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lukeschmitt-tr committed Sep 19, 2024
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35 changes: 30 additions & 5 deletions _sources/operation/lerobot_guide.rst
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Expand Up @@ -69,6 +69,12 @@ Build and Install LeRobot Models
$ cd lerobot && pip install -e .
#. As we are working with real robots we will require to install dependencies for :guilabel:`intelrealsense` camera's and :guilabel:`dynamixel` servos.

.. code-block:: bash
$ cd lerobot && pip install .[intelrealsense,dynamixel]
Teleoperation
=============

Expand Down Expand Up @@ -339,7 +345,8 @@ Troubleshooting
.. warning::
If you encounter issues, follow these troubleshooting steps:

#. **OpenCV Installation Issues (Linux)**
OpenCV Installation Issues (Linux)
--------------------------------------

If you encounter OpenCV installation issues, uninstall it via :guilabel:`pip` and reinstall using Conda:

Expand All @@ -348,7 +355,8 @@ Troubleshooting
$ pip uninstall opencv-python
$ conda install -c conda-forge opencv=4.10.0
#. **FFmpeg Encoding Error (`unknown encoder libsvtav1`)**
FFmpeg Encoding Error (:guilabel:`unknown encoder libsvtav1`)
---------------------------------------------------

Install FFmpeg with :guilabel:`libsvtav1` support via Conda-Forge or Homebrew:

Expand All @@ -362,10 +370,27 @@ Troubleshooting
$ brew install ffmpeg
#. **Arrow Keys Not Working During Data Recording (Linux)**
Arrow Keys Not Working During Data Recording (Linux)
----------------------------------------------------

Ensure that the :guilabel:`$DISPLAY` environment variable is set correctly.

#. Checkout LeRobot Documentation for further help and details.
Frequency drops during evaluation
---------------------------------

This happens on low-performance systems due to their inability to handle multi-threaded I/O operations.
Checkout the following version for a smoother operation.
Changes will be integrated soon in the newer version of the repository.
`Low Frequency Fix <https://github.com/Interbotix/lerobot/pull/3>`_

Compute Dataset Statistic Failure
---------------------------------

It is noticed that on low-performance systems the compute statistic fails due to high batch size and number of workers.
Checkout the following version with lower batch size and number of workers.
`Compute Statistic Fix <https://github.com/Interbotix/lerobot/pull/4>`_

Checkout LeRobot Documentation for further help and details
-----------------------------------------------------------

`LeRobot Github <https://github.com/huggingface/lerobot>`_
`LeRobot Github <https://github.com/huggingface/lerobot>`_
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66 changes: 51 additions & 15 deletions operation/lerobot_guide.html
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Expand Up @@ -100,7 +100,15 @@
<li class="toctree-l4"><a class="reference internal" href="#datasets-for-training-and-augmentation">Datasets for Training and Augmentation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="#troubleshooting">Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="#troubleshooting">Troubleshooting</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#opencv-installation-issues-linux">OpenCV Installation Issues (Linux)</a></li>
<li class="toctree-l4"><a class="reference internal" href="#ffmpeg-encoding-error-unknown-encoder-libsvtav1">FFmpeg Encoding Error (<span class="guilabel">unknown encoder libsvtav1</span>)</a></li>
<li class="toctree-l4"><a class="reference internal" href="#arrow-keys-not-working-during-data-recording-linux">Arrow Keys Not Working During Data Recording (Linux)</a></li>
<li class="toctree-l4"><a class="reference internal" href="#frequency-drops-during-evaluation">Frequency drops during evaluation</a></li>
<li class="toctree-l4"><a class="reference internal" href="#compute-dataset-statistic-failure">Compute Dataset Statistic Failure</a></li>
<li class="toctree-l4"><a class="reference internal" href="#checkout-lerobot-documentation-for-further-help-and-details">Checkout LeRobot Documentation for further help and details</a></li>
</ul>
</li>
</ul>
</li>
</ul>
Expand Down Expand Up @@ -199,6 +207,11 @@ <h2>Build and Install LeRobot Models<a class="headerlink" href="#build-and-insta
</pre></div>
</div>
</li>
<li><p class="first">As we are working with real robots we will require to install dependencies for <span class="guilabel">intelrealsense</span> camera’s and <span class="guilabel">dynamixel</span> servos.</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>lerobot<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>pip<span class="w"> </span>install<span class="w"> </span>.<span class="o">[</span>intelrealsense,dynamixel<span class="o">]</span>
</pre></div>
</div>
</li>
</ol>
</div>
<div class="section" id="teleoperation">
Expand Down Expand Up @@ -440,31 +453,54 @@ <h2>Troubleshooting<a class="headerlink" href="#troubleshooting" title="Permalin
<p class="first admonition-title">Warning</p>
<p class="last">If you encounter issues, follow these troubleshooting steps:</p>
</div>
<ol class="arabic">
<li><p class="first"><strong>OpenCV Installation Issues (Linux)</strong></p>
<p>If you encounter OpenCV installation issues, uninstall it via <span class="guilabel">pip</span> and reinstall using Conda:</p>
<div class="section" id="opencv-installation-issues-linux">
<h3>OpenCV Installation Issues (Linux)<a class="headerlink" href="#opencv-installation-issues-linux" title="Permalink to this headline"></a></h3>
<blockquote>
<div><p>If you encounter OpenCV installation issues, uninstall it via <span class="guilabel">pip</span> and reinstall using Conda:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>pip<span class="w"> </span>uninstall<span class="w"> </span>opencv-python
$<span class="w"> </span>conda<span class="w"> </span>install<span class="w"> </span>-c<span class="w"> </span>conda-forge<span class="w"> </span><span class="nv">opencv</span><span class="o">=</span><span class="m">4</span>.10.0
</pre></div>
</div>
</li>
<li><p class="first"><strong>FFmpeg Encoding Error (`unknown encoder libsvtav1`)</strong></p>
<p>Install FFmpeg with <span class="guilabel">libsvtav1</span> support via Conda-Forge or Homebrew:</p>
</div></blockquote>
</div>
<div class="section" id="ffmpeg-encoding-error-unknown-encoder-libsvtav1">
<h3>FFmpeg Encoding Error (<span class="guilabel">unknown encoder libsvtav1</span>)<a class="headerlink" href="#ffmpeg-encoding-error-unknown-encoder-libsvtav1" title="Permalink to this headline"></a></h3>
<blockquote>
<div><p>Install FFmpeg with <span class="guilabel">libsvtav1</span> support via Conda-Forge or Homebrew:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>conda<span class="w"> </span>install<span class="w"> </span>-c<span class="w"> </span>conda-forge<span class="w"> </span>ffmpeg
</pre></div>
</div>
<p>Or:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>brew<span class="w"> </span>install<span class="w"> </span>ffmpeg
</pre></div>
</div>
</li>
<li><p class="first"><strong>Arrow Keys Not Working During Data Recording (Linux)</strong></p>
<p>Ensure that the <span class="guilabel">$DISPLAY</span> environment variable is set correctly.</p>
</li>
<li><p class="first">Checkout LeRobot Documentation for further help and details.</p>
<p><a class="reference external" href="https://github.com/huggingface/lerobot" rel="noopener noreferrer" target="_blank">LeRobot Github</a></p>
</li>
</ol>
</div></blockquote>
</div>
<div class="section" id="arrow-keys-not-working-during-data-recording-linux">
<h3>Arrow Keys Not Working During Data Recording (Linux)<a class="headerlink" href="#arrow-keys-not-working-during-data-recording-linux" title="Permalink to this headline"></a></h3>
<blockquote>
<div>Ensure that the <span class="guilabel">$DISPLAY</span> environment variable is set correctly.</div></blockquote>
</div>
<div class="section" id="frequency-drops-during-evaluation">
<h3>Frequency drops during evaluation<a class="headerlink" href="#frequency-drops-during-evaluation" title="Permalink to this headline"></a></h3>
<blockquote>
<div>This happens on low-performance systems due to their inability to handle multi-threaded I/O operations.
Checkout the following version for a smoother operation.
Changes will be integrated soon in the newer version of the repository.
<a class="reference external" href="https://github.com/Interbotix/lerobot/pull/3" rel="noopener noreferrer" target="_blank">Low Frequency Fix</a></div></blockquote>
</div>
<div class="section" id="compute-dataset-statistic-failure">
<h3>Compute Dataset Statistic Failure<a class="headerlink" href="#compute-dataset-statistic-failure" title="Permalink to this headline"></a></h3>
<blockquote>
<div>It is noticed that on low-performance systems the compute statistic fails due to high batch size and number of workers.
Checkout the following version with lower batch size and number of workers.
<a class="reference external" href="https://github.com/Interbotix/lerobot/pull/4" rel="noopener noreferrer" target="_blank">Compute Statistic Fix</a></div></blockquote>
</div>
<div class="section" id="checkout-lerobot-documentation-for-further-help-and-details">
<h3>Checkout LeRobot Documentation for further help and details<a class="headerlink" href="#checkout-lerobot-documentation-for-further-help-and-details" title="Permalink to this headline"></a></h3>
<blockquote>
<div><a class="reference external" href="https://github.com/huggingface/lerobot" rel="noopener noreferrer" target="_blank">LeRobot Github</a></div></blockquote>
</div>
</div>
</div>

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