merging

.cache/calibration/koch/main_follower.json

@@ -0,0 +1 @@
+{"homing_offset": [2048, 3072, 3072, 3072, -3072, -2048], "drive_mode": [1, 1, 1, 1, 0, 0], "start_pos": [2033, 3036, 2965, 3157, 3075, 2002], "end_pos": [-1019, -2043, -2023, -2027, 4081, 2981], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}

.cache/calibration/koch/main_leader.json

@@ -0,0 +1 @@
+{"homing_offset": [2048, 3072, -1024, -1024, -4096, -2048], "drive_mode": [1, 1, 0, 0, 0, 0], "start_pos": [2002, 3124, 1048, 955, 4136, 1948], "end_pos": [-921, -2029, 2112, 2002, 4967, 2694], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}

lerobot/common/robot_devices/cameras/opencv.py

@@ -233,6 +233,9 @@ def connect(self):
         if platform.system() == "Linux":
             # Linux uses ports for connecting to cameras
             tmp_camera = cv2.VideoCapture(f"/dev/video{self.camera_index}")
+        elif platform.system() == "Windows":
+            # Windows needs to use CAP_DSHOW for fast camera access
+            tmp_camera = cv2.VideoCapture(self.camera_index, cv2.CAP_DSHOW)
         else:
             tmp_camera = cv2.VideoCapture(self.camera_index)
 
@@ -258,6 +261,8 @@ def connect(self):
         # needs to be re-created.
         if platform.system() == "Linux":
             self.camera = cv2.VideoCapture(f"/dev/video{self.camera_index}")
+        elif platform.system() == "Windows":
+            self.camera = cv2.VideoCapture(self.camera_index, cv2.CAP_DSHOW)
         else:
             self.camera = cv2.VideoCapture(self.camera_index)
 

lerobot/common/robot_devices/robots/manipulator.py

@@ -398,6 +398,7 @@ def connect(self):
 
         # Connect the cameras
         for name in self.cameras:
+            print(f"Connecting {name} camera.")
             self.cameras[name].connect()
 
         self.is_connected = True

lerobot/configs/robot/koch.yaml

@@ -10,7 +10,7 @@ max_relative_target: null
 leader_arms:
   main:
     _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
-    port: /dev/tty.usbmodem575E0031751
+    port: COM7
     motors:
       # name: (index, model)
       shoulder_pan: [1, "xl330-m077"]
@@ -23,7 +23,7 @@ leader_arms:
 follower_arms:
   main:
     _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
-    port: /dev/tty.usbmodem575E0032081
+    port: COM6
     motors:
       # name: (index, model)
       shoulder_pan: [1, "xl430-w250"]
@@ -35,17 +35,17 @@ follower_arms:
 
 cameras:
   laptop:
-    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
-    camera_index: 0
-    fps: 30
-    width: 640
-    height: 480
-  phone:
     _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
     camera_index: 1
     fps: 30
     width: 640
     height: 480
+  # phone:
+  #   _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+  #   camera_index: 1
+  #   fps: 30
+  #   width: 640
+  #   height: 480
 
 # ~ Koch specific settings ~
 # Sets the leader arm in torque mode with the gripper motor set to this angle. This makes it possible

lerobot/scripts/test_push.py

@@ -0,0 +1,16 @@
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.scripts.push_dataset_to_hub import push_meta_data_to_hub, push_videos_to_hub, create_branch
+from pathlib import Path
+
+repo_id = 'bchandaka/acm_move_square'
+root = 'data'
+
+dataset = LeRobotDataset(repo_id, root=root)
+dataset.hf_dataset.push_to_hub(repo_id, revision="main")
+local_dir = Path('./data/bchandaka/acm_move_square')
+meta_data_dir = local_dir / "meta_data"
+videos_dir = local_dir / "videos"
+push_meta_data_to_hub(repo_id, meta_data_dir, revision="main")
+push_videos_to_hub(repo_id, videos_dir, revision="main")
+create_branch(repo_id, repo_type="dataset", branch='v1.6')
+