lerobot_camera_paxini

Paxini PX-6AX GEN3 tactile sensors as LeRobot cameras. Every GEN3 variant works, from the 9-taxel fingernail to the 239-taxel palm pad: the taxel count is read from the hardware and the layout comes from the coordinate registry bundled in paxini-sdk. Registers the paxini camera type on stock lerobot; no lerobot changes needed.

Install

pip install lerobot
pip install paxini-sdk
pip install lerobot_camera_paxini

Use

lerobot-record \
  --robot.type=so101_follower --robot.port=/dev/ttyACM0 --robot.id=follower \
  --robot.cameras='{
    top: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30},
    tactile: {type: paxini, port: /dev/ttyUSB0, width: 240, height: 320, fps: 30}
  }' \
  ...

Both communication boards are supported: the High-Speed Communication Board (board_type: high_speed, default, auto-push ~91 Hz, pick a slot with module_index) and the Serial Converter Board (board_type: serial, needs sensor_part_code because that board cannot report its sensor).

Rendering

• render: vector_rgb (default): per-taxel (Fx, Fy, Fz) into R, G, B, signed forces centered at 128. Policies get the full force vector as an ordinary image.
• render: heatmap: force magnitude on the vendor-app green-to-red ramp. For demos and debugging.

force_max_n sets full-scale (default 5 N), splat_sigma_px the Gaussian splat width.

If exact per-taxel values matter downstream, record with --dataset.video=false: the default video path is lossy and halves chroma resolution. For tactile as float state features instead of images, see the companion robot plugin lerobot_robot_so101_paxini.

Test without hardware

pip install -e ".[dev]" && pytest