Add mobile so100 #724
Open
Add mobile so100 #724
+1,438
−6
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
pkooij
added
📝 Documentation
pkooij
commented
Feb 17, 2025
lerobot/scripts/run_mobile_so100.py
Outdated
|
|
||
| import cv2 | ||
| import torch | ||
| import zmq |
pkooij
commented
Feb 17, 2025
| @@ -0,0 +1,463 @@ | |||
| # Using the Mobile SO100: [LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi) with LeRobot | |||
There was a problem hiding this comment.
Before release/merge: build another mobileso100 and do full tutorial including LeKiwi hardware tutorial
There was a problem hiding this comment.
should we directly call it lekiwi not mobileso100?
Cadene
reviewed
Feb 18, 2025
examples/10_use_so100.md
Outdated
| @@ -416,4 +416,4 @@ As you can see, it's almost the same command as previously used to record your t | |||
| Follow this [previous tutorial](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data) for a more in-depth tutorial on controlling real robots with LeRobot. | |||
|
|
|||
| > [!TIP] | |||
| > If you have any questions or need help, please reach out on Discord in the channel [`#so100-arm`](https://discord.com/channels/1216765309076115607/1237741463832363039). | |||
| > If you have any questions or need help, please reach out on Discord in the channel [`#lerobot`](https://discord.com/invite/s3KuuzsPFb). | |||
There was a problem hiding this comment.
What do you think? or make it obvious to clock on invite discord link if not already on our discord?
Suggested change
| > If you have any questions or need help, please reach out on Discord in the channel [`#lerobot`](https://discord.com/invite/s3KuuzsPFb). | |
| > If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb) in the channel [`#so100-arm`](https://discord.com/channels/1216765309076115607/1237741463832363039). |
| @@ -0,0 +1,463 @@ | |||
| # Using the Mobile SO100: [LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi) with LeRobot | |||
There was a problem hiding this comment.
should we directly call it lekiwi not mobileso100?
Comment on lines
534
to
535
| "mobile": OpenCVCameraConfig(camera_index="/dev/video0", fps=30, width=640, height=480), | ||
| "mobile2": OpenCVCameraConfig(camera_index="/dev/video2", fps=30, width=640, height=480), |
There was a problem hiding this comment.
What do you think?
Suggested change
| "mobile": OpenCVCameraConfig(camera_index="/dev/video0", fps=30, width=640, height=480), | |
| "mobile2": OpenCVCameraConfig(camera_index="/dev/video2", fps=30, width=640, height=480), | |
| "front": OpenCVCameraConfig(camera_index="/dev/video0", fps=30, width=640, height=480), | |
| "wrist": OpenCVCameraConfig(camera_index="/dev/video2", fps=30, width=640, height=480), |
Comment on lines
570
to
572
| "wheel_1": (7, "sts3215"), | ||
| "wheel_2": (8, "sts3215"), | ||
| "wheel_3": (9, "sts3215"), |
There was a problem hiding this comment.
What do you think?
Suggested change
| "wheel_1": (7, "sts3215"), | |
| "wheel_2": (8, "sts3215"), | |
| "wheel_3": (9, "sts3215"), | |
| "left_wheel": (7, "sts3215"), | |
| "right_wheel": (8, "sts3215"), | |
| "back_wheel": (9, "sts3215"), |
# for free
to join this conversation on GitHub.
Already have an account?
# to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
What this does
Adds the tutorial and code for the mobile so100 (LeKiwi)
How it was tested
All commands where tested on the robot itself.