AlohaMini入门教程-测试-数据采集
说明：
- 介绍AlohaMini如何数据采集
步骤：
树莓派端：
- 添加机械臂设备的权限
sudo chomud 777 /dev/ttyACM*
- 激活环境
conda activate lerobot_alohamini
- 执行控制语句
python -m lerobot.robots.alohamini.lekiwi_host
PC端：
- 添加机械臂设备的权限
sudo chomud 777 /dev/ttyACM*
- 激活环境
conda activate lerobot_alohamini
- 将 API 令牌添加到 Git 凭据，key为hugging face 的key
git config --global credential.helper store
hf auth login --token {key}
- 获取当前登录的 Hugging Face 用户名
HF_USER=$(hf auth whoami | head -n 1)
- 打印用户名
echo $HF_USER
- 进行数据采集，remote_ip为树莓派的ip，
python examples/alohamini/record_bi.py --dataset ncnynl/alohamini --num_episodes 1 --fps 15 --episode_time 45 --reset_time 8 --task_description "pickup1" --remote_ip 192.168.0.42 --leader_id so101_leader_bi
- 进行数据采集前，如果数据集存在，需要删除数据集才能进行采集：
rm -r /home/ubuntu/.cache/huggingface/lerobot/ncnynl/alohamini
- 执行数据采集命令后的结果
Dataset created with id: ncnynl/alohamini
[2026-01-26T06:27:12Z INFO re_grpc_server] Listening for gRPC connections on 0.0.0.0:9876. Connect by running `rerun --connect rerun+http://127.0.0.1:9876/proxy`
[2026-01-26T06:27:12Z INFO winit::platform_impl::linux::x11::window] Guessed window scale factor: 1
Starting record loop...
[2026-01-26T06:27:12Z WARN wgpu_hal::vulkan::instance] Unable to find extension: VK_EXT_acquire_drm_display
[2026-01-26T06:27:12Z WARN wgpu_hal::vulkan::instance] Unable to find extension: VK_EXT_physical_device_drm
[2026-01-26T06:27:12Z WARN wgpu_hal::gles::egl] No config found!
[2026-01-26T06:27:12Z WARN wgpu_hal::gles::egl] EGL says it can present to the window but not natively
MESA-INTEL: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0
[2026-01-26T06:27:12Z WARN wgpu_hal::gles::adapter] Max vertex attribute stride unknown. Assuming it is 2048
[2026-01-26T06:27:12Z WARN wgpu_hal::gles::adapter] Max vertex attribute stride unknown. Assuming it is 2048
[2026-01-26T06:27:12Z INFO egui_wgpu] There were 5 available wgpu adapters: {backend: Vulkan, device_type: Cpu, name: "llvmpipe (LLVM 12.0.0, 256 bits)", driver: "llvmpipe", driver_info: "Mesa 21.2.6 (LLVM 12.0.0)", vendor: Mesa (0x10005)}, {backend: Vulkan, device_type: IntegratedGpu, name: "Intel(R) UHD Graphics 630 (CFL GT2)", driver: "Intel open-source Mesa driver", driver_info: "Mesa 21.2.6", vendor: Intel (0x8086), device: 0x3E92}, {backend: Vulkan, device_type: DiscreteGpu, name: "NVIDIA GeForce GTX 1060 3GB", driver: "NVIDIA", driver_info: "550.78", vendor: NVIDIA (0x10DE), device: 0x1C02}, {backend: Vulkan, device_type: DiscreteGpu, name: "NVIDIA GeForce GTX 1060 3GB", driver: "NVIDIA", driver_info: "550.78", vendor: NVIDIA (0x10DE), device: 0x1C02}, {backend: Gl, device_type: Other, name: "NVIDIA GeForce GTX 1060 3GB/PCIe/SSE2", driver_info: "3.3.0 NVIDIA 550.78", vendor: NVIDIA (0x10DE)}
- 数据采集完成后输出的内容
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit
Svt[info]: LIB Build date: Jul 3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit
Svt[info]: LIB Build date: Jul 3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 5
Svt[info]: Number of PPCS 76
Svt[info]: [asm level on system : up to avx2]
Svt[info]: [asm level selected : up to avx2]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile tier (auto) level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 320 / 240 / 15 / 1
Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30
Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 5
Svt[info]: Number of PPCS 76
Svt[info]: [asm level on system : up to avx2]
Svt[info]: [asm level selected : up to avx2]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile tier (auto) level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 320 / 240 / 15 / 1
Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30
Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
Processing Files (5 / 5) : 100%|█████████████████████████████████████████████████████████████████| 5.86MB / 5.86MB, 1.63MB/s
New Data Upload : 100%|█████████████████████████████████████████████████████████████████| 5.86MB / 5.86MB, 1.63MB/s
...hamini/meta/tasks.parquet: 100%|█████████████████████████████████████████████████████████████████| 2.13kB / 2.13kB
...hunk-000/file-000.parquet: 100%|█████████████████████████████████████████████████████████████████| 9.94kB / 9.94kB
...hunk-000/file-000.parquet: 100%|█████████████████████████████████████████████████████████████████| 54.0kB / 54.0kB
...nt/chunk-000/file-000.mp4: 100%|█████████████████████████████████████████████████████████████████| 2.78MB / 2.78MB
...op/chunk-000/file-000.mp4: 100%|█████████████████████████████████████████████████████████████████| 3.02MB / 3.02MB
No files have been modified since last commit. Skipping to prevent empty commit.
WARNING:huggingface_hub.hf_api:No files have been modified since last commit. Skipping to prevent empty commit.
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