From 26c4b7cfee6c226938895ac00e4fc318680d768e Mon Sep 17 00:00:00 2001 From: Rahat2134 Date: Sun, 16 Mar 2025 23:14:18 +0530 Subject: [PATCH] correct most of the documentation with updated folder structure in examples --- examples/alexk-lcr/CONFIGURING.md | 8 ++++---- examples/alexk-lcr/INSTALLATION.md | 8 ++++---- examples/alexk-lcr/README.md | 30 +++++++++++++++--------------- examples/alexk-lcr/RECORDING.md | 8 ++++---- examples/alexk-lcr/configure.py | 4 ++-- examples/aloha/ASSEMBLING.md | 6 +++--- examples/aloha/CONFIGURING.md | 8 ++++---- examples/aloha/INSTALLATION.md | 8 ++++---- examples/reachy/README.md | 2 +- examples/reachy1/README.md | 2 +- examples/so100/CONFIGURING.md | 4 ++-- examples/so100/INSTALLATION.md | 8 ++++---- examples/so100/README.md | 6 +++--- examples/so100/RECORDING.md | 8 ++++---- examples/so100/configure.py | 4 ++-- 15 files changed, 57 insertions(+), 57 deletions(-) diff --git a/examples/alexk-lcr/CONFIGURING.md b/examples/alexk-lcr/CONFIGURING.md index 24f2a947..bce49b7a 100644 --- a/examples/alexk-lcr/CONFIGURING.md +++ b/examples/alexk-lcr/CONFIGURING.md @@ -33,7 +33,7 @@ recommend using our on-board tool to set all of that automatically: - Run the configuration tool with the following command and follow the instructions: ```bash -cd dora-lerobot/ +cd dora/ # If you are using a custom environment, you will have to activate it before running the command source [your_custom_env_bin]/activate @@ -44,7 +44,7 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -python ./robots/alexk-lcr/configure.py --port /dev/ttyUSB0 --follower --left # (or right) +python ./examples/alexk-lcr/configure.py --port /dev/ttyUSB0 --follower --left # (or right) ``` **Note:** change `/dev/ttyUSB0` to the device port you retrieved from the official wizard (like `COM3` on Windows). @@ -58,7 +58,7 @@ python ./robots/alexk-lcr/configure.py --port /dev/ttyUSB0 --follower --left # ( - Repeat the same steps for the Leader arm: ```bash -python ./robots/alexk-lcr/configure.py --port /dev/ttyUSB1 --leader --left # (or right) +python ./examples/alexk-lcr/configure.py --port /dev/ttyUSB1 --leader --left # (or right) ``` **Note:** change `/dev/ttyUSB1` to the device port you retrieved from the official wizard (like `COM4` on Windows). @@ -77,7 +77,7 @@ nodes: - id: lcr-follower env: PORT: /dev/ttyUSB0 - CONFIG: ../configs/follower.left.json # relative path to `./robots/alexk-lcr/configs/follower.json` + CONFIG: ../configs/follower.left.json # relative path to `./examples/alexk-lcr/configs/follower.json` - id: lcr-to-lcr env: diff --git a/examples/alexk-lcr/INSTALLATION.md b/examples/alexk-lcr/INSTALLATION.md index 63b103e3..6c990f9f 100644 --- a/examples/alexk-lcr/INSTALLATION.md +++ b/examples/alexk-lcr/INSTALLATION.md @@ -27,13 +27,13 @@ you may need to setup your Python environment: - Clone this repository by running the following command: ```bash -git clone https://github.com/dora-rs/dora-lerobot +git clone https://github.com/dora-rs/dora ``` - Open a bash terminal and navigate to the repository by running the following command: ```bash -cd dora-lerobot +cd dora ``` - Create a virtual environment by running the following command (you can find where is all your pythons executable with @@ -56,14 +56,14 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -pip install -r robots/alexk-lcr/requirements.txt +pip install -r examples/alexk-lcr/requirements.txt ``` If you want to install the required Python packages in development mode, you can run the following command, but you will have to avoid using `dora build` during execution procedure: ```bash -pip install -r robots/alexk-lcr/development.txt # You **MUST** be inside dora-lerobot to run this command, not robots/alexk-lcr +pip install -r examples/alexk-lcr/development.txt # You **MUST** be inside dora to run this command ``` **Note**: You're totally free to use your own Python environment, a Conda environment, or whatever you prefer, you will diff --git a/examples/alexk-lcr/README.md b/examples/alexk-lcr/README.md index e8da9346..2d7a642a 100644 --- a/examples/alexk-lcr/README.md +++ b/examples/alexk-lcr/README.md @@ -41,7 +41,7 @@ You must configure the arms, retrieve the device port, and modify the file `mono environment variables. (e.g. `PORT` and `CONFIG`, `LEADER_CONTROL` and `FOLLOWER_CONTROL`) ```bash -cd dora-lerobot/ +cd dora/ # If you are using a custom environment, you will have to activate it before running the command source [your_custom_env_bin]/activate @@ -52,10 +52,10 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -dora build ./robots/alexk-lcr/graphs/mono_teleop_real.yml # Only the first time, it will install all the requirements if needed +dora build ./examples/alexk-lcr/graphs/mono_teleop_real.yml # Only the first time, it will install all the requirements if needed dora up -dora start ./robots/alexk-lcr/graphs/mono_teleop_real.yml +dora start ./examples/alexk-lcr/graphs/mono_teleop_real.yml ``` [![](https://mermaid.ink/img/pako:eNqVUsFOxCAQ_RUy591Urz14MF496W0xZCzTlkihmUI2ZrP_LtDtutomRg4w83jvMcCcoPGaoAZxGa31x6ZHDuL1UTohbMPKEmriJTMuEI_eYqAFar1NskyZ4nvHOPZCKaU9Y1rEIQdvmXu7G8xAfJkzqUSFJUQWVAWoBmOtmar7u4OU17gqPHJaujJtK8R-L8ZorRr9ZILxLgEPGxdaqi_8hYqTWPC1fuMJZsvfFjP6p8H_qv9-7dWHZFHn8UaUijiyCaR-wmsv2EE6f0CjUzecsreE0NNAEuoUauQPCdKdEw9j8C-froE6cKQdsI9dD3WLdkpZHHWq5Mlg-urhipI2wfPz3Gyl585fka3hkA?type=png)](https://mermaid.live/edit#pako:eNqVUsFOxCAQ_RUy591Urz14MF496W0xZCzTlkihmUI2ZrP_LtDtutomRg4w83jvMcCcoPGaoAZxGa31x6ZHDuL1UTohbMPKEmriJTMuEI_eYqAFar1NskyZ4nvHOPZCKaU9Y1rEIQdvmXu7G8xAfJkzqUSFJUQWVAWoBmOtmar7u4OU17gqPHJaujJtK8R-L8ZorRr9ZILxLgEPGxdaqi_8hYqTWPC1fuMJZsvfFjP6p8H_qv9-7dWHZFHn8UaUijiyCaR-wmsv2EE6f0CjUzecsreE0NNAEuoUauQPCdKdEw9j8C-froE6cKQdsI9dD3WLdkpZHHWq5Mlg-urhipI2wfPz3Gyl585fka3hkA) @@ -68,7 +68,7 @@ You must configure the arms, retrieve the device port, and modify the file `bi_t environment variables. (e.g. `PORT` and `CONFIG`) ```bash -cd dora-lerobot/ +cd dora/ # If you are using a custom environment, you will have to activate it before running the command source [your_custom_env_bin]/activate @@ -79,10 +79,10 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -dora build ./robots/alexk-lcr/graphs/bi_teleop_real.yml # Only the first time, it will install all the requirements if needed +dora build ./examples/alexk-lcr/graphs/bi_teleop_real.yml # Only the first time, it will install all the requirements if needed dora up -dora start ./robots/alexk-lcr/graphs/bi_teleop_real.yml +dora start ./examples/alexk-lcr/graphs/bi_teleop_real.yml ``` [![](https://mermaid.ink/img/pako:eNqlVMFugzAM_ZUo51ZsVw47TLvutN2aKsqIgWghQSZRNVX99yWhtAXBNjoOxrz4vdgmzpEWVgLNKTk_pbaHohboyPszM4ToArmG0gUjJOAIUsYBtlYLByO8tDqoXINRVfVUoMdmFPqFq0TnPyoUbU0459KiCC-yi84-Mm5XnWoAzzYGJS9FERIJWQKyRmmtuuzxYcfYxc9SHBjJTDLzDLLdktZrzVvbKaesCcDTjy0a6kjMgSQ6MuALSkud7XeYivXo36TuKGv6O6eykV5ZcUMPOR1QOeBjeFF1XVLLx2l9t385huv6PSt2T23zA_Sflk916YaGjBqhZJj9Y9yHUVdDA4zmwZUCPxll5hTihHf27csUNHfoYUPR-qqmeSl0F758K0M-L0qEMWwuKEjlLL72V0u6YU7fOOqbHg?type=png)](https://mermaid.live/edit#pako:eNqlVMFugzAM_ZUo51ZsVw47TLvutN2aKsqIgWghQSZRNVX99yWhtAXBNjoOxrz4vdgmzpEWVgLNKTk_pbaHohboyPszM4ToArmG0gUjJOAIUsYBtlYLByO8tDqoXINRVfVUoMdmFPqFq0TnPyoUbU0459KiCC-yi84-Mm5XnWoAzzYGJS9FERIJWQKyRmmtuuzxYcfYxc9SHBjJTDLzDLLdktZrzVvbKaesCcDTjy0a6kjMgSQ6MuALSkud7XeYivXo36TuKGv6O6eykV5ZcUMPOR1QOeBjeFF1XVLLx2l9t385huv6PSt2T23zA_Sflk916YaGjBqhZJj9Y9yHUVdDA4zmwZUCPxll5hTihHf27csUNHfoYUPR-qqmeSl0F758K0M-L0qEMWwuKEjlLL72V0u6YU7fOOqbHg) @@ -94,7 +94,7 @@ You must configure the arms, retrieve the device port, and modify the file `mono environment variables. (e.g. `PORT` and `CONFIG`) ```bash -cd dora-lerobot/ +cd dora/ # If you are using a custom environment, you will have to activate it before running the command @@ -106,10 +106,10 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -dora build ./robots/alexk-lcr/graphs/mono_teleop_simu.yml # Only the first time, it will install all the requirements if needed +dora build ./examples/alexk-lcr/graphs/mono_teleop_simu.yml # Only the first time, it will install all the requirements if needed dora up -dora start ./robots/alexk-lcr/graphs/mono_teleop_simu.yml +dora start ./examples/alexk-lcr/graphs/mono_teleop_simu.yml ``` [![](https://mermaid.ink/img/pako:eNp1UstuwyAQ_JUV50Rurz70UPXaU3sLFdqatY2CwcKgqIry711w4ubhcoDdYWZ3eBxF4zWJWsB5tNYfmh5DhM9X6QBsE5Ql1BQumXGRwugtRrpArbcsy5QpfXcBxx6UUtoH5AV2OfjK3OvdaAYK5zmTSlRYAFlQFaAajLVmqp6fdlIucVV45LR0Zbp1AdstRNPsAScYk7Vq9JOJxjveeFk50Jxl1UJk5Yw-au-Ov2a1lFpt_HdR_yuL9TXBXffM7TxedWHXh2AiqVv4sZbYCG47oNH88sdcW4rY00BS1BxqDHsppDsxD1P0Hz-uEXUMiTYi-NT1om7RTpylUbOTN4P8rMOCkjbRh_f5Y5X_dfoF5ZjY9g?type=png)](https://mermaid.live/edit#pako:eNp1UstuwyAQ_JUV50Rurz70UPXaU3sLFdqatY2CwcKgqIry711w4ubhcoDdYWZ3eBxF4zWJWsB5tNYfmh5DhM9X6QBsE5Ql1BQumXGRwugtRrpArbcsy5QpfXcBxx6UUtoH5AV2OfjK3OvdaAYK5zmTSlRYAFlQFaAajLVmqp6fdlIucVV45LR0Zbp1AdstRNPsAScYk7Vq9JOJxjveeFk50Jxl1UJk5Yw-au-Ov2a1lFpt_HdR_yuL9TXBXffM7TxedWHXh2AiqVv4sZbYCG47oNH88sdcW4rY00BS1BxqDHsppDsxD1P0Hz-uEXUMiTYi-NT1om7RTpylUbOTN4P8rMOCkjbRh_f5Y5X_dfoF5ZjY9g) @@ -123,7 +123,7 @@ correct environment variables. (e.g. `PORT` and `CONFIG`) ```bash -cd dora-lerobot/ +cd dora/ # If you are using a custom environment, you will have to activate it before running the command @@ -135,10 +135,10 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -dora build ./robots/alexk-lcr/graphs/mono_teleop_real_and_simu.yml # Only the first time, it will install all the requirements if needed +dora build ./examples/alexk-lcr/graphs/mono_teleop_real_and_simu.yml # Only the first time, it will install all the requirements if needed dora up -dora start ./robots/alexk-lcr/graphs/mono_teleop_real_and_simu.yml +dora start ./examples/alexk-lcr/graphs/mono_teleop_real_and_simu.yml ``` [![](https://mermaid.ink/img/pako:eNqdU8luwyAQ_RXEOZHbqw89VL321N5ChajBMQqLxaKoivLvHXCM3IS0lX3Aw-O9YRbmhDvLBW4xuny9ssduYC6g92diEFKdo0owLty8kyYIN1rFgpih3iqQVSnUSx2veRfQx8-9Y-OAKKXcOgY_tEvGRxIsT4PUoJrWRMpWZiGUBE0GGi2Vkr55fNgRUuwm84ThxOSlEgrablGQ3QExj8aoFB2tl0FaAwdPlRLM4qQrVNAWpzf6StEml9cuJvRfDm5SgPQKf9mSWoXyvdVUf2lmEu0tW4gg4qOT0Oaf8D1fq3Muz2hdLn_Kc_fvqmrBrK5FVuMNhhg0kxxm75TuIDgMQguCWzA5cweCiTkDj8Vg375Mh9vgothgZ-N-wG3PlIddHDlE9CIZzIouqOAyWPc6jXae8PM3I_doSQ?type=png)](https://mermaid.live/edit#pako:eNqdU8luwyAQ_RXEOZHbqw89VL321N5ChajBMQqLxaKoivLvHXCM3IS0lX3Aw-O9YRbmhDvLBW4xuny9ssduYC6g92diEFKdo0owLty8kyYIN1rFgpih3iqQVSnUSx2veRfQx8-9Y-OAKKXcOgY_tEvGRxIsT4PUoJrWRMpWZiGUBE0GGi2Vkr55fNgRUuwm84ThxOSlEgrablGQ3QExj8aoFB2tl0FaAwdPlRLM4qQrVNAWpzf6StEml9cuJvRfDm5SgPQKf9mSWoXyvdVUf2lmEu0tW4gg4qOT0Oaf8D1fq3Muz2hdLn_Kc_fvqmrBrK5FVuMNhhg0kxxm75TuIDgMQguCWzA5cweCiTkDj8Vg375Mh9vgothgZ-N-wG3PlIddHDlE9CIZzIouqOAyWPc6jXae8PM3I_doSQ) @@ -150,7 +150,7 @@ environment variables. (e.g. `PATH`, `EPISODE`). You must also configure the fol modify the file `mono_replay_real.yml` to set the correct environment variables. (e.g. `PORT` and `CONFIG`) ```bash -cd dora-lerobot/ +cd dora/ # If you are using a custom environment, you will have to activate it before running the command source [your_custom_env_bin]/activate @@ -161,10 +161,10 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -dora build ./robots/alexk-lcr/graphs/mono_replay_real.yml # Only the first time, it will install all the requirements if needed +dora build ./examples/alexk-lcr/graphs/mono_replay_real.yml # Only the first time, it will install all the requirements if needed dora up -dora start ./robots/alexk-lcr/graphs/mono_replay_real.yml +dora start ./examples/alexk-lcr/graphs/mono_replay_real.yml ``` [![](https://mermaid.ink/img/pako:eNptkbFuAyEMhl_F8pzohmw3dKiydmq3UCH38N2hcoB8oCiK8u4BmkZNWwbz8_PZCPuMQzCMPcJtjS4ch5kkwduz8gDC0dFJD86yT9Vwg-gxuIKxKL_mj0kozqC1NkGobHCo4r2yP2-TXVhusUJNNQqgJnTN6BbrnF273e6g1F13jWNvlG_h_wzYbiFm53QMq002-GI8_f3Ag9FyvnFa4Sg2sZ4C_ary-GvcYHl5IWtK5861qMI088IK-yINyadC5S-Fo5zC68kP2CfJvEEJeZqxH8mt5ZSjocR7S6VNy91lY1OQl6_BtPlcrmjBlKg?type=png)](https://mermaid.live/edit#pako:eNptkbFuAyEMhl_F8pzohmw3dKiydmq3UCH38N2hcoB8oCiK8u4BmkZNWwbz8_PZCPuMQzCMPcJtjS4ch5kkwduz8gDC0dFJD86yT9Vwg-gxuIKxKL_mj0kozqC1NkGobHCo4r2yP2-TXVhusUJNNQqgJnTN6BbrnF273e6g1F13jWNvlG_h_wzYbiFm53QMq002-GI8_f3Ag9FyvnFa4Sg2sZ4C_ary-GvcYHl5IWtK5861qMI088IK-yINyadC5S-Fo5zC68kP2CfJvEEJeZqxH8mt5ZSjocR7S6VNy91lY1OQl6_BtPlcrmjBlKg) diff --git a/examples/alexk-lcr/RECORDING.md b/examples/alexk-lcr/RECORDING.md index 54105045..676cd5ee 100644 --- a/examples/alexk-lcr/RECORDING.md +++ b/examples/alexk-lcr/RECORDING.md @@ -26,7 +26,7 @@ Make sure to: You can now start the Dora pipeline to record episodes for LeRobot: ```bash -cd dora-lerobot +cd dora # If you are using a custom environment, you will have to activate it before running the command source [your_custom_env_bin]/activate @@ -37,10 +37,10 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -dora build ./robots/alexk-lcr/graphs/record_mono_teleop_real.yml # Only the first time, it will install all the requirements if needed +dora build ./examples/alexk-lcr/graphs/record_mono_teleop_real.yml # Only the first time, it will install all the requirements if needed dora up -dora start ./robots/alexk-lcr/graphs/record_mono_teleop_real.yml +dora start ./examples/alexk-lcr/graphs/record_mono_teleop_real.yml ``` Then, you can tele operate the follower with the leader. A window will pop up showing the camera feed, and some text. @@ -55,7 +55,7 @@ Then, you can tele operate the follower with the leader. A window will pop up sh You can now use our script to convert the logs to an understandable dataset: ```bash -cd dora-lerobot +cd dora # If you are using a custom environment, you will have to activate it before running the command source [your_custom_env_bin]/activate diff --git a/examples/alexk-lcr/configure.py b/examples/alexk-lcr/configure.py index f9fa4624..723a8401 100644 --- a/examples/alexk-lcr/configure.py +++ b/examples/alexk-lcr/configure.py @@ -180,9 +180,9 @@ def main(): path = ( input( - f"Please enter the path of the configuration file (default is ./robots/alexk-lcr/configs/{leader}.{left}.json): " + f"Please enter the path of the configuration file (default is ./examples/alexk-lcr/configs/{leader}.{left}.json): " ) - or f"./robots/alexk-lcr/configs/{leader}.{left}.json" + or f"./examples/alexk-lcr/configs/{leader}.{left}.json" ) with open(path, "w") as file: diff --git a/examples/aloha/ASSEMBLING.md b/examples/aloha/ASSEMBLING.md index 2785ecba..5515c611 100644 --- a/examples/aloha/ASSEMBLING.md +++ b/examples/aloha/ASSEMBLING.md @@ -39,10 +39,10 @@ the Dora pipeline to manipulate arms, cameras, and record/replay episodes with L > You have an example of the given rules in `hardware_config.yml`. ```bash -cd dora-lerobot +cd dora -sudo cp robots/aloha/hardware_config/99-interbotix-udev.rules /etc/udev/rules.d -sudo cp robots/aloha/hardware_config/99-fixed-interbotix-udev.rules /etc/udev/rules.d +sudo cp examples/aloha/hardware_config/99-interbotix-udev.rules /etc/udev/rules.d +sudo cp examples/aloha/hardware_config/99-fixed-interbotix-udev.rules /etc/udev/rules.d ``` - To apply the changes, run `sudo udevadm control --reload && sudo udevadm trigger` diff --git a/examples/aloha/CONFIGURING.md b/examples/aloha/CONFIGURING.md index 3e2858d9..d3b0a2a2 100644 --- a/examples/aloha/CONFIGURING.md +++ b/examples/aloha/CONFIGURING.md @@ -33,7 +33,7 @@ recommend using our on-board tool to set all of that automatically: - Run the configuration tool with the following command and follow the instructions: ```bash -cd dora-lerobot/ +cd dora/ # If you are using a custom environment, you will have to activate it before running the command source [your_custom_env_bin]/activate @@ -44,7 +44,7 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -python ./robots/aloha/configure.py --port /dev/ttyUSB0 --follower --left # (or right) +python ./examples/aloha/configure.py --port /dev/ttyUSB0 --follower --left # (or right) ``` **Note:** change `/dev/ttyUSB0` to the device port you retrieved from the official wizard (like `COM3` on Windows). @@ -58,7 +58,7 @@ TODO: image for aloha - Repeat the same steps for the Leader arm: ```bash -python ./robots/aloha/configure.py --port /dev/ttyUSB1 --leader --left # (or right) +python ./examples/aloha/configure.py --port /dev/ttyUSB1 --leader --left # (or right) ``` **Note:** change `/dev/ttyUSB1` to the device port you retrieved from the official wizard (like `COM4` on Windows). @@ -77,7 +77,7 @@ nodes: - id: aloha-follower env: PORT: /dev/ttyUSB0 - CONFIG: ../configs/follower.left.json # relative path to `./robots/aloha/configs/follower.json` + CONFIG: ../configs/follower.left.json # relative path to `./examples/aloha/configs/follower.json` - id: aloha-to-aloha env: diff --git a/examples/aloha/INSTALLATION.md b/examples/aloha/INSTALLATION.md index 9fc06680..01193154 100644 --- a/examples/aloha/INSTALLATION.md +++ b/examples/aloha/INSTALLATION.md @@ -27,13 +27,13 @@ you may need to setup your Python environment: - Clone this repository by running the following command: ```bash -git clone https://github.com/dora-rs/dora-lerobot +git clone https://github.com/dora-rs/dora ``` - Open a bash terminal and navigate to the repository by running the following command: ```bash -cd dora-lerobot +cd dora ``` - Create a virtual environment by running the following command (you can find where is all your pythons executable with @@ -56,14 +56,14 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -pip install -r robots/so100/requirements.txt +pip install -r examples/so100/requirements.txt ``` If you want to install the required Python packages in development mode, you can run the following command, but you will have to avoid using `dora build` during execution procedure: ```bash -pip install -r robots/aloha/development.txt # You **MUST** be inside dora-lerobot to run this command, not robots/aloha +pip install -r examples/aloha/development.txt # You **MUST** be inside dora to run this command ``` **Note**: You're totally free to use your own Python environment, a Conda environment, or whatever you prefer, you will diff --git a/examples/reachy/README.md b/examples/reachy/README.md index 884b423a..e3bc61ce 100644 --- a/examples/reachy/README.md +++ b/examples/reachy/README.md @@ -26,7 +26,7 @@ cd .. git clone https://github.com/pollen-robotics/reachy2_hdf5_recorder/ ``` -#### Installation dora-lerobot +#### Installation dora ```bash ## Create new python environment diff --git a/examples/reachy1/README.md b/examples/reachy1/README.md index 884b423a..e3bc61ce 100644 --- a/examples/reachy1/README.md +++ b/examples/reachy1/README.md @@ -26,7 +26,7 @@ cd .. git clone https://github.com/pollen-robotics/reachy2_hdf5_recorder/ ``` -#### Installation dora-lerobot +#### Installation dora ```bash ## Create new python environment diff --git a/examples/so100/CONFIGURING.md b/examples/so100/CONFIGURING.md index 30d8f494..e0fc8172 100644 --- a/examples/so100/CONFIGURING.md +++ b/examples/so100/CONFIGURING.md @@ -33,7 +33,7 @@ recommend using our on-board tool to set all of that automatically: - Run the configuration tool with the following command and follow the instructions: ```bash -cd dora-lerobot/ +cd dora/ # If you are using a custom environment, you will have to activate it before running the command source [your_custom_env_bin]/activate @@ -44,7 +44,7 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -python ./robots/so100/configure.py --port /dev/ttyUSB0 --follower --left +python ./examples/so100/configure.py --port /dev/ttyUSB0 --follower --left ``` **Note:** change `/dev/ttyUSB0` to the device port you retrieved from the official wizard (like `COM3` on Windows). diff --git a/examples/so100/INSTALLATION.md b/examples/so100/INSTALLATION.md index d70e56b0..4f53510b 100644 --- a/examples/so100/INSTALLATION.md +++ b/examples/so100/INSTALLATION.md @@ -27,13 +27,13 @@ you may need to setup your Python environment: - Clone this repository by running the following command: ```bash -git clone https://github.com/dora-rs/dora-lerobot +git clone https://github.com/dora-rs/dora ``` - Open a bash terminal and navigate to the repository by running the following command: ```bash -cd dora-lerobot +cd dora ``` - Create a virtual environment by running the following command (you can find where is all your pythons executable with @@ -56,14 +56,14 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -pip install -r robots/so100/requirements.txt +pip install -r examples/so100/requirements.txt ``` If you want to install the required Python packages in development mode, you can run the following command, but you will have to avoid using `dora build` during execution procedure: ```bash -pip install -r robots/so100/development.txt # You **MUST** be inside dora-lerobot to run this command, not robots/so100 +pip install -r examples/so100/development.txt # You **MUST** be inside dora to run this command ``` **Note**: You're totally free to use your own Python environment, a Conda environment, or whatever you prefer, you will diff --git a/examples/so100/README.md b/examples/so100/README.md index fcdf3f1c..aef047b7 100644 --- a/examples/so100/README.md +++ b/examples/so100/README.md @@ -46,7 +46,7 @@ the correct environment variables. (e.g. `PORT` and `CONFIG`, `LEADER_CONTROL` and `FOLLOWER_CONTROL`) ```bash -cd dora-lerobot/ +cd dora/ # If you are using a custom environment, you will have to activate it before running the command source [your_custom_env_bin]/activate @@ -57,10 +57,10 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -dora build ./robots/so100/graphs/mono_teleop_real_with_alexk_lcr.yml # Only the first time, it will install all the requirements if needed +dora build ./examples/so100/graphs/mono_teleop_real_with_alexk_lcr.yml # Only the first time, it will install all the requirements if needed dora up -dora start ./robots/so100/graphs/mono_teleop_real_with_alexk_lcr.yml +dora start ./examples/so100/graphs/mono_teleop_real_with_alexk_lcr.yml ``` ## License diff --git a/examples/so100/RECORDING.md b/examples/so100/RECORDING.md index c4845d5e..6406bca1 100644 --- a/examples/so100/RECORDING.md +++ b/examples/so100/RECORDING.md @@ -26,7 +26,7 @@ Make sure to: You can now start the Dora pipeline to record episodes for LeRobot: ```bash -cd dora-lerobot +cd dora # If you are using a custom environment, you will have to activate it before running the command source [your_custom_env_bin]/activate @@ -37,10 +37,10 @@ source venv/Scripts/activate # On Windows bash venv\Scripts\activate.bat # On Windows cmd venv\Scripts\activate.ps1 # On Windows PowerShell -dora build ./robots/so100/graphs/record_mono_teleop_real_with_alexk_lcr.yml # Only the first time, it will install all the requirements if needed +dora build ./examples/so100/graphs/record_mono_teleop_real_with_alexk_lcr.yml # Only the first time, it will install all the requirements if needed dora up -dora start ./robots/so100/graphs/record_mono_teleop_real_with_alexk_lcr.yml +dora start ./examples/so100/graphs/record_mono_teleop_real_with_alexk_lcr.yml ``` Then, you can tele operate the follower with the leader. A window will pop up showing the camera feed, and some text. @@ -55,7 +55,7 @@ Then, you can tele operate the follower with the leader. A window will pop up sh You can now use our script to convert the logs to an understandable dataset: ```bash -cd dora-lerobot +cd dora # If you are using a custom environment, you will have to activate it before running the command source [your_custom_env_bin]/activate diff --git a/examples/so100/configure.py b/examples/so100/configure.py index 39a13c9f..40b998d5 100644 --- a/examples/so100/configure.py +++ b/examples/so100/configure.py @@ -149,9 +149,9 @@ def main(): left = "left" if args.left else "right" path = ( input( - f"Please enter the path of the configuration file (default is ./robots/so100/configs/follower.{left}.json): " + f"Please enter the path of the configuration file (default is ./examples/so100/configs/follower.{left}.json): " ) - or f"./robots/so100/configs/follower.{left}.json" + or f"./examples/so100/configs/follower.{left}.json" ) with open(path, "w") as file: