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dora-rs / dora-lerobot

Lerobot boosted with dora
Apache License 2.0
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How to use this repository for a cobot #21

Open SakethTecholution opened 2 months ago

SakethTecholution commented 2 months ago

I have a cobot made by doosan just like UR robot . And I have ROS 2 Support of it. How to use DORA along with it to train a robot. The major issue with that is they won't be having leader and follwwr configuration. So we need some kind of teleoperative interface (gamepad or keyboard) . How to make doraand act policy support for these kind of robots. If any one can suggest me a pipeline I can work on it

haixuanTao commented 2 months ago

Yes, so I am still iterating on the process but i have added a dora-keyboard: https://github.com/dora-rs/dora/tree/main/node-hub/dora-keyboard that makes it possible to collect keystroke into dora and then control a robot.

I use this to then do inverse kinematics ( send cartesian position ) to the robot to make it moves.

The idea is then to collect those keyboard teleoperated data using a recorder and then generating a policy out of it,

We are still iterating on the design for ACT but it will also be a supported platform.