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real-stanford / umi-on-legs

UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
https://umi-on-legs.github.io/
MIT License
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arx5 data collection #6

Closed fighting-j closed 1 month ago

fighting-j commented 1 month ago

Hello, I read your work and I am very interested, but I only have an Arx5, I want to use Spacemouse to control it to collect data for imitation learning, I run DP code but I don't know how to modify it, have you had any questions before?

huy-ha commented 1 month ago

Thank you for your kind words about our work.

Using space mouse to teleop only the arm for data collection is not directly supported in our codebase and is out of scope. However, we highly recommend trying to build an UMI and collecting data that way! Our lab has completely stopped using space mouse for data collection now because UMI is just so much easier to use.

fighting-j commented 1 month ago

Hello, according to your advice, I used the umi system to collect my own data. Now I want to deploy it on arx5 alone (not connected to go2). How can I do it?

huy-ha commented 1 month ago

This is a feature for the UMI codebase, not UMI on Legs. You can refer to how instructions for deploying on Franka, and compare it with the instructions for UR5e for a reference of how to support your own arms.