument(
+        "--fps_tolerance",
+        type=float,
+        default=0.1,
+        help="Tolerance in fps for the recording before dropping episodes.",
+    )
+    parser.add_argument(
+        "--revision", type=str, default=CODEBASE_VERSION, help="Codebase version used to generate the dataset."
+    )
+
+    args = parser.parse_args()
+
+    ## test the leader motors reading 
+    if args.test_leader:
+        test_read_leader_position()
+        exit()
+
+
+    ## create the leader and follower motors
+    leader = DynamixelMotorsBus(
+                port=args.leader_port,
+                motors={
+                    # name: (index, model)
+                    "shoulder_pan": (1, "xl330-m077"),
+                    "shoulder_lift": (2, "xl330-m077"),
+                    "elbow_flex": (3, "xl330-m077"),
+                    "wrist_flex": (4, "xl330-m077"),
+                    "wrist_roll": (5, "xl330-m077"),
+                    "gripper": (6, "xl330-m077"),
+                },
+            )
+
+    follower = SimDynamixelMotorsBus(
+                path_scene="lerobot/assets/low_cost_robot_6dof/pick_place_cube.xml",
+                motors={
+                    # name: (index, model)
+                    "shoulder_pan": (1, "xl430-w250"),
+                    "shoulder_lift": (2, "xl430-w250"),
+                    "elbow_flex": (3, "xl330-m288"),
+                    "wrist_flex": (4, "xl330-m288"),
+                    "wrist_roll": (5, "xl330-m288"),
+                    "gripper": (6, "xl330-m288"),
+                },
+            )
+    
+    ## create cameras which are instantiated to the mujoco environment in the simulated follower robot class
+    cameras = {
+        "image_top":   SimCamera(id_camera="camera_top",   model=follower.model, data=follower.data, camera_index=0, fps=30, width=640, height=480),
+        "image_front": SimCamera(id_camera="camera_front", model=follower.model, data=follower.data, camera_index=1, fps=30, width=640, height=480),
+    }
+
+    ## define the path to store the data
+    DATA_DIR = pathlib.Path("data_traces")
+    out_data = DATA_DIR / args.repo_id
+
+    # During data collection, frames are stored as png images in `images_dir`
+    images_dir = out_data / "images"
+
+    # After data collection, png images of each episode are encoded into a mp4 file stored in `videos_dir`
+    videos_dir = out_data / "videos"
+    meta_data_dir = out_data / "meta_data"
+
+    # Create image and video directories
+    if not os.path.exists(images_dir):
+        os.makedirs(images_dir, exist_ok=True)
+    if not os.path.exists(videos_dir):
+        os.makedirs(videos_dir, exist_ok=True)
+
+
+    ## Define the episode data index and dictionaries to store the data
+    ep_dicts = []
+    episode_data_index = {"from": [], "to": []}
+    ep_fps = []
+    id_from = 0
+    id_to = 0
+
+
+    ## start the mujoco environment and start the teleoperation
+    ep_idx = 0
+    with mujoco.viewer.launch_passive(follower.model, follower.data, key_callback=key_callback) as viewer:    
+
+        robot = KochRobot(leader_arms   = {"main": leader},
+                          follower_arms = {"main": follower},
+                          cameras       = cameras,
+                          calibration_path=args.calibration_path)
+        robot.connect()
+        
+        while stop_record == False:
+
+            # sample the initial position of the cube
+            if args.mujoco_replace_cube:
+                mujoco_replace_cube(follower.model, follower.data)
+
+            # Instantiate the episode data storage
+            obs_replay = {}
+            obs_replay["observation"] = []
+            obs_replay["action"] = []
+            obs_replay["image_top"] = []
+            obs_replay["image_front"] = []
+            timestamps = []
+            start_time = time.time()
+
+            print(f"Start episode {ep_idx} ...")
+            while stop_episode == False and stop_record == False:
+
+                obs_dict, action_dict = robot.teleop_step(record_data=True)
+                obs_replay["observation"].append(copy.deepcopy(obs_dict["observation.state"]))
+                obs_replay["action"].append(copy.deepcopy(action_dict["action"]))
+                obs_replay["image_top"].append(copy.deepcopy(obs_dict["observation.images.image_top"].numpy()))
+                obs_replay["image_front"].append(copy.deepcopy(obs_dict["observation.images.image_front"].numpy()))
+                timestamps.append(time.time() - start_time)
+
+            stop_episode = False
+
+            ## Tolerance workaround ...
+            num_frames = len(timestamps)
+            timestamps = np.linspace(0, timestamps[-1], num_frames)
+
+            # os.system(f'spd-say "saving episode"')
+            ep_dict = {}
+
+            # store the images of the episode in .png and create the video
+            for img_key in ["image_top", "image_front"]:
+                save_images_concurrently(
+                    obs_replay[img_key],
+                    images_dir / f"{img_key}_episode_{ep_idx:06d}",
+                    args.num_workers,
+                )
+                fname = f"{img_key}_episode_{ep_idx:06d}.mp4"
+
+                # store the reference to the video frame
+                ep_dict[f"observation.{img_key}"] = [{"path": f"videos/{fname}", "timestamp": tstp} for tstp in timestamps]
+
+            # store the state, action, episode index, frame index, timestamp and next done
+            state     = torch.tensor(np.array(obs_replay["observation"]))
+            action    = torch.tensor(np.array(obs_replay["action"]))
+            next_done = torch.zeros(num_frames, dtype=torch.bool)
+            next_done[-1] = True
+
+            ep_dict["observation.state"] = state
+            ep_dict["action"] = action
+            ep_dict["episode_index"] = torch.tensor([ep_idx] * num_frames, dtype=torch.int64)
+            ep_dict["frame_index"]   = torch.arange(0, num_frames, 1)
+            ep_dict["timestamp"]     = torch.tensor(timestamps)
+            ep_dict["next.done"]     = next_done
+            ep_fps.append(num_frames / timestamps[-1])
+            print(f"Episode {ep_idx} done, fps: {ep_fps[-1]:.2f}")
+
+            ## store the episode data index
+            episode_data_index["from"].append(id_from)
+            episode_data_index["to"].append(id_from + num_frames if args.keep_last else id_from + num_frames - 1)
+
+            ## update the episode data index
+            id_to = id_from + num_frames if args.keep_last else id_from + num_frames - 1
+            id_from = id_to
+
+            ## store the episode data in the overall data list
+            ep_dicts.append(ep_dict)
+            ep_idx += 1
+
+    ## end the teleoperation
+    robot.disconnect()
+
+    ## encode the images to videos for all the episodes
+    for idx in range(ep_idx):
+        for img_key in ["image_top", "image_front"]:
+            encode_video_frames(
+                images_dir / f"{img_key}_episode_{idx:06d}",
+                videos_dir / f"{img_key}_episode_{idx:06d}.mp4",
+                ep_fps[idx],
+            )
+
+    ## concatenate the episodes and store the data
+    data_dict = concatenate_episodes(ep_dicts)  # Since our fps varies we are sometimes off tolerance for the last frame
+
+    ## store the data in the dataset format in a features dictionary
+    features = {}
+    keys = [key for key in data_dict if "observation.image_" in key]
+    for key in keys:
+        features[key.replace("observation.image_", "observation.images.")] = VideoFrame()
+        data_dict[key.replace("observation.image_", "observation.images.")] = data_dict[key]
+        del data_dict[key]
+
+    features["observation.state"] = Sequence(length=data_dict["observation.state"].shape[1], feature=Value(dtype="float32", id=None))
+    features["action"] = Sequence(length=data_dict["action"].shape[1], feature=Value(dtype="float32", id=None))
+    features["episode_index"] = Value(dtype="int64", id=None)
+    features["frame_index"]   = Value(dtype="int64", id=None)
+    features["timestamp"]     = Value(dtype="float32", id=None)
+    features["next.done"]     = Value(dtype="bool", id=None)
+    features["index"]         = Value(dtype="int64", id=None)
+
+    ## store the data in the dataset format    
+    hf_dataset = Dataset.from_dict(data_dict, features=Features(features))
+    hf_dataset.set_transform(hf_transform_to_torch)
+
+    ## store the meta data
+    info = {
+        #"fps": sum(ep_fps) / len(ep_fps),  # to have a good tolerance in data processing for the slowest video
+        "fps": 24,  # to have a good tolerance in data processing for the slowest video
+        "video": ep_idx,
+    }
+    
+    ## store the data in the LeRobotDataset format
+    lerobot_dataset = LeRobotDataset.from_preloaded(
+        repo_id=args.repo_id,
+        hf_dataset=hf_dataset,
+        episode_data_index=episode_data_index,
+        info=info,
+        videos_dir=videos_dir,
+    )
+
+    ## compute the stats and save the meta data
+    stats = compute_stats(lerobot_dataset, num_workers=args.num_workers)
+    save_meta_data(info, stats, episode_data_index, meta_data_dir)
+    
+
+    ## save the data in the dataset format in disk
+    hf_dataset = hf_dataset.with_format(None)  # to remove transforms that cant be saved
+    hf_dataset.save_to_disk(str(out_data / "train"))
+
+
+    ## push the data to the hub
+    if args.push_to_hub:
+
+        repo_name = f"{args.repo_id}/lowcostrobot-mujoco-pickplace"
+
+        hf_dataset.push_to_hub(repo_name, token=True, revision="main")
+        hf_dataset.push_to_hub(repo_name, token=True, revision=args.revision)
+
+        push_meta_data_to_hub(repo_name, meta_data_dir, revision="main")
+        push_meta_data_to_hub(repo_name, meta_data_dir, revision=args.revision)
+
+        push_videos_to_hub(repo_name, videos_dir, revision="main")
+        push_videos_to_hub(repo_name, videos_dir, revision=args.revision)

lerobot/scripts/visualize_dataset_html.py

@@ -174,7 +174,10 @@ def run_server(
                 dataset.meta.get_video_file_path(episode_id, key) for key in dataset.meta.video_keys
             ]
             videos_info = [
-                {"url": url_for("static", filename=video_path), "filename": video_path.parent.name}
+                {
+                    "url": url_for("static", filename=str(video_path).replace("\\", "/")),
+                    "filename": video_path.parent.name,
+                }
                 for video_path in video_paths
             ]
             tasks = dataset.meta.episodes[episode_id]["tasks"]
@@ -381,7 +384,7 @@ def visualize_dataset_html(
         if isinstance(dataset, LeRobotDataset):
             ln_videos_dir = static_dir / "videos"
             if not ln_videos_dir.exists():
-                ln_videos_dir.symlink_to((dataset.root / "videos").resolve())
+                ln_videos_dir.symlink_to((dataset.root / "videos").resolve().as_posix())
 
         if serve:
             run_server(dataset, episodes, host, port, static_dir, template_dir)