New lerobot environment, who dis?

Read The Docs¶

So I was scrolling deer.social and reading some scifi book after work and I was like:

“You know what I need to be reading? The specs for the LeRobot SDK is what.”

So I did some reading on my phone and started digging into the docs on huggingface.co.

Just Do It!¶

Eventually got around to running this on my laptop and following along the calibration video instead of trying to figure out how to move my old calibration json into the new environment. This was well and truly decided when I found out that the new calibration system, indeed even the whole origin for datasets with this new way of doing this is not backward compatible with the previous version of LeRobot I was using before tonight.

Calibration and Teloperation¶

I could run this inside a jupyter notebook cell but I had to uv run ipython for the calibration sequence. After the first Enter key press it shorted out so I just calibrated from the command line.

from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.common.teleoperators.so100_leader import SO100LeaderConfig, SO100Leader
from lerobot.common.robots.so100_follower import SO100FollowerConfig, SO100Follower

camera_config = dict(
    camera_one=OpenCVCameraConfig(index_or_path=2, width=640, height=480, fps=30),
    camera_two=OpenCVCameraConfig(index_or_path=4, width=640, height=480, fps=30),
)

robot_config = SO100FollowerConfig(
    port="/dev/ttyACM2",
    id="my_so100_follower",
    cameras=camera_config,
)

teleop_config = SO100LeaderConfig(
    port="/dev/ttyACM0",
    id="my_so100_leader",
)

teleop_device = SO100Leader(teleop_config)
robot = SO100Follower(robot_config)


robot.connect()
teleop_device.connect()

while True:
    action = teleop_device.get_action()
    robot.send_action(action)

So yeah we’re in freaking business!!! This was the big block in the road towards setting up lerobot-sim2real. Pretty much just have to follow along with the steps in the tutorial.

Lot of work to do¶

Right now I am here. Still a good bit of work to do. Wish I hadn’t taken so long to just barrel forward but at least today I was aware enough to start doing some reading so I could get a good idea of what I needed to do. Turns out it’s all reading! LOL

I also need to figure out how to include bibtex in myst.