インモビインモビ

$ git clone https://github.com/huggingface/lerobot.git
$ cd lerobot

$ sudo apt-get install cmake build-essential python3-dev pkg-config libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev

$ uv run python -m lerobot.scripts.visualize_dataset \
    --repo-id lerobot/pusht \
    --episode-index 0

huggingface_hub.errors.LocalEntryNotFoundError: An error happened while trying to locate the file on the Hub and we cannot find the requested files in the local cache. Please check your connection and try again or make sure your Internet connection is on.

error: Failed to fetch: `https://pypi.org/simple/debugpy/`
  Caused by: request or response body error
  Caused by: error reading a body from connection
  Caused by: connection reset

$ uv run python -m lerobot.find_port

Finding all available ports for the MotorsBus.
Ports before disconnecting: ['/dev/ttyACM0', '/dev/ttyGS0', '/dev/ttyTHS2', '/dev/ttyTHS1', '/dev/ttyTCU0', '/dev/ttyS3', '/dev/ttyS2', '/dev/ttyS1', （略） '/dev/ttyAMA0']
Remove the USB cable from your MotorsBus and press Enter when done.

The port of this MotorsBus is '/dev/ttyACM0'
Reconnect the USB cable.

Bus 001 Device 006: ID 1a86:55d3 QinHeng Electronics USB Single Serial

$ lsusb -v -s 001:006 | grep -i serial

Bus 001 Device 008: ID 1a86:55d3 QinHeng Electronics USB Single Serial
  iProduct                2 USB Single Serial
  iSerial                 3 5AA9018069

/etc/udev/rules.d/99-lerobot-serial.rules

SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d3", ATTRS{serial}=="5AA9018069", SYMLINK+="usbserial_lerobot_follower", MODE="0666"
SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d3", ATTRS{serial}=="5AA9017941", SYMLINK+="usbserial_lerobot_leader", MODE="0666"

$ sudo udevadm control --reload

$ ls /dev/usbserial*
/dev/usbserial_lerobot_follower  /dev/usbserial_lerobot_leader

$ uv sync
$ uv pip install "lerobot[feetech]"

$ uv run python -m lerobot.calibrate \
    --robot.type=so101_follower \
    --robot.port=/dev/usbserial_lerobot_follower \
    --robot.id=lerobot_follower

$ uv run python -m lerobot.calibrate \
    --teleop.type=so101_leader \
    --teleop.port=/dev/usbserial_lerobot_leader \
    --teleop.id=lerobot_leader

$ uv sync
$ uv pip install "lerobot[feetech]"

$ uv run python -m lerobot.teleoperate \
    --robot.type=so101_follower \
    --robot.port=/dev/usbserial_lerobot_follower \
    --robot.id=lerobot_follower \
    --teleop.type=so101_leader \
    --teleop.port=/dev/usbserial_lerobot_leader \
    --teleop.id=lerobot_leader

$ uv sync
$ uv pip install "lerobot[feetech]"

$ uv run python -m lerobot.find_cameras opencv

--- Detected Cameras ---
Camera #0:
  Name: OpenCV Camera @ /dev/video0
  Type: OpenCV
  Id: /dev/video0
  Backend api: V4L2
  Default stream profile:
    Format: 0.0
    Width: 640
    Height: 480
    Fps: 30.0
--------------------

from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.cameras.opencv.camera_opencv import OpenCVCamera
from lerobot.cameras.configs import ColorMode, Cv2Rotation


config = OpenCVCameraConfig(
    index_or_path=0,
    fps=15,
    width=640,
    height=480,
    color_mode=ColorMode.RGB,
    rotation=Cv2Rotation.NO_ROTATION
)


camera = OpenCVCamera(config)
camera.connect()


try:
    for i in range(10):
        frame = camera.async_read(timeout_ms=200)
        print(f"Async frame {i} shape:", frame.shape)
finally:
    camera.disconnect()

Async frame 0 shape: (480, 640, 3)
Async frame 1 shape: (480, 640, 3)
Async frame 2 shape: (480, 640, 3)

（略）

Async frame 9 shape: (480, 640, 3)

RuntimeError: OpenCVCamera(0) failed to set capture_width=1920 (actual_width=1280, width_success=True).

from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.teleoperators.so101_leader import SO101LeaderConfig, SO101Leader
from lerobot.robots.so101_follower import SO101FollowerConfig, SO101Follower

camera_config = {
    "front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=30)
}

robot_config = SO101FollowerConfig(
    port="/dev/usbserial_lerobot_follower",
    id="lerobot_follower",
    cameras=camera_config
)

teleop_config = SO101LeaderConfig(
    port="/dev/usbserial_lerobot_leader",
    id="lerobot_leader",
)

robot = SO101Follower(robot_config)
teleop_device = SO101Leader(teleop_config)
robot.connect()
teleop_device.connect()

while True:
    observation = robot.get_observation()
    action = teleop_device.get_action()
    robot.send_action(action)

$ uv sync
$ uv pip install "lerobot[feetech]"
$ uv pip install -U "huggingface_hub[cli]"

$ git config --global credential.helper store 
$ uv run huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential

$ HF_USER=$(uv run huggingface-cli whoami | head -n 1)
$ echo $HF_USER

$ uv run python -m lerobot.record \
    --robot.type=so101_follower \
    --robot.port=/dev/usbserial_lerobot_follower \
    --robot.id=lerobot_follower \
    --teleop.type=so101_leader \
    --teleop.port=/dev/usbserial_lerobot_leader \
    --teleop.id=lerobot_leader \
    --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}}" \
    --display_data=true \
    --dataset.repo_id=${HF_USER}/record-test \
    --dataset.episode_time_s=60 \
    --dataset.reset_time_s=10 \
    --dataset.num_episodes=2 \
    --dataset.single_task="Play drum"