dora-rs / dora-lerobot

Lerobot boosted with dora

Apache License 2.0

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Dora-LeRobot recording #16

Closed Hennzau closed 3 months ago

Hennzau commented 4 months ago

Structure

[x] aloha, reachy, alexk_lcr and so100 moved to a robots subdirectory
[x] Improving README.md
[x] Improving requirements.txt
[x] dora_lerobot local library: temporary local library that contains usefuls objects that will be easily accessible from LeRobot when LeRobot is ready
[x] Add steps inside INSTALLATION.md to install dora-record

Code

[x] Add everything to teleoperate so100 with alexk_lcr leader arm
[x] Add a simple mujoco simulation
[x] Add recording pipeline for alexk_lcr (new nodes in node_hub)
[x] Index data from servos with a name : associate a list of joint names with the list of values (position, velocity...)
[ ] ~Add gym_lowcostrobot environment (with help from Julien)~ (next PR)

Node Hub

[x] mujoco_client: you can pass the PATH to load for simulation, and as other arm clients, you can pass goal_position with joint_names
[x] video_encoder: input an image, and episode status, it will encode all images into a video.
[x] lerobot_record: input ticks, gather images and display them in a simple interface. Manage keyboard inputs for instructions (episode, fail)
[x] replay_episode

Script

[x] ~convert_dora_parquet_to_lerobot: use the script from remi to convert a recording in lerobot format~ (next PR)
[x] ~purge_episode: remove failed episode, merge data into one parquet file~
[x] export recording output to an episode (raw episode + FPS episode)
[x] camera 30Hz fix ?

Hennzau commented 4 months ago

I don't think I can do more on this PR, tell me if you need help to review this

EDIT: After chatting with Rémi, I have to change my current script that exports a recording into a dataset. But that's not a hard task