Aloha is a bi manual robot that can be teleoperated using a similar arm. This repository contains the Dora pipeline to manipulate arms, cameras, and record/replay episodes with LeRobot.
Check the ASSEMBLING.md file for instructions on how to assemble the robot.
Check the INSTALLATION.md file for instructions on how to install the required software and environment to run the robot.
Check the CONFIGURING.md file for instructions on how to configure the robot to record episodes for LeRobot and teleoperate the robot.
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.
There are also some other example applications in the graphs folder. Have fun!
Here is a list of the available examples:
This work is inspired from tonyzhaozh/aloha and we're trying to bring perfornance improvement.
This library is licensed under the Apache License 2.0.