Compare commits
6 Commits
6f0b9b339b
...
56cfd04c42
Author | SHA1 | Date |
---|---|---|
|
56cfd04c42 | |
|
78fd1a1e04 | |
|
90533e6b9f | |
|
2d80c8022a | |
|
78353db9e2 | |
|
72022853dd |
16
README.md
16
README.md
|
@ -98,14 +98,18 @@ conda create -y -n lerobot python=3.10
|
|||
conda activate lerobot
|
||||
```
|
||||
|
||||
Install 🤗 LeRobot:
|
||||
When using `miniconda`, if you don't have `fffmpeg` in your environment:
|
||||
```bash
|
||||
pip install -e .
|
||||
conda install ffmpeg
|
||||
```
|
||||
|
||||
> **NOTE:** Depending on your platform, If you encounter any build errors during this step
|
||||
you may need to install `cmake` and `build-essential` for building some of our dependencies.
|
||||
On linux: `sudo apt-get install cmake build-essential`
|
||||
Install 🤗 LeRobot:
|
||||
```bash
|
||||
pip install --no-binary=av -e .
|
||||
```
|
||||
|
||||
> **NOTE:** If you encounter build errors, you may need to install additional dependencies (`cmake`, `build-essential`, and `ffmpeg libs`). On Linux, run:
|
||||
`sudo apt-get install cmake build-essential python-dev pkg-config libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev pkg-config`. For other systems, see: [Compiling PyAV](https://pyav.org/docs/develop/overview/installation.html#bring-your-own-ffmpeg)
|
||||
|
||||
For simulations, 🤗 LeRobot comes with gymnasium environments that can be installed as extras:
|
||||
- [aloha](https://github.com/huggingface/gym-aloha)
|
||||
|
@ -114,7 +118,7 @@ For simulations, 🤗 LeRobot comes with gymnasium environments that can be inst
|
|||
|
||||
For instance, to install 🤗 LeRobot with aloha and pusht, use:
|
||||
```bash
|
||||
pip install -e ".[aloha, pusht]"
|
||||
pip install --no-binary=av -e ".[aloha, pusht]"
|
||||
```
|
||||
|
||||
To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tracking, log in with
|
||||
|
|
|
@ -59,7 +59,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
|
|||
|
||||
#### 5. Install LeRobot with dependencies for the feetech motors:
|
||||
```bash
|
||||
cd ~/lerobot && pip install -e ".[feetech]"
|
||||
cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
|
||||
```
|
||||
|
||||
Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms :robot:.
|
||||
|
|
|
@ -69,7 +69,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
|
|||
|
||||
#### 5. Install LeRobot with dependencies for the feetech motors:
|
||||
```bash
|
||||
cd ~/lerobot && pip install -e ".[feetech]"
|
||||
cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
|
||||
```
|
||||
|
||||
## C. Install LeRobot on laptop
|
||||
|
@ -110,7 +110,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
|
|||
|
||||
#### 5. Install LeRobot with dependencies for the feetech motors:
|
||||
```bash
|
||||
cd ~/lerobot && pip install -e ".[feetech]"
|
||||
cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
|
||||
```
|
||||
|
||||
Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms and Mobile base :robot:.
|
||||
|
|
|
@ -33,7 +33,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
|
|||
|
||||
5. Install LeRobot with dependencies for the feetech motors:
|
||||
```bash
|
||||
cd ~/lerobot && pip install -e ".[feetech]"
|
||||
cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
|
||||
```
|
||||
|
||||
## Configure the motors
|
||||
|
|
|
@ -119,7 +119,7 @@ print(dataset.features[camera_key]["shape"])
|
|||
delta_timestamps = {
|
||||
# loads 4 images: 1 second before current frame, 500 ms before, 200 ms before, and current frame
|
||||
camera_key: [-1, -0.5, -0.20, 0],
|
||||
# loads 8 state vectors: 1.5 seconds before, 1 second before, ... 200 ms, 100 ms, and current frame
|
||||
# loads 6 state vectors: 1.5 seconds before, 1 second before, ... 200 ms, 100 ms, and current frame
|
||||
"observation.state": [-1.5, -1, -0.5, -0.20, -0.10, 0],
|
||||
# loads 64 action vectors: current frame, 1 frame in the future, 2 frames, ... 63 frames in the future
|
||||
"action": [t / dataset.fps for t in range(64)],
|
||||
|
@ -143,6 +143,6 @@ dataloader = torch.utils.data.DataLoader(
|
|||
|
||||
for batch in dataloader:
|
||||
print(f"{batch[camera_key].shape=}") # (32, 4, c, h, w)
|
||||
print(f"{batch['observation.state'].shape=}") # (32, 5, c)
|
||||
print(f"{batch['observation.state'].shape=}") # (32, 6, c)
|
||||
print(f"{batch['action'].shape=}") # (32, 64, c)
|
||||
break
|
||||
|
|
|
@ -18,7 +18,7 @@ training outputs directory. In the latter case, you might want to run examples/3
|
|||
|
||||
It requires the installation of the 'gym_pusht' simulation environment. Install it by running:
|
||||
```bash
|
||||
pip install -e ".[pusht]"`
|
||||
pip install --no-binary=av -e ".[pusht]"`
|
||||
```
|
||||
"""
|
||||
|
||||
|
|
|
@ -33,7 +33,7 @@ First, install the additional dependencies required for robots built with dynami
|
|||
|
||||
Using `pip`:
|
||||
```bash
|
||||
pip install -e ".[dynamixel]"
|
||||
pip install --no-binary=av -e ".[dynamixel]"
|
||||
```
|
||||
|
||||
Using `poetry`:
|
||||
|
|
|
@ -45,7 +45,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
|
|||
|
||||
6. Install LeRobot with stretch dependencies:
|
||||
```bash
|
||||
cd ~/lerobot && pip install -e ".[stretch]"
|
||||
cd ~/lerobot && pip install --no-binary=av -e ".[stretch]"
|
||||
```
|
||||
|
||||
> **Note:** If you get this message, you can ignore it: `ERROR: pip's dependency resolver does not currently take into account all the packages that are installed.`
|
||||
|
|
|
@ -32,7 +32,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
|
|||
|
||||
5. Install LeRobot with dependencies for the Aloha motors (dynamixel) and cameras (intelrealsense):
|
||||
```bash
|
||||
cd ~/lerobot && pip install -e ".[dynamixel, intelrealsense]"
|
||||
cd ~/lerobot && pip install --no-binary=av -e ".[dynamixel, intelrealsense]"
|
||||
```
|
||||
|
||||
## Teleoperate
|
||||
|
|
|
@ -24,7 +24,7 @@ Designed by Physical Intelligence. Ported from Jax by Hugging Face.
|
|||
|
||||
Install pi0 extra dependencies:
|
||||
```bash
|
||||
pip install -e ".[pi0]"
|
||||
pip install --no-binary=av -e ".[pi0]"
|
||||
```
|
||||
|
||||
Example of finetuning the pi0 pretrained model (`pi0_base` in `openpi`):
|
||||
|
|
Loading…
Reference in New Issue