Transition to creating local copy of lerobot and copying overlay files

.gitignore

@@ -4,9 +4,6 @@ __pycache__
 *.so
 *.deb
 data/*
-data/lerobot/notebooks/outputs
-data/lerobot/99-usb-serial.rule
-!data/lerobot
 logs
 test/data
 runner

packages/robots/lerobot/clone_lerobot_dir_under_data.sh

@@ -0,0 +1,35 @@
+#!/bin/bash
+
+# Get the directory where the script resides
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+# Define the relative target directory (3 levels up, then into "data" directory based on script location)
+RELATIVE_TARGET_DIR="$SCRIPT_DIR/../../../data"
+
+# Resolve the absolute path to the target directory
+TARGET_DIR="$(realpath "$RELATIVE_TARGET_DIR")"
+
+# Define the GitHub repository URL
+REPO_URL="https://github.com/huggingface/lerobot.git"
+
+# Extract the repo name from the URL
+REPO_NAME=$(basename -s .git "$REPO_URL")
+
+# Full path to the target directory where the repo will be cloned
+CLONE_PATH="$TARGET_DIR/$REPO_NAME"
+
+# Check if the directory already exists
+if [ -d "$CLONE_PATH" ]; then
+    echo "Directory $CLONE_PATH already exists. Skipping clone."
+else
+    # Clone the repository
+    git clone "$REPO_URL" "$CLONE_PATH"
+
+    # Check if cloning was successful by verifying if the directory exists
+    if [ ! -d "$CLONE_PATH" ]; then
+        echo "Error: Failed to clone repository to $CLONE_PATH"
+        exit 1
+    else
+        echo "Repository cloned successfully to $CLONE_PATH."
+    fi
+fi

packages/robots/lerobot/copy_overlay_files_in_data_lerobot.sh

@@ -0,0 +1,33 @@
+#!/bin/bash
+
+# Get the directory where the script resides
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+# Define the overlay source directory (relative to where the script is located)
+OVERLAY_DIR="$SCRIPT_DIR/lerobot_overlay"
+
+# Define the relative target directory (3 levels up, then into "data/lerobot")
+RELATIVE_TARGET_DIR="$SCRIPT_DIR/../../../data/lerobot"
+
+# Resolve the absolute path to the target directory
+TARGET_DIR="$(realpath "$RELATIVE_TARGET_DIR")"
+
+# Check if the overlay directory exists
+if [ ! -d "$OVERLAY_DIR" ]; then
+    echo "Overlay directory $OVERLAY_DIR does not exist."
+    exit 1
+fi
+
+# Check if the target directory exists
+if [ ! -d "$TARGET_DIR" ]; then
+    echo "[Error] Target directory $TARGET_DIR does not exist."
+    echo " "
+    echo "Run 'clone_lerobot_dir_under_data.sh' first."
+    exit 1
+fi
+
+# Copy the contents from the overlay directory to the target directory
+echo "Copying files from $OVERLAY_DIR to $TARGET_DIR"
+cp -r "$OVERLAY_DIR"/* "$TARGET_DIR"
+
+echo "Files copied successfully!"

packages/robots/lerobot/docs.md

@@ -69,7 +69,7 @@ The output should look like this.
 lrwxrwxrwx 1 root root 13 Sep 24 13:07 usb-ROBOTIS_OpenRB-150_BA98C8C350304A46462E3120FF121B06-if00 -> ../../ttyACM1
 ```
 
-Then edit the first line of `./data/lerobot/99-usb-serial.rules` like the following.
+Then edit the first line of `./99-usb-serial.rules` like the following.
 
 ```
 SUBSYSTEM=="tty", ATTRS{idVendor}=="2f5d", ATTRS{idProduct}=="2202", ATTRS{serial}=="BA98C8C350304A46462E3120FF121B06", SYMLINK+="ttyACM_kochleader"
@@ -86,17 +86,17 @@ lrwxrwxrwx 1 root root 13 Sep 24 13:07 usb-ROBOTIS_OpenRB-150_483F88DC50304A4646
 $ vi ./data/lerobot/99-usb-serial.rules
 ```
 
-You should have `./data/lerobot/99-usb-serial.rules` now looking like this:
+You should have `./99-usb-serial.rules` now looking like this:
 
 ```
 SUBSYSTEM=="tty", ATTRS{idVendor}=="2f5d", ATTRS{idProduct}=="2202", ATTRS{serial}=="BA98C8C350304A46462E3120FF121B06", SYMLINK+="ttyACM_kochleader"
 SUBSYSTEM=="tty", ATTRS{idVendor}=="2f5d", ATTRS{idProduct}=="2202", ATTRS{serial}=="483F88DC50304A46462E3120FF0C081A", SYMLINK+="ttyACM_kochfollower"
 ```
 
-Finally copy this under `/etc/udev/rules.d/`, and restart Jetson.
+Finally copy this under `/etc/udev/rules.d/` (of host), and restart Jetson.
 
 ```
-sudo cp ./data/lerobot/99-usb-serial.rules /etc/udev/rules.d/
+sudo cp ./99-usb-serial.rules /etc/udev/rules.d/
 sudo reboot
 ```
 
@@ -115,15 +115,20 @@ lrwxrwxrwx 1 root root         7 Sep 24 17:20 /dev/ttyACM_kochfollower -> ttyACM
 lrwxrwxrwx 1 root root         7 Sep 24 16:13 /dev/ttyACM_kochleader -> ttyACM1
 ```
 
-### Start the container
+### Create the local copy of lerobot on host (under `jetson-containers/data` dir)
+
+```bash
+cd jetson-containers
+./packages/robots/lerobot/clone_lerobot_dir_under_data.sh
+./packages/robots/lerobot/copy_overlay_files_in_data_lerobot.sh
+```
+
+### Start the container with local lerobot dir mounted
 
 ```bash
 ./run.sh \
   --csi2webcam --csi-capture-res='1640x1232@30' --csi-output-res='640x480@30' \
-  -v ${PWD}/data/lerobot/.cache/calibration/koch:/opt/lerobot/.cache/calibration/koch \
-  -v ${PWD}/data/lerobot/lerobot/configs/robot/koch.yaml:/opt/lerobot/lerobot/configs/robot/koch.yaml \
-  -v ${PWD}/data/lerobot/notebooks/:/opt/lerobot/notebooks \
-  -v ${PWD}/data/lerobot/data/:/opt/lerobot/data \
+  -v ${PWD}/data/lerobot/:/opt/lerobot/ \
   $(./autotag lerobot)
 ```
 
@@ -140,7 +145,7 @@ JupyterLab logs:  /data/logs/jupyter.log
 
 Copy and paste the address on your web browser and access the Jupyter Lab server.
 
-Navigate to `./notebooks/` and open `7_get_started_with_real_robot.ipynb`.
+Navigate to `./notebooks/` and open the first notebook.
 
 Now follow the Jupyter notebook contents.
 

packages/robots/lerobot/lerobot_overlay/.cache/calibration/koch/main_follower.json

@@ -0,0 +1,20 @@
+{
+    "homing_offset": [
+        2048, 3072, 3072, 2048, -1024, 2048
+    ],
+    "drive_mode": [
+        1, 1, 1, 1, 0, 1
+    ],
+    "start_pos": [
+        2024, 3067, 2987, 2079, 1012, 2080
+    ],
+    "end_pos": [
+        -1034, -2065, -2047, -1013, 1979, -1072
+    ],
+    "calib_mode": [
+        "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE"
+    ],
+    "motor_names": [
+        "shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"
+    ]
+}

packages/robots/lerobot/lerobot_overlay/.cache/calibration/koch/main_leader.json

@@ -0,0 +1,20 @@
+{
+    "homing_offset": [
+        2048, 3072, -1024, -2048, 1024, -2048
+    ],
+    "drive_mode": [
+        1, 1, 0, 0, 0, 0
+    ],
+    "start_pos": [
+        2033, 2957, 1119, 1967, -1037, 1920
+    ],
+    "end_pos": [
+        -1054, -2034, 2095, 3063, -63, 2680
+    ],
+    "calib_mode": [
+        "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE"
+    ],
+    "motor_names": [
+        "shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"
+    ]
+}

data/lerobot/lerobot/configs/robot/koch.yaml → packages/robots/lerobot/lerobot_overlay/lerobot/configs/robot/koch.yaml

@@ -36,14 +36,14 @@ follower_arms:
 cameras:
   laptop:
     _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
-    camera_index: 0
-    fps: 30
+    camera_index: 3
+    fps: 25
     width: 640
     height: 480
   phone:
     _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
-    camera_index: 1
-    fps: 30
+    camera_index: 2
+    fps: 25
     width: 640
     height: 480