Live stream of OpenArm using my own lib XoQ :) #400
haixuanTao
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Wow! Thanks for sharing it! This uses the following architecture, right? flowchart TD
macOS-->Linux
Linux-->leader["OpenArm (leader)"]
Linux-->follower["OpenArm (follower)"]
leader["OpenArm (leader)"]-->Linux
follower["OpenArm (follower)"]-->Linux
Linux-->macOS
Linux-->hf["Hugging Face"]
hf["Hugging Face"]-->Linux
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Made a quick robot virtualization library called XoQ making it possible to connect the OpenArm from any OS including macOS, but also the Web ( for listening mainly writing is a bit slow )
The livestream is available here: https://huggingface.co/spaces/haixuantao/openarm
The robot is probably not moving and it's still a test but the idea is that in the future we can have live demo of policy and remote teleoperation and data collection.
To get started:
Run the server on the linux machine:
and then run lerobot with:
pip install xoq-can lerobot-teleoperate \ --robot.type=openarm_follower \ --robot.port=<PUBLIC_KEY_FOLLOWER> \ --robot.side=right \ --robot.id=my_follower \ --teleop.type=openarm_leader \ --teleop.port=<PUBLIC_KEY_LEADER>And then optionally I have a realsense server running at the same time
live3.mp4
hotdog.mp4
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