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Workspace Setup

This is a setup page for anyone who needs their own workspace layout.

Use it when you are:

  • setting up your own Linux account on the existing collection machine
  • rebuilding the shared account workspace
  • provisioning the dedicated collection machine from scratch

Collection-only users on shared_account should start with:

Lab members using their own account on the same machine should usually start with:

This page defines the exact repository layout the maintained workspace should use.

Use one shared workspace directory with these sibling checkouts:

spark-workspace/
  spark-data-collection/
  lerobot/
  gsrobotics/
  lerobot-dataset-visualizer/
  librealsense/

This is the only supported layout we are documenting going forward.

We are not using:

  • nested dependency repos inside spark-data-collection/
  • git submodules
  • lab-owned forks of lerobot or gsrobotics for now

Repositories

Clone these exact repositories:

  • spark-data-collection
  • https://github.com/RPM-lab-UMN/spark-data-collection.git
  • lerobot
  • https://github.com/huggingface/lerobot.git
  • gsrobotics
  • https://github.com/gelsightinc/gsrobotics.git
  • lerobot-dataset-visualizer
  • https://github.com/RPM-lab-UMN/lerobot-dataset-visualizer.git
  • librealsense
  • https://github.com/IntelRealSense/librealsense.git

Clone Commands

mkdir -p ~/spark-workspace
cd ~/spark-workspace

git clone https://github.com/RPM-lab-UMN/spark-data-collection.git
git clone https://github.com/huggingface/lerobot.git
git -C lerobot switch --detach v0.6.1
git clone https://github.com/gelsightinc/gsrobotics.git
git clone https://github.com/RPM-lab-UMN/lerobot-dataset-visualizer.git
git clone https://github.com/IntelRealSense/librealsense.git

After cloning, the main working repo is:

cd ~/spark-workspace/spark-data-collection

Code Assumptions

The pipeline assumes these sibling paths relative to spark-data-collection/:

  • ../lerobot
  • ../gsrobotics
  • ../lerobot-dataset-visualizer
  • ../librealsense

That affects:

  • converter environment setup
  • GelSight bridge imports
  • viewer launch from the operator console
  • RealSense runtime setup

The LeRobot checkout is pinned to v0.6.1 (7e241bd630a3719a56157a497ce5d08f244784f1). That is the tested release for native depth-map storage and loading. The environment setup script stops with an actionable error if the sibling checkout is at a different revision.

RealSense Version Pin

The librealsense sibling checkout is the upstream source repository.

The runtime we actually build and use is still pinned to:

  • v2.54.2

The RealSense setup script does not use an arbitrary SDK version. It creates and builds a pinned local worktree/runtime from the upstream sibling repo:

  • source checkout:
  • ../librealsense
  • pinned worktree created under the main repo:
  • librealsense-v2.54.2
  • local build output:
  • build/librealsense-v2.54.2/Release

So the operational requirement is:

  • clone upstream librealsense
  • build and run the pinned v2.54.2 runtime through the pipeline setup script

Viewer Remote Notes

The lab-maintained viewer checkout should use:

  • origin
  • RPM-lab-UMN/lerobot-dataset-visualizer
  • upstream
  • huggingface/lerobot-dataset-visualizer

If someone only needs to use the viewer, cloning the lab fork is enough. The upstream remote is only needed when maintaining the fork.

The lab fork must include the native-depth viewer and lazy video-adapter code. setup_viewer_env.sh checks for that capability before building, so an older checkout fails with an update instruction instead of displaying blank depth tiles.

Next Step

Once this workspace layout exists, move on to: