Add support for Elephant Robotics MyArm M&C #506
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| # [MyArm Robot Arm Tooling](https://github.com/apockill/acton_ai) | |||
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TODO: Test and validate a policy, put a video here to show how it all came together
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Okay, so here's a policy in action that's not quite working... It was supposed to stack the cubes haha. However, it's definitely "working" in that the whole implementation works- teleop, data recording, training, and finally playback has been tested so far. I will add further PR's to teach how to train better policies in the near future :)
Here's a teleop example.
| Follow [this guide to setup your cameras](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#c-add-your-cameras-with-opencvcamera). Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset. | ||
| ```bash | ||
| python3 lerobot/scripts/control_robot.py teleoperate \ | ||
| --robot-path lerobot/configs/robot/myarm.yaml |
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I might need some help here. I found that cv2.imshow froze the system, I had to comment it out.
That's definitely not caused by anything in this PR, but I'd like to fix that so other's don't run into the same issue 😁
apockill
changed the title
What this does
This PR adds support for Elephant Robotics
MyArm M&Crobot arms, an education-focused ALOHA style pairing of "mover" and "controller" arms (hence the M&C). Specs and shop here.I'm adding support so that others can get started more easily.
How it was tested
I own a pair of these arms, and am developing specifically to make this work well with lerobot. I'm also developing
acton_aias a helper library so as to not clutter uplerobotwithmyarmspecific helper code.How to checkout & try? (for the reviewer)
I need some guidance here :) I'd be happy to post some videos of the results once the PR is out of draft mode.
Question for Reviewers
Is anyone interested in me implementing this proposal in this PR, or leaving it as is and implementing it in a future PR? It would make adding new robots to
lerobotmuch, and affect less code.