LeRobot

This is the guide:

• https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md

Basic commands

Finding the motor bus

python lerobot/scripts/find_motors_bus_port.py

leader /dev/tty.usbmodem21101

follower /dev/tty.usbmodem21301

Recording a dataset

python lerobot/scripts/control_robot.py \
  --robot.type=koch \
  --control.type=record \
  --control.single_task="Grasp the rubber duck and put it in the cup." \
  --control.fps=30 \
  --control.repo_id=${HF_USER}/duck_in_cup \
  --control.warmup_time_s=5 \
  --control.episode_time_s=15 \
  --control.reset_time_s=15 \
  --control.num_episodes=2 \
  --control.push_to_hub=false