From d1e2e905cc9a2484b088071dec4f08f200304f7a Mon Sep 17 00:00:00 2001 From: Shantanu Date: Thu, 19 Sep 2024 12:14:15 -0500 Subject: [PATCH 1/5] Add troubleshooting for known issues --- docs/operation/lerobot_guide.rst | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/docs/operation/lerobot_guide.rst b/docs/operation/lerobot_guide.rst index 493caa0..ca94915 100644 --- a/docs/operation/lerobot_guide.rst +++ b/docs/operation/lerobot_guide.rst @@ -366,6 +366,19 @@ Troubleshooting 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 `_ - `LeRobot Github `_ +#. **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 `_ + +#. **Checkout LeRobot Documentation for further help and details.** + + `LeRobot Github `_ \ No newline at end of file From 79e57ff662fb86c82677de69c82025d9b0b125e4 Mon Sep 17 00:00:00 2001 From: Shantanu Date: Thu, 19 Sep 2024 13:18:20 -0500 Subject: [PATCH 2/5] Added missing installation steps --- docs/operation/lerobot_guide.rst | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/docs/operation/lerobot_guide.rst b/docs/operation/lerobot_guide.rst index ca94915..5218ac3 100644 --- a/docs/operation/lerobot_guide.rst +++ b/docs/operation/lerobot_guide.rst @@ -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 ============= From e9eaf6053574965b6cb4b5fb0734d2af93e0b2a8 Mon Sep 17 00:00:00 2001 From: Shantanu Date: Thu, 19 Sep 2024 14:18:31 -0500 Subject: [PATCH 3/5] Troubleshooting steps changed to subheadings --- docs/operation/lerobot_guide.rst | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/docs/operation/lerobot_guide.rst b/docs/operation/lerobot_guide.rst index 5218ac3..442f786 100644 --- a/docs/operation/lerobot_guide.rst +++ b/docs/operation/lerobot_guide.rst @@ -345,7 +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: @@ -354,7 +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: @@ -368,23 +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. -#. **Frequency drops during evaluation** +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 `_ -#. **Compute Dataset Statistic Failure** +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 `_ -#. **Checkout LeRobot Documentation for further help and details.** +Checkout LeRobot Documentation for further help and details +----------------------------------------------------------- `LeRobot Github `_ \ No newline at end of file From c6f25ad1fdafacee8a6052806d1532573b9b302e Mon Sep 17 00:00:00 2001 From: Shantanu Date: Fri, 20 Sep 2024 10:03:25 -0500 Subject: [PATCH 4/5] Removing VENV, fixing syntax --- docs/operation/lerobot_guide.rst | 46 +++++++++----------------------- 1 file changed, 13 insertions(+), 33 deletions(-) diff --git a/docs/operation/lerobot_guide.rst b/docs/operation/lerobot_guide.rst index 442f786..b143903 100644 --- a/docs/operation/lerobot_guide.rst +++ b/docs/operation/lerobot_guide.rst @@ -2,51 +2,31 @@ LeRobot X Aloha User Guide ========================== -Virtual Environment Setup -========================= - -Containerization is crucial for running machine learning models to avoid dependency conflicts. -You can either use a Virtual Environment (venv) or Conda for this purpose. - -Using Virtual Environment (venv) --------------------------------- - -#. Install the virtual environment package: +Setting up Conda Environment +============================ - .. code-block:: bash - - $ sudo apt-get install python3-venv +Download and Install Miniconda +------------------------------ -#. Create a virtual environment: - - .. code-block:: bash +To begin, follow the official `Miniconda Installation Guide `_ +to download and install Miniconda on your system. - $ python3 -m venv ~/lerobot # Creates a venv "lerobot" in the home directory - -#. Activate the virtual environment: - - .. code-block:: bash - - $ source ~/lerobot/bin/activate - -Using Conda ------------ +Environment Setup +----------------- -#. Create a virtual environment: +1. Create a virtual environment: .. code-block:: bash - $ conda create -n lerobot python=3.10 + conda create -n lerobot python=3.10 -#. Activate the virtual environment: +2. Activate the virtual environment: .. code-block:: bash - $ conda activate lerobot + conda activate lerobot -.. note:: - Use either `venv` or `Conda` based on your preference, but **do not** mix them to avoid dependency issues. Clone Repository ================ @@ -158,7 +138,7 @@ The system supports episode-based data collection, where episodes are time-bound #. The :guilabel:`--num-episodes` defines the total number of episodes to be collected. Therefore it will check the existing output directories for any previously recorded episodes and will start recording from the last recorded episode. - #. The recorded data is pushed to hugging face hub by default you can set this false by using :guilabel:`--push_to_hub 0`. + #. The recorded data is pushed to hugging face hub by default you can set this false by using :guilabel:`--push-to-hub 0`. .. note:: From 6e37268d085ca552bae09207655a36afa17f1d26 Mon Sep 17 00:00:00 2001 From: Shantanu Date: Fri, 20 Sep 2024 10:16:48 -0500 Subject: [PATCH 5/5] Fix syntax --- docs/operation/lerobot_guide.rst | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/operation/lerobot_guide.rst b/docs/operation/lerobot_guide.rst index b143903..0fb0b67 100644 --- a/docs/operation/lerobot_guide.rst +++ b/docs/operation/lerobot_guide.rst @@ -14,13 +14,13 @@ to download and install Miniconda on your system. Environment Setup ----------------- -1. Create a virtual environment: +#. Create a virtual environment: .. code-block:: bash conda create -n lerobot python=3.10 -2. Activate the virtual environment: +#. Activate the virtual environment: .. code-block:: bash @@ -326,7 +326,7 @@ Troubleshooting If you encounter issues, follow these troubleshooting steps: OpenCV Installation Issues (Linux) --------------------------------------- +---------------------------------- If you encounter OpenCV installation issues, uninstall it via :guilabel:`pip` and reinstall using Conda: @@ -336,7 +336,7 @@ OpenCV Installation Issues (Linux) $ conda install -c conda-forge opencv=4.10.0 FFmpeg Encoding Error (:guilabel:`unknown encoder libsvtav1`) ---------------------------------------------------- +------------------------------------------------------------- Install FFmpeg with :guilabel:`libsvtav1` support via Conda-Forge or Homebrew: