questions about xlerobot

[jcl2023]

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[jcl2023]

@Vector-Wangel

I plan to buy xlerobot from wowrobo. Before I do that, I have several questions regarding this robot:

1)It mentions realsense camera can be used, which realsense camera and how to mount it to xlerobot? 2)Does sw support training with realsense inputs along with rgb camera? 3)How to do teleoperation to capture datasets with single and dual arms?

Thanks

[Vector-Wangel]

Previously I was using D415, but D435 or D435i should also works. I think the kit provides two kinds of head camera mounts, one should be able to mount Realsense camera with 2 M3 screws. You can also design your own with https://github.com/Vector-Wangel/XLeRobot/tree/main/hardware/step

Right now we haven't provide directly available code for training with XLeRobot, but it should be out soon and you can also get started with huggingface lerobot first where they have official support for realsense.

Huggingface lerobot have official guide for datasets, which will also later be included in XLeRobot. https://huggingface.co/docs/lerobot/il_robots

[jcl2023]

@Vector-Wangel

How about teleoperation questions for one arm and dual arm settings? Is there a leader and follower concept on these 2 arms?

[hyy02]

@jcl2023 The repo provide several methods to control the two follower arms, such as Xbox, joycon, keyboard, and VR(under testing). You can also use two leader arms too. Please see the documentation.

[jcl2023]

@hyy02

Thanks for feedback. I have a Logitech gamepad, not Xbox Will this work with your SW?

[hyy02]

@jcl2023 Sure, it's not difficult, you can modify the code yourself refer to the repo SW code.

[jcl2023]

@Vector-Wangel @hyy02

you can also get started with huggingface lerobot first where they have official support for realsense. I don't see realsense support on huggingface lerobot. Can you point me where the realsense camera support code is?

Thanks