From 00449c010d90c1eabeef2bfe6eb3096b3ecb4608 Mon Sep 17 00:00:00 2001 From: Shantanu Parab Date: Mon, 9 Dec 2024 11:32:39 -0600 Subject: [PATCH] Fixed Reviewed Code 1-Pending --- docs/_data/bringup.csv | 2 +- docs/getting_started/solo/hardware_setup.rst | 6 ++++- docs/getting_started/solo/software_setup.rst | 22 ++++++++++------- docs/gui.rst | 25 +++++++++----------- docs/operation/bringup_shutdown.rst | 1 + docs/operation/data_collection.rst | 2 +- docs/training.rst | 4 ++-- docs/training/hugging_face.rst | 8 +++---- 8 files changed, 38 insertions(+), 32 deletions(-) diff --git a/docs/_data/bringup.csv b/docs/_data/bringup.csv index a20af17..8a5616f 100644 --- a/docs/_data/bringup.csv +++ b/docs/_data/bringup.csv @@ -9,7 +9,7 @@ leader_modes_left,the file path to the 'mode config' YAML file for the left lead leader_modes_right,the file path to the 'mode config' YAML file for the right leader arm.,LocalVar('FindPackageShare\(pkg= ``aloha``\) + 'config' + 'leader_modes_right.yaml''), follower_modes_left,the file path to the 'mode config' YAML file for the left follower arm.,LocalVar('FindPackageShare\(pkg= ``aloha``\) + 'config' + 'follower_modes_left.yaml''), follower_modes_right,the file path to the 'mode config' YAML file for the right follower arm.,LocalVar('FindPackageShare\(pkg= ``aloha``\) + 'config' + 'follower_modes_right.yaml''), -launch_leaders,"if ``true``, launches both the leader and follower arms; if ``false, just the followers are launched.",``true``,"``true``, ``false``" +launch_leaders,"if ``true``, launches both the leader and follower arms; if ``false``, just the followers are launched.",``true``,"``true``, ``false``" use_cameras,"if ``true``, launches the camera drivers.",``true``,"``true``, ``false``" cam_high_name,,``cam_high``, cam_low_name,,``cam_low``, diff --git a/docs/getting_started/solo/hardware_setup.rst b/docs/getting_started/solo/hardware_setup.rst index 3343674..ea3b68f 100644 --- a/docs/getting_started/solo/hardware_setup.rst +++ b/docs/getting_started/solo/hardware_setup.rst @@ -26,6 +26,10 @@ Steps #. Find a stable, flat surface to place your arms. Once satisfied, secure them using `Gorilla Tape `_ or G-Clamps. #. Connect the power cables to the arms. #. Position the tripod so the camera effectively covers the experiment space. - **Warning:** Keep the camera position consistent throughout data collection and evaluation for optimal results. + + .. warning:: + + Keep the camera position consistent throughout data collection and evaluation for optimal results. + #. Connect the camera cables and arm cables to the USB hub. #. Connect the USB hub to your computer. \ No newline at end of file diff --git a/docs/getting_started/solo/software_setup.rst b/docs/getting_started/solo/software_setup.rst index 5f20986..31f4379 100644 --- a/docs/getting_started/solo/software_setup.rst +++ b/docs/getting_started/solo/software_setup.rst @@ -121,36 +121,40 @@ Depending on the orientation of the pair you plan to use, configure the device n To set these up, do the following: -1. Plug in only the leader left robot to the computer. +#. Plug in only the leader robot to the computer. -2. Determine its device name by checking the ``/dev`` directory before and after plugging the device in. +#. Determine its device name by checking the ``/dev`` directory before and after plugging the device in. This is likely something like ``/dev/ttyUSB0``. -3. Print out the device serial number by running the following command: +#. Print out the device serial number by running the following command: .. code-block:: bash $ udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep ATTRS{serial} | head -n 1 | cut -d '"' -f2 FT88YWBJ -4. The output of the command will look like ``FT88YWBJ`` and be the serial number of the arm's U2D2 serial converter. +#. The output of the command will look like ``FT88YWBJ`` and be the serial number of the arm's U2D2 serial converter. -5. Add the following line to the computer's fixed Interbotix udev rules at ``/etc/udev/rules.d/99-fixed-interbotix-udev.rules``: +#. Add the following line to the computer's Interbotix udev rules file located at ``/etc/udev/rules.d/99-fixed-interbotix-udev.rules``. + You only need to configure a leader and a follower. + The orientation (left or right) depends on your choice. + If you use a right leader, ensure you pair it with a right follower, and similarly for the left orientation. + Update the serial number and symlink name accordingly for your chosen configuration: .. code-block:: bash SUBSYSTEM=="tty", ATTRS{serial}=="", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL_leader_left" # ^^^^^^^^^^^^^^^ The result from the previous step -6. Repeat for the other arm. +#. Repeat for the other arm. -7. To update and refresh the rules, run the following command: +#. To update and refresh the rules, run the following command: .. code-block:: bash $ sudo udevadm control --reload && sudo udevadm trigger -8. Plug both arms back into the computer and verify that you can see all devices. +#. Plug both arms back into the computer and verify that you can see all devices. Depending on whether you configured the arms for a left or right orientation, you will see the corresponding device names: .. code-block:: bash @@ -196,7 +200,7 @@ Camera Setup 4. Put the camera serial number in the appropriate config entry at ``~/interbotix_ws/src/aloha/config/robot/aloha_solo.yaml``. -5. Repeat for the rest of the cameras. +5. Repeat for the other camera. If the workspace has not been symbolically-linked, a rebuild may be necessary. Post-Install Software Tips diff --git a/docs/gui.rst b/docs/gui.rst index d862144..0dc7ebc 100644 --- a/docs/gui.rst +++ b/docs/gui.rst @@ -81,9 +81,11 @@ Application Features - Re-Record: Allows re-recording of the current episode if necessary. #. Progress Tracking: + - A progress bar tracks the recording session in real-time, displaying completion percentage. #. Camera Views: + - View multiple camera feeds in real-time during recording for better monitoring. #. Configuration Management: @@ -92,6 +94,7 @@ Application Features - Edit Task Configuration: Adjust task-specific parameters via a YAML editor. #. Quit Button: + - Use the Quit button in the menu to gracefully exit the application. Configuration Management @@ -114,7 +117,7 @@ Task-specific parameters are stored in the `tasks_config.yaml` file. Below is an episode_length_s: 12 warmup_time_s: 1 reset_time_s: 5 - hf_user: "TrossenRobotics" + hf_user: "YourUser" fps: 30 push_to_hub: false @@ -122,7 +125,7 @@ Task-specific parameters are stored in the `tasks_config.yaml` file. Below is an episode_length_s: 15 warmup_time_s: 5 reset_time_s: 10 - hf_user: "TrossenRobotics" + hf_user: "YourUser" fps: 30 push_to_hub: false @@ -130,7 +133,7 @@ Task-specific parameters are stored in the `tasks_config.yaml` file. Below is an episode_length_s: 9 warmup_time_s: 5 reset_time_s: 5 - hf_user: "TrossenRobotics" + hf_user: "YourUser" fps: 30 push_to_hub: false @@ -207,16 +210,11 @@ Below is a simplified version of a robot configuration file: - **leader_arms / follower_arms**: Specifies motor configurations for both leader and follower arms, including ports and motor models. - **cameras**: Configures Intel RealSense cameras with serial numbers, frame rates, and resolutions. -**Steps to Configure the Robot YAML:** - -#. **Set Ports for Arms**: - Update the `port` fields for `leader_arms` and `follower_arms` based on the symbolic links set for the robotic arms. +#. **Set Ports for Arms**: Update the `port` fields for `leader_arms` and `follower_arms` based on the symbolic links set for the robotic arms. -#. **Add Serial Numbers for Cameras**: - Use the Intel RealSense Viewer to obtain and add the correct serial numbers for each camera under the `cameras` section. +#. **Add Serial Numbers for Cameras**: Use the Intel RealSense Viewer to obtain and add the correct serial numbers for each camera under the `cameras` section. -#. **Verify Calibration**: - Ensure the `calibration_dir` points to the appropriate calibration files. +#. **Verify Calibration**: Ensure the `calibration_dir` points to the appropriate calibration files. Once the above configurations are completed, your setup is ready for teleoperation, data recording, and other tasks. @@ -228,9 +226,8 @@ For detailed instructions on the hardware setup, please refer to the official do This guide provides comprehensive information, including: -- Connecting the Arms: Step-by-step guidance to assemble and connect the robotic arms. -- Serial Number Configuration: Instructions on setting up and verifying serial numbers for the arms. -- Camera Setup: Using the Intel RealSense Viewer for calibrating and positioning cameras effectively. +- `Arm Configuration `_: Step-by-step guidance to assemble and connect the robotic arms. +- `Camera Setup `_: Using the Intel RealSense Viewer for calibrating and positioning cameras effectively. License diff --git a/docs/operation/bringup_shutdown.rst b/docs/operation/bringup_shutdown.rst index 1a088b6..ab52bd5 100644 --- a/docs/operation/bringup_shutdown.rst +++ b/docs/operation/bringup_shutdown.rst @@ -109,3 +109,4 @@ Please refer to the following table for details: :file: ../_data/bringup.csv :header-rows: 1 :widths: 20, 60, 20, 20 + diff --git a/docs/operation/data_collection.rst b/docs/operation/data_collection.rst index 937fd87..7ecc715 100644 --- a/docs/operation/data_collection.rst +++ b/docs/operation/data_collection.rst @@ -235,4 +235,4 @@ Aloha Solo What's Next? ============ -With the data collected, we are ready to :doc:`train and evaluate ` the machine learning models. +With the data collected, we are ready to :doc:`train and evaluate <../training>` the machine learning models. diff --git a/docs/training.rst b/docs/training.rst index 6dcd17e..bde084f 100644 --- a/docs/training.rst +++ b/docs/training.rst @@ -47,8 +47,8 @@ Conda Setup -Training and Evaluation -======================= +Train and Evaluate +================== Depending upon the setup you are using diff --git a/docs/training/hugging_face.rst b/docs/training/hugging_face.rst index 822f38f..4e75883 100644 --- a/docs/training/hugging_face.rst +++ b/docs/training/hugging_face.rst @@ -10,8 +10,8 @@ If you don't already have an account, sign up for a new account on the `Hugging Creating a New Dataset Repository --------------------------------- -Web Interface -^^^^^^^^^^^^^ +Web Interface (Create Repository) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ #. Navigate to the `Hugging Face website `_. #. Log in to your account. @@ -38,8 +38,8 @@ Uploading Your Dataset You have two primary methods to upload datasets: through the web interface or using the Python API. -Web Interface -^^^^^^^^^^^^^ +Web Interface (Upload Dataset) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ #. Navigate to your dataset repository on the Hugging Face website. #. Click on the "Files and versions" tab.