Install daxie
git clone github.com/suessmann/daxie.git
cd daxie
pip install -e .
then, the nasty part. The lerobot package has changed the calibration protocol, so for now you need to clone old fork with daxie integrated.
git clone git@github.com:suessmann/lerobot.git lerobot-daxie
cd lerobot-daxie
pip install -e .
then, modify the configs with your bus address and run the script
python lerobot/scripts/control_robot.py \
--robot.type=so101 \
--robot.cameras='{}' \
--control.type=teleoperate \
--control.mobile=true
- Download .apk from releases page
- In settings, set the IP of your host (the laptop that
daxieis installed on) - Run the application, scan the surroundings, place a pin on a surface
- When ready, press volume up button once, the teleop starts then.
- To open gripper, press volume down button.
Use the phone teleoperation with caution, since the AR pose estimation depends on lightning conditions and the overall quality of the image. Best and sustainable results require well-lit setups.
Do not come close to the robot in operation, maintain a safe distance.
Robot files are taken from Maniskill by haosulab and Stone Tao in particular, licensed under CC BY-NC 4.0. Available at: [link].
The inverse kinematics module relies on pyroki library by Chung Min Kim et al., licensed under MIT license. Available at: [link].
Augmented Reality software (android) relies on ARCore SDK by Google, license is mixed and available [by this link].
This repo is under GPL-3.0 license. The library is distributed "as is", the authors are not responsible for any damage caused while using it.