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dora-rs / dora-lerobot

Lerobot boosted with dora
Apache License 2.0
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Data collection pipeline on A. Koch arm #5

Closed thomwolf closed 6 months ago

thomwolf commented 6 months ago

A data collection pipeline for A. Koch arm

recording a dataset with A. Koch robot arm

Hardware setup:

Pipeline designed for a teleoperated 5 DoF + gripper arm such as the arm by A. Koch (build with the extension) and with 2 cameras to record images.

Install

Follow dora instructions to install dora.

Git clone this repo.

Setup the dora graph

The dora graph is at alexk_low_cost_robot/example/record_teleop.yml

  1. adjust the serial ports for the master and puppet arms as env variables in : MASTER_PATH, PUPPET_PATH, CAMERA_ID

On ubuntu find the path to the arms with the dynamixel wizard for instance and the path to the cameras with v4l2-ctl --list-devices.

  1. Adjust the source to the locations of your python env for each node

Steps to setup and record

Start dora with dora up

Then do:

  1. Start the graph dora start ./example/record_teleop.yml
  2. Press space to move to the next episode and save the previous one
  3. Press esc when finished with all
  4. Pressing backspace will end the current episode, save it and wait until space is pressed to start a new episode
  5. After having pressed esc, type dora stop to stop the recording.
  6. Write down the location of the logs (a long hash like 018fc3a8-3b76-70f5-84a2-22b84df24739), this is where the dataset (and logs) are stored.