Trossen Aloha UI

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Overview

Trossen Aloha UI is a Python-based application designed for seamless and efficient robotic data collection. It provides an intuitive GUI to manage robot configurations, perform task recordings, and streamline data collection with advanced features like camera views, task management, and progress tracking.

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Pre-Installation Setup

Before installing the application, complete the following setup:

1. Install Miniconda: Download and install Miniconda for your operating system.

2. Create a Virtual Environment: Use Miniconda to create a virtual environment:

   conda create -n aloha_env python=3.10 -y
   conda activate aloha_env
   

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Installation

Install Trossen Aloha UI directly using pip:

pip install trossen_aloha_ui

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Post-Installation

After installation, run the command to setup the following:

• Clones and installs required dependencies for lerobot.
• Resolves common issues with OpenCV and video encoding.
• Creates a desktop icon for launching the application.

post_install

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Launching the Application

Desktop Application

After installation, a desktop shortcut named Trossen Aloha UI is available. Click on it to launch the application.

Command Line

Alternatively, you can run the application directly from the terminal:

trossen_aloha_ui

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Application Features

1. Task Management

• Task Names: Select predefined tasks from the dropdown menu.
• Episodes: Specify the number of episodes using the spin box. Adjust the count using the + and - buttons.

2. Recording Controls

• Start Recording: Initiates data collection for the selected task.
• Stop Recording: Stops the current data collection session.
• Re-Record: Allows re-recording of the current episode if necessary.

3. Progress Tracking

• A progress bar tracks the recording session in real-time, displaying completion percentage.

4. Camera Views

• View multiple camera feeds in real-time during recording for better monitoring.

5. Configuration Management

• Edit Robot Configuration: Modify the robot's YAML configuration for granular control.
• Edit Task Configuration: Adjust task-specific parameters via a YAML editor.

6. Quit Button

• Use the Quit button in the menu to gracefully exit the application.

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Hardware Setup

For detailed instructions on the hardware setup, please refer to the official documentation:
Aloha Hardware Setup Guide

This guide provides comprehensive information, including:

• Connecting the Arms: Step-by-step guidance to assemble and connect the robotic arms.
• Serial Number Configuration: Instructions on setting up and verifying serial numbers for the arms.
• Camera Setup: Using the Intel RealSense Viewer for calibrating and positioning cameras effectively.

License

This project is licensed under the BSD-3-Clause License.
You are free to use, modify, and distribute this software under the conditions of the BSD-3-Clause license.

See the LICENSE file for full license details.