Project structure of: MarkFzp/mobile-aloha

• mobile-aloha System Configuration and Robot Operations
  • aloha_scripts Robotics control and vision scripts directory
    • auto_record.sh Checks episode count, runs task, stops on failure.
    • constants.py Aloha Mobile task constants and functions.
    • dynamixel_client.py Dynamixel robot communication simplified with Python module.
    • example_waypoint_pid.py Control PID and differential drive for a robot with waypoint tracking.
    • get_episode_len.py Retrieves episode length from dataset.
    • one_side_teleop.py Python script for one-sided robot arm teleoperation with gripper control.
    • real_env.py Real bi-manual manipulation and environment handling script
    • realsense_test.py Realsense test script: pose capture, velocity calculation, plotting.
    • record_episodes.py Manages four robots, sets modes, handles grippers, collects data.
    • replay_and_record_episodes.py Replay and record smoothed dataset episodes.
    • replay_episodes.py Simulates environment, predicts output, measures velocities.
    • robot_utils.py Robot arm control, image recording, and calibration functions.
    • sleep.py Script controls bot arm movements for initial positions and master.
    • speed_test.py Speed test script for RealSense robot using Python
    • test.py Robot control script for RealSense2 data, PID motion commands, visualization.
    • visualize_episodes.py Visualizes HDF5 datasets with custom labeling and y-axis limits.
    • waypoint_control.py Waypoint control script for robot motion.
  • CMakeLists.txt Sets CMake parameters for ROS project
  • commands.txt Sets latency timers and creates links for ttyUSB devices.
  • config Robot and Puppet Configs
    • master_modes_left.yaml Left master device config, disabled torque for singles.
    • master_modes_right.yaml Right robot side config (port, torque enable arm, gripper)
    • puppet_modes_left.yaml Puppet left device port config with modes for arm and gripper.
    • puppet_modes_right.yaml Puppet arm right, modes and profiles for position control.
  • launch
    • 4arms_teleop.launch Configure 4-arm robot for teleoperation with camera streaming.
  • package.xml "aloha": ROS package, dependencies, exports by Tony Zhao.
  • README.md Install ROS for Interbotix XS robot on Ubuntu 22.04, troubleshooting included.
  • setup.py Setup Python package 'aloha' with MIT License.