Merge pull request #221 from tokk-nv/main

Update LeRobot tutorial with real-world robot instructions

Author: tokk-nv

docs/images/lerobot_jupyter_notebooks.png

@@ -2,7 +2,9 @@
 
 Let's run HuggingFace [`LeRobot`](https://github.com/huggingface/lerobot/) to train Transformer-based [action diffusion](https://diffusion-policy.cs.columbia.edu/) policies and [ACT](https://github.com/tonyzhaozh/act) onboard NVIDIA Jetson.  These models learn to predict actions for a particular task from visual inputs and prior trajectories, typically collected during teleoperation or in simulation.
 
-<img src="images/lerobot_aloha.gif" style="max-width:500px;">
+<video controls autoplay muted style="max-width: 640px">
+    <source src="https://github.com/user-attachments/assets/1ec6e4f0-0f85-4a8a-85c0-f70019f3405b" type="video/mp4">
+</video>
 
 !!! abstract "What you need"
 
@@ -28,8 +30,358 @@ Let's run HuggingFace [`LeRobot`](https://github.com/huggingface/lerobot/) to tr
 		git clone https://github.com/dusty-nv/jetson-containers
 		bash jetson-containers/install.sh
 		```  
-        
-## Visualize Datasets
+
+## Work with Real-World Robots - Before starting containers
+
+This section gives the guide on how you can work through the LeRobot official example of [Getting Started with Real-World Robots \(`7_get_started_with_real_robot.md
+`\)](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md) on your Jetson.
+
+!!! tip
+
+    It's recommended to work on your Jetson in **monitor-attached** mode.
+
+    `lerobot` is designed to show camera view in windows and playback TTS audio while capturing dataset, so it is more convenient to setup your Jetson with its monitor (and speakers) attached to Jetson.d
+
+### a. Check `jetson-container`'s location 
+
+Through out the course of all the workflows of `lerobot`, we will be generating a lot of data, especially for capturing dataset.
+
+We will clone the `lerobot` directory on host and mount the directory in the container to keep all the data persistant, but first make sure your `jetson-containers` directory is placed on your SSD, not on your eMMC or microSD card.
+
+If you have created the `jetson-containers` directory on eMMC or microSD card (likely the case if you first set up your Jetson device without SSD first and later added SSD), then use the `rsync` command to move the entire directory under SSD mount point.
+
+```bash
+rsync -aHAX /home/jetson/jetson-containers/ /ssd/jetson-containers/
+```
+
+Then run the installer again.
+
+```bash
+bash /ssd/jetson-containers/install.sh
+```
+
+### b. Create `lerobot` dir on host
+
+As described above, we will setup the `lerobot` directory under `data` directory of `jetson-containers` for monting it inside the container so that generated data persist.
+
+```bash
+cd jetson-containers
+./packages/robots/lerobot/clone_lerobot_dir_under_data.sh
+./packages/robots/lerobot/copy_overlay_files_in_data_lerobot.sh
+```
+
+### c. PulseAudio setup
+
+LeRobot's dataset capture flow (`control_robot.py`) utilizes **Speech Dispatcher** to use espeak TTS, in order to give operators audio queues for notifying the status and signaling the next operation. It's actually very helpful.
+
+Speech Dispatcher utilizes Pulse Audio, so rather than just sharing the `/dev/snd` device when `docker run` (which is good for ALSA), we need to add the following arguments.
+
+```bash
+   --device /dev/snd \
+   -e PULSE_SERVER=unix:${XDG_RUNTIME_DIR}/pulse/native \
+   -v ${XDG_RUNTIME_DIR}/pulse:${XDG_RUNTIME_DIR}/pulse \
+```
+
+This is already added to `run.sh` of `jetson-containers`, however, we need to edit `/etc/pulse/default.pa` in order to allow the root user access to the socket file.
+
+
+```bash
+sudo vi /etc/pulse/default.pa
+```
+
+Find the section loading `module-native-protomocl-unix` and add `auth-anonymous=1` 
+
+```bash
+### Load several protocols
+.ifexists module-esound-protocol-unix.so
+load-module module-esound-protocol-unix auth-anonymous=1
+.endif
+load-module module-nativ
+```
+
+Then restart PulseAudio service to make the config take effect.
+
+```bash
+pulseaudio --kill
+pulseaudio --start
+```
+
+> For troubleshootings or details, please check the [`docs.md`](https://github.com/dusty-nv/jetson-containers/blob/dev/packages/speech/speech-dispatcher/docs.md) of `speech-dispatcher` package.
+
+### d. Set udev rule for ACM devices
+
+It is more convenient if the lerobot programs can always find the device of leader and follower arm with unique names.
+
+For that, we set an udev rule so that arms always get assigned the same device name as following.<br>
+This is first done on Jetson host side. 
+
+- `/dev/ttyACM_kochleader`   : Leader arm
+- `/dev/ttyACM_kochfollower` : Follower arm
+
+First only connect the leader arm to Jetson and record the serial ID by running the following:
+
+```bash
+ll /dev/serial/by-id/
+```
+
+The output should look like this.
+
+```bash
+lrwxrwxrwx 1 root root 13 Sep 24 13:07 usb-ROBOTIS_OpenRB-150_BA98C8C350304A46462E3120FF121B06-if00 -> ../../ttyACM1
+```
+
+Then edit the first line of `./99-usb-serial.rules` like the following.
+
+You can find the template of this file under `./packages/robots/lerobot` directory.
+
+```
+SUBSYSTEM=="tty", ATTRS{idVendor}=="2f5d", ATTRS{idProduct}=="2202", ATTRS{serial}=="BA98C8C350304A46462E3120FF121B06", SYMLINK+="ttyACM_kochleader"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="2f5d", ATTRS{idProduct}=="2202", ATTRS{serial}=="00000000000000000000000000000000", SYMLINK+="ttyACM_kochfollower"
+```
+
+Now disconnect the leader arm, and then only connect the follower arm to Jetson.
+
+Repeat the same steps to record the serial to edit the second line of `99-usb-serial.rules` file.
+
+```bash
+$ ll /dev/serial/by-id/
+lrwxrwxrwx 1 root root 13 Sep 24 13:07 usb-ROBOTIS_OpenRB-150_483F88DC50304A46462E3120FF0C081A-if00 -> ../../ttyACM0
+$ vi ./packages/robots/lerobot
+```
+
+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/` (of host), and restart Jetson.
+
+```
+sudo cp ./99-usb-serial.rules /etc/udev/rules.d/
+sudo reboot
+```
+
+After reboot, check if we now have achieved the desired fixed simlinks names for the arms.
+
+```bash
+ls -l /dev/ttyACM*
+```
+
+You should get something like this:
+
+```bash
+crw-rw---- 1 root dialout 166, 0 Sep 24 17:20 /dev/ttyACM0
+crw-rw---- 1 root dialout 166, 1 Sep 24 16:13 /dev/ttyACM1
+lrwxrwxrwx 1 root root         7 Sep 24 17:20 /dev/ttyACM_kochfollower -> ttyACM0
+lrwxrwxrwx 1 root root         7 Sep 24 16:13 /dev/ttyACM_kochleader -> ttyACM1
+```
+
+### e. (Optional) CSI cameras
+
+If you plan to use CSI cameras (not USB webcams) for data capture, you will use the new `--csi2webcam` options of `jetson-containers`, which exposes V4L2loopback devices that performs like USB webcams (MJPEG) for CSI cameras using Jetson's hardware JPEG encoder.
+
+This feature require some packages to be installed.
+
+```bash
+sudo apt update && sudo apt install v4l2loopback-dkms v4l-utils
+```
+
+### f. Increse the swap file size
+
+You may ran out of memory when are setting up to perform ACT model training.
+
+```bash
+swapoff -a -v
+sudo rm /swfile
+sudo systemctl disable nvzramconfi
+sudo fallocate -l 8G /ssd/8GB.swap
+sudo chmod 600 /ssd/8GB.swap
+sudo mkswap /ssd/8GB.swap
+sudo echo "/ssd/8GB.swap swap swap defaults 0 0" >> /etc/fstab
+sudo reboot
+```
+
+### g. Starting the `lerobot` container
+
+=== "USB webcams"
+
+    ```bash
+    cd jetson-containers
+    ./run.sh \
+      -v ${PWD}/data/lerobot/:/opt/lerobot/ \
+      $(./autotag lerobot)
+    ```
+
+=== "CSI cameras"
+
+    ```bash
+    cd jetson-containers
+    ./run.sh \
+      --csi2webcam --csi-capture-res='1640x1232@30' --csi-output-res='640x480@30' \
+      -v ${PWD}/data/lerobot/:/opt/lerobot/ \
+      $(./autotag lerobot)
+    ```
+
+## Work with Real-World Robots - Once in container
+
+!!! tip "JupyerLab tip"
+
+    Inside the `lerobot` container, JupyterLab server process starts.
+
+    You can access with `http://localhost:8888/` (or `http://<IP_ADDRESS>:8888/` from other PC on the same network).
+
+    In the `notebooks`, there are some Jupyter notebooks for each segment of the official tutorial [Getting Started with Real-World Robots \(`7_get_started_with_real_robot.md`\)](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md).
+
+    ![](./images/lerobot_jupyter_notebooks.png)
+
+    Please note that some of them (like `notebooks/7-2_real-robot_configure-motors.ipynb`) can be used as a real work notebook to execute python codes and scritps convniently inside the notebook along with instructions (rather than switching to console).
+
+    However, keep in mind that you are encouraged to always check the [original official tutorial](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md), and some operation like training is much better executed on console.
+
+!!! tip "Bash history tip"
+
+    Inside the container, on the console, you can press ++up++ key to scroll through some of the frequently used commands pre-registered in bash history.
+
+### q. Setup audio
+
+Check if PulseAudio is available.
+
+```bash
+pactl info
+```
+
+If you need to set the default audio output device, use `set-default-sink`.
+
+```bash
+pactl list short sinks
+pactl set-default-sink [SINK_NAME_OR_INDEX]
+```
+
+### 1. Order and Assemble your Koch v1.1
+
+You can order the Koch v1.1 kits from ROBOTIS. (*Note: they don't come with 3d printed parts*)
+
+- [Follower arm](https://www.robotis.us/koch-v1-1-low-cost-robot-arm-follower/) 
+- [Leader arm](https://www.robotis.us/koch-v1-1-low-cost-robot-arm-follower/)
+
+TODO:
+
+- [ ] Document Jetson unique hardware setup
+- [ ] Share custom 3D print models
+
+### 2. Configure motors, calibrate arms, teleoperate your Koch v1.1
+
+Follow the Jupyter notebook `7-2_real-robot_configure-motors.ipynb`.
+
+### 3. Record your Dataset and Visualize it
+
+You should mostly operate on the container's terminal.
+
+Follow the [official document's section](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#3-record-your-dataset-and-visualize-it).
+
+!!! tip "Camera config tip"
+
+    The official document demonstrates the two camera positions, one at the top ("phone") and the other at directly in front facing the arm ("laptop").
+
+    In our trials, this camera placement worked, but we needed to make the camera zoom-up to the scene so that they capture better spacial resolution.
+
+    Another thing worth experimenting is the **wrist cam**. More to come later.
+
+!!! tip
+
+    If you plan to perfom training on a different machine, `scp` the dataset directory.
+
+    === "To another Jetson"
+
+        ```bash
+        scp -r data/lerobot/data/${HF_USER}/koch_test_01/ <USER>@<IP>:/ssd/jetson-containers/data/lerobot/data/${HF_USER}/
+        ```
+
+    === "To other PC"
+
+        ```bash
+        scp -r data/lerobot/data/${HF_USER}/koch_test_01/ <USER>@<IP>:/home/<USER>/lerobot/data/${HF_USER}/
+        ```
+
+### 4. Train a policy on your data
+
+You should operate on ther container's terminal.
+
+Follow the [official document's section](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data).
+
+!!! tip
+
+    Following commands are registered in Bash history inside the `lerobot` container.
+
+    ```bash
+    wandb login
+    export HF_USER=
+    python lerobot/scripts/control_robot.py record \
+      --robot-path lerobot/configs/robot/koch.yaml \
+      --fps 30 \
+      --root data \
+      --repo-id ${HF_USER}/koch_test_$(date +%Y%m%d_%H%M%S) \
+      --tags tutorial \
+      --warmup-time-s 5 \
+      --episode-time-s 30 \
+      --reset-time-s 30 \
+      --num-episodes 10
+    ```
+
+!!! tip
+
+    If you perform the training on other Jetson or PC, `scp` the outputs directory content back to the orinal Jetson that has the leader and follower arm attached.
+
+    ```bash
+    scp -r outputs/train/act_koch_test_01/ <USER>@<IP>:/ssd/jetson-containers/data/lerobot/outputs/train/ 
+    ```
+
+### 5. Evaluate your policy
+
+You should operate on the container's terminal.
+
+Follow the [official document's section](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#3-record-your-dataset-and-visualize-it).
+
+!!! tip "Tip for **a. Use `koch.yaml` and our `record` function**"
+
+    Modify the command in the bash history to add `-p` arugment to points to the policy checkpoint.
+
+    ```bash
+    python lerobot/scripts/control_robot.py record \
+      --robot-path lerobot/configs/robot/koch.yaml \
+      --fps 30 \
+      --root data \
+      --repo-id ${HF_USER}/koch_test_01 \
+      --tags tutorial \
+      --warmup-time-s 5 \
+      --episode-time-s 30 \
+      --reset-time-s 30 \
+      --num-episodes 10 \
+      -p outputs/train/act_koch_test/checkpoints/last/pretrained_model
+    ```
+
+!!! tip "Tip for **Visualize evaluation afterwards**"
+
+    ```bash
+    python lerobot/scripts/visualize_dataset.py \
+      --root data \
+      --repo-id ${HF_USER}/eval_koch_test
+    ```
+
+If everything goes well, you should see 
+
+<video controls autoplay muted style="max-width: 960px">
+    <source src="https://github.com/user-attachments/assets/1ec6e4f0-0f85-4a8a-85c0-f70019f3405b" type="video/mp4">
+</video>
+
+
+## Basic Walkthrough
+
+This is from the lerobot top README.md.
+
+### Visualize Datasets
 
 Outside of container, first launch the [rerun.io](https://rerun.io/) visualization tool that LeRobot uses <sup>[[↗]](https://github.com/huggingface/lerobot/?tab=readme-ov-file#visualize-datasets)</sup>
 
@@ -49,7 +401,7 @@ jetson-containers run -w /opt/lerobot $(autotag lerobot) \
 
 <img src="images/lerobot_push.jpg" style="max-width:500px;">
 
-## Evaluate a Pretrained Diffusion Policy
+### Evaluate a Pretrained Diffusion Policy
 
 This will download and run a pre-trained [diffusion model](https://huggingface.co/lerobot/diffusion_pusht) on the [PushT](https://github.com/huggingface/gym-pusht) environment <sup>[[↗]](https://github.com/huggingface/lerobot/?tab=readme-ov-file#evaluate-a-pretrained-policy)</sup>
 
@@ -61,7 +413,7 @@ jetson-containers run -w /opt/lerobot $(autotag lerobot) \
     eval.batch_size=10
 ```
 
-## Train your own ACT Policy
+### Train your own ACT Policy
 
 Next, train [ACT](https://github.com/tonyzhaozh/act) on the [Aloha](https://github.com/huggingface/gym-aloha) manipulation environment <sup>[[↗]](https://github.com/huggingface/lerobot/?tab=readme-ov-file#train-your-own-policy)</sup>