dora-rs
/
dora
Not watched
1
0
Fork 0
Code
Releases 124 Wiki evaluate Activity
Issues 0 Pull Requests 0 Datasets Model Cloudbrain HPC
You can not select more than 25 topics Topics must start with a chinese character,a letter or number, can include dashes ('-') and can be up to 35 characters long.
3467 Commits
57 Branches
16 MB
7711 Download
 
 
 
 
 
 
Branch: revert-commit-e-style
Branches Tags
${ item.name }
Create branch ${ searchTerm }
from 'revert-commit-e-style'
${ noResults }
dora/examples/reachy
7SOMAY abf77bfb75 Fixed necessary linting issues 10 months ago
..
nodes Fixed necessary linting issues 10 months ago
README.md correct most of the documentation with updated folder structure in examples 10 months ago

README.md

Reachy 2

Installation

Installation SDK

### Install the sdk
git clone https://github.com/pollen-robotics/reachy2-sdk
cd reachy2-sdk
pip install -e .
cd ..

### Connect Camera USB
echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
sudo udevadm control --reload-rules && sudo udevadm trigger

### Install Polen vision
git clone https://github.com/pollen-robotics/pollen-vision.git
cd pollen-vision
git checkout lerobot_only_left_camera
pip install ".[depthai_wrapper]"
cd ..

### Teleoperation Collector
git clone https://github.com/pollen-robotics/reachy2_hdf5_recorder/

Installation dora

## Create new python environment

git clone git@github.com:huggingface/dora_lerobot.git
pip install -e dora_lerobot
git clone git@github.com:dora-rs/dora-dora_lerobot.git --branch WORKING-REACHY
pip install -e dora-dora_lerobot/gym_dora

cargo install dora-rs --locked
pip install dora-rs

AI Pipeline

Data Collection

cd reachy2_hdf5_recorder
python3 record_episodes_hdf5.py -n <recording_session_name>_raw -l <epiodes_duration in s> -r <framerate> --robot_ip <robot_ip>

huggingface-cli upload \
                <hf-organisation>/<dataset_name> \
                data/<recording_session_name>_raw/ \
                --repo-type dataset (--private)

06/07/2021

As of today, we need to use several branches:

  • mobile_base : branch 21 # server side, install manually
  • reachy-sdk-api : branch 116 # server and client side, install manually
  • mobile-base-sdk : branch 25 # client side, install manually
  • reachy2-sdk-server : branch 135 # server side, install manually
    Then push to HF hub!

Training

python dora_lerobot/scripts/train.py \
    policy=act_real \
    env=aloha_real \
    env.task=Reachy-v0 \
    dataset_repo_id=<org-id>/<data-id< \

Evaluation

dora start reachy/graphs/eval.yml --attach

Reachy Initialization

ssh bedrock@192.168.1.51

cd dev_docker
sudo service stop


docker compose -f mode/dev.yaml up -d core

docker exec -it core bash

# In the docker container

ros2 launch reachy_bringup reachy.launch.py start_sdk_server:=true
Delete task

Are you sure you want to delete this task? Once this task is deleted, it cannot be recovered.

cancel
confirm

DORA (Dataflow-Oriented Robotic Architecture) is middleware designed to streamline and simplify the creation of AI-based robotic applications. It offers low latency, composable, and distributed datafl

Rust Python TOML Markdown C other