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Shaka-Labs / ACT

Action Chunking Transformer implementation for low cost robot
MIT License
184 stars 27 forks source link

Leader Arm and Follower Arm Purchase Recommendations #6

Open robinupup opened 2 months ago

robinupup commented 2 months ago

I am a beginner. May I ask if purchasing just follower arm is sufficient to achieve the task? Is it necessary to buy the leader arm?

MichaelrMentele commented 1 month ago

The short answer is you'll need both @robinupup

Longer answer is that you need some sort of device to provide the session data for controlling the robot arm. The leader provides a joint based control for the robot. Without a leader arm how would you actually move the robot arm around to record the joint angles (the demonstration) for the robot to learn from?

I'm going to open-source a simpler way to do this soon so you can use a phone or any hand tracking device to use IK to do this instead.