1 rework support for reachy2 - Githubissues

huggingface / lerobot

🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning

Apache License 2.0

7.67k stars 738 forks source link

1 rework support for reachy2 #524

Open apirrone opened 3 days ago

apirrone commented 3 days ago

What this does

Adds native support for the Reachy 2 robot.

[X] Adds ReachyRobot and ReachyCamera with their associated config.
[ ] Adds examples/12_use_reachy2.md
[ ] Add documentation

How it was tested

TODO

How to checkout & try? (for the reviewer)

Teleoperation:

python lerobot/scripts/control_robot.py teleoperate \
--robot-path lerobot/configs/robot/reachy2.yaml

Dataset recording:

python lerobot/scripts/control_robot.py record \
--robot-path lerobot/configs/robot/reachy2.yaml \
--fps 15 \
--repo-id ${HF_USER}/reachy_wave \
--tags reachy \
--warmup-time-s 2 \
--episode-time-s 60 \
--reset-time-s 60 \
--num-episodes 50 \
--push-to-hub 0 \
--single-task "When you see someone, look at them and wave."