meetsitaram

# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Configuration for the OpenDuckMini bipedal robot.

This configuration mirrors the structure used for other biped robots (see :obj:`CASSIE_CFG`)
and defines an articulation configuration for OpenDuckMini. The USD asset is expected at
`<ISAACLAB_NUCLEUS_DIR>/Robots/OpenDuckMini/open-duck-mini.usd` and should contain joints:

meetsitaram

# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""
This script demonstrates how to simulate bipedal robots.

.. code-block:: bash

meetsitaram

from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
from lerobot.scripts.control_robot import record,replay

leader_port = "COM3"
follower_port = "COM4"

leader_arm = DynamixelMotorsBus(
    port=leader_port,

meetsitaram

from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
from lerobot.common.robot_devices.motors.dynamixel import TorqueMode


leader_port = "COM5"
follower_port = "COM4"

leader_arm = DynamixelMotorsBus(
    port=leader_port,
    motors={

meetsitaram

# pip install keyboard
import keyboard

from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus
from lerobot.common.robot_devices.motors.dynamixel import TorqueMode

follower_port = "COM4"

follower_arm = DynamixelMotorsBus(
    port=follower_port,

meetsitaram

I have been exploring to add koch arm extensions for camera mounts. Mainly to always have them at fixed positions relative to the robotic arm, due to the reason that the results change a lot if the camera positions during evaluation even slightly misallign with the positions used when recording for training datasets.

Camera Hardware

I have setup 4 cameras, two on the sides, one on the top and one on the gripper. https://www.amazon.com/dp/B0CLRJZG8D?ref=ppx_yo2ov_dt_b_fed_asin_title is the camera i am using. Its manual focus adjustment helps better setup gripper focus to its much closer position.

3D Mounts

I have added some 3d models (work in progress) to mount them easily to the arm:

meetsitaram

# @package _global_

# Defaults for training for the PushT dataset as per https://github.com/real-stanford/diffusion_policy.
# Note: We do not track EMA model weights as we discovered it does not improve the results. See
#       https://github.com/huggingface/lerobot/pull/134 for more details.

seed: 100000
dataset_repo_id: override-to-actual-repo-id

override_dataset_stats:

meetsitaram

conda create -y -n aloha python=3.10 && conda activate aloha
conda activate aloha
conda deactivate

pip install .
pip install ".[aloha, pusht]"
pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118  

pip install parquet-tools

meetsitaram

%7|1594163328.096|INIT|rdkafka#producer-1| [thrd:app]: librdkafka v1.2.2-2-g34ad93-dirty (0x10202ff) rdkafka#producer-1 initialized (builtin.features gzip,snappy,ssl,sasl,regex,lz4,sasl_gssapi,sasl_plain,sasl_scram,plugins,zstd,sasl_oauthbearer, GCC GXX PKGCONFIG OSXLD LIBDL PLUGINS ZLIB SSL SASL_CYRUS ZSTD HDRHISTOGRAM LZ4_EXT SNAPPY SOCKEM SASL_SCRAM SASL_OAUTHBEARER CRC32C_HW, debug 0xffff)
%7|1594163328.096|BRKMAIN|rdkafka#producer-1| [thrd::0/internal]: :0/internal: Enter main broker thread
%7|1594163328.096|WAKEUPFD|rdkafka#producer-1| [thrd:app]: localhost:9092/bootstrap: Enabled low-latency ops queue wake-ups
%7|1594163328.096|BROKER|rdkafka#producer-1| [thrd:app]: localhost:9092/bootstrap: Added new broker with NodeId -1
%7|1594163328.096|BRKMAIN|rdkafka#producer-1| [thrd:localhost:9092/bootstrap]: localhost:9092/bootstrap: Enter main broker thread
%7|1594163328.096|CONNECT|rdkafka#producer-1| [thrd:app]: localhost:9092/bootstrap: Selected for cluster connection: bootstrap servers added (broker has 0