Anatomy of Housework Robots

Objectives

Here is a set of repositories, containing 3 kinds of contents,

1. Documents:

   Step-by-step guidances to clone housework robots including Stanford mobile aloha and others.

   The documents are organized into seasons, and each season consists of multiple episodes.

2. Source codes:

   Every season has a source code repository.

   Aligned with the guidances, the repositories contain the related source codes.

   Some source codes are modified based on the original source codes like Stanford mobile aloha open source.

   Other source codes are created by our team, usually aimed to improve the performance of the robot.

3. Videos:

   The content of the videos are video records of the robot movement, controlled by the source codes in the repositories.

   Usually every season's every episode has one video with 2 versions. The English version is hosted in Youtube.com, and the Chinese version is hosted in Bilibili.com

 

Contents

 

Season 1. Anatomy of Stanford mobile aloha

1. S01E01. Migrate Stanford aloha from ROS1 to ROS2

Click the preview image to see the video on youtube, the content is our objective and project progress.

 

2. S01E02. Manipulate interbotix robotic arm with rviz2

 

3. S01E03. Manipulate the physical interbotix robotic arm

 

4. S01E04. Clone Stanford aloha robotic arms hardware architecture

 

5. S01E05. Interbotix bug fixing

 

Season 2. Mount LeRobot robot brain

1. S02E01. Why to learn LeRobot?

 

2. S02E02. The data format of LeRobot brain

 

3. S02E03. A case study, the data format of the native Stanford aloha robot body

 

4. S02E04. Train leRobot brain

 

5. S02E05. Transplant leRobot brain to Aloha body

 

Season 3. Programming Unitree's Go2 robotic dog

1. S03E01. Programming unitree-go2 robodog with python

 

2. S03E02. Integrate Arduino into Unitree Go2 Robot Dog

 

3. S03E03. Nvidia Orin board of Unitree Go2 Robot Dog

 

4. S03E04. See the world through Unitree robotic dog's eyes

 

5. S03E05. Low-level Motion Control of Unitree Go2 Robotic Dog in Python

 

6. S03E06. Retrieval and Visualization of Unitree's Go2 Robotic Dog's Motion Control Data

[![Retrieval and visualization of the motion control data from Unitree go2 robotic dog](https://img.youtube.com/vi/r-sH_290A60/hqdefault.jpg)](https://www.youtube.com/watch?v=r-sH_290A60)

 

Season 4. Simulation and RL for Unitree's Go2 robotic dog

1. S04E01. Trouble shooting for the installation of Isaac Sim and Lab

 

2. S04E02. Train Unitree Go2 Robot Dog with Isaac Sim/Lab

 

3. S04E03. Anatomy of Isaac Lab

 

 

Season 5. Communication among robots, webserver, database, AI models.

1. S05E01. Video streaming with Computer Webcam

 

2. S05E02. Transmit video streaming from robotic dogs, to streaming server, finally to viewers' browsers

 

 

Season 6. Robot side

1. S06E01. Setup the Arduino IDE programming environment to dissect DengFOC's balancing bot

 

2. S06E02. Serial Communication between Arduino and Python

 

3. S06E03. Anatomy of a Wheel-legged Robot

 

4. S06E04. Anatomy of Mushibot, Another Wheel-legged Robot

 

5. S06E05. Anatomy of the ADC reading of Mushibot

 

6. S06E06. Anatomy of Mushibot's Embedded File System

 

7. S06E07. Anatomy of Mushibot's Wifi, Http/s, and WebSocket

 

8. S06E08. Anatomy of Mushibot's Teleoperation

   

To be continued ...