Welcome to LCRobot’s documentation!

LCRobot is a low-cost mobile robotics platform designed to lower the entry barrier in the field of Embodied AI, enabling more researchers and users to participate.

This documentation will guide you through the complete process of building, configuring, and using your own LCRobot system.

Note

This project is under active development.

Contents

• Getting Started
• Get Your Parts
  • Total Cost
  • Having Trouble Procuring Parts?
  • Base, Lifting Frame & Power Supply
  • Arms & Head Pan-Tilt
  • Computing & Computing Power Supply
  • Teleoperation
  • Tools
• Hardware Assembly Guide
  • Assembling the Base and Lifting Frame
  • Arms and Wrists
• Flashing Firmware
  • Binding USB Ports
  • Flashing the Firmware of the Arm Controller
  • Flashing the Firmware of the Lift Controller
  • Flashing the Firmware of the Head Controller
  • Flashing the Firmware of the Pedal Controller
  • Configuring the ODrive Controller
    • Updating the ODrive Controller version
    • Install ODrive Tool
    • Configure Motor Parameters
    • Calibrate the Encoder
    • Setting the Motion Mode
    • Debugging Tips
  • References
• Prerequisites for Software
  • Hardware Requirements
  • Software Requirements
• Teleoperation Handle Installation and Testing
  • Creating the Handle
    • Right Handle
    • Left Handle
  • Creating Calibration Board
  • Camera Intrinsic Calibration (Test)
• Install ROS 2 Workspace
  • Clone the Project
  • Set Up Docker Runtime (Recommended)
  • Install and Configure Python Packages and ROS Environment
  • Launch LCRobot
• Build Dataset, Train Model & Inference
  • Collect a Dataset
    • Configuration Notes
  • Inspect Dataset Contents
  • Train Your Model
  • Evaluate the Model