dora/examples/so100

• Dora pipeline for teleoperated low-cost arm and episode recording for LeRobot
• • Assembling
  • Installations
  • Configuring
  • Recording
  • Examples
  • License

Dora pipeline for teleoperated low-cost arm and episode recording for LeRobot

SO-ARM100 is a low-cost robotic arm that can be teleoperated using a similar arm. This repository contains
the Dora pipeline to record episodes for LeRobot.

Assembling

Check the ASSEMBLING.md file for instructions on how to assemble the robot from scratch.

Installations

Check the INSTALLATIONS.md file for instructions on how to install the required software and
environment
to run the robot.

Configuring

Check the CONFIGURING.md file for instructions on how to configure the robot to record episodes for
LeRobot and teleoperate the robot.

Recording

It's probably better to check the examples below before trying to record episodes. It will give you a
better
understanding of how Dora works.

Check the RECORDING.md file for instructions on how to record episodes for LeRobot.

Examples

There are also some other example applications in the graphs folder. Have fun!

Here is a list of the available examples:

There are also some other example applications in the graphs folder. Have fun!

Here is a list of the available examples:

• mono_teleop_real_with_alexk_lcr.yml: A simple real teleoperation pipeline that allows you to control a follower arm
  using a leader
  arm. It
  does not record the episodes, so you don't need to have a camera.

You must configure the arms, retrieve the device port, and modify the file mono_teleop_real_with_alexk_lcr.yml to set
the correct
environment variables. (e.g. PORT and CONFIG, LEADER_CONTROL and FOLLOWER_CONTROL)

cd dora/

# If you are using a custom environment, you will have to activate it before running the command
source [your_custom_env_bin]/activate

# If you followed the installation instructions, you can run the following command
source venv/bin/activate # On Linux
source venv/Scripts/activate # On Windows bash
venv\Scripts\activate.bat # On Windows cmd
venv\Scripts\activate.ps1 # On Windows PowerShell

dora build ./examples/so100/graphs/mono_teleop_real_with_alexk_lcr.yml # Only the first time, it will install all the requirements if needed

dora up
dora start ./examples/so100/graphs/mono_teleop_real_with_alexk_lcr.yml

License

This library is licensed under the Apache License 2.0.