Trossen SDK

Important

The Trossen SDK has its own documentation site: docs.trossenrobotics.com/trossen_sdk. This page is a short summary.

Overview

The Trossen SDK is a C++ SDK for recording robot demonstrations. One JSON config file describes the hardware and the session, and any setting can be overridden from the command line. Each episode is recorded to its own TrossenMCAP file. To train a policy, convert the files to a LeRobot dataset.

        flowchart LR
    A[Arms, cameras,<br/>mobile base] --> B[TrossenMCAP<br/>one .mcap per episode]
    B --> C[Conversion script]
    C --> D[LeRobot dataset]

Supported Hardware

Hardware

Type string

Notes

Trossen arm

trossen_arm

Leader and follower

Stereolabs ZED camera

zed_camera

Color and depth

RealSense camera

realsense_camera

Color and depth

USB camera

opencv_camera

Any V4L2-compatible camera

SLATE mobile base

slate_base

Differential drive, with odometry

Documentation