Configure & Test Jetson Thor for LeRobot Bimanual Teleoperation and Recording

[Dozgulbas]

Jetson Thor has OS installed (ARM64) but dependency management is challenging due to architecture constraints. Most dependencies are working but full bimanual teleoperation + recording session needs to be validated end-to-end on the Thor.

Verify that both commands below run without errors on Thor with leader and follower arms connected simultaneously, along with all three cameras (chest RealSense + two wrist cameras). Any errors encountered are likely dependency-related and will require debugging on ARM64.

Step 1 — Set camera formats:

v4l2-ctl --device=/dev/video-wrist-left --set-fmt-video=width=640,height=480,pixelformat=MJPG
v4l2-ctl --device=/dev/video-wrist-right --set-fmt-video=width=640,height=480,pixelformat=MJPG

Step 2 — Test teleoperation:

lerobot-teleoperate \
    --robot.type=bi_openarm_follower \
    --robot.left_arm_config.port=can0 \
    --robot.left_arm_config.side=left \
    --robot.right_arm_config.port=can1 \
    --robot.right_arm_config.side=right \
    --robot.id=my_bimanual_follower \
    --teleop.type=bi_openarm_leader \
    --teleop.left_arm_config.port=can2 \
    --teleop.right_arm_config.port=can3 \
    --teleop.id=my_bimanual_leader \
    --robot.left_arm_config.position_kp="[240,240,120,40,24,31,25,5]" \
    --robot.left_arm_config.position_kd="[5,5,1.5,0.3,0.3,0.3,0.3,0.05]" \
    --robot.right_arm_config.position_kp="[240,240,120,40,24,31,25,5]" \
    --robot.right_arm_config.position_kd="[5,5,1.5,0.3,0.3,0.3,0.3,0.05]" \
    --teleop.left_arm_config.position_kp="[240,240,120,40,24,31,25,5]" \
    --teleop.left_arm_config.position_kd="[3,3,1.5,1.0,0.2,0.2,0.2,0.05]" \
    --teleop.right_arm_config.position_kp="[240,240,120,40,24,31,25,5]" \
    --teleop.right_arm_config.position_kd="[3,3,1.5,1.0,0.2,0.2,0.2,0.05]"

Step 3 — Test full recording session:

lerobot-record \
    --robot.type=bi_openarm_follower \
    --robot.left_arm_config.port=can3 \
    --robot.left_arm_config.side=left \
    --robot.left_arm_config.cameras="{ \
        chest: {type: intelrealsense, serial_number_or_name: 025222071898, width: 848, height: 480, fps: 30, use_depth: true}, \
        wrist_left: {type: opencv, index_or_path: /dev/video-wrist-left, width: 640, height: 480, fps: 30, fourcc: MJPG} \
    }" \
    --robot.right_arm_config.port=can2 \
    --robot.right_arm_config.side=right \
    --robot.right_arm_config.cameras="{ \
        wrist_right: {type: opencv, index_or_path: /dev/video-wrist-right, width: 640, height: 480, fps: 30, fourcc: MJPG} \
    }" \
    --robot.id=my_bimanual_follower \
    --teleop.type=bi_openarm_leader \
    --teleop.left_arm_config.port=can0 \
    --teleop.right_arm_config.port=can1 \
    --teleop.id=my_bimanual_leader \
    --teleop.left_arm_config.position_kp="[240,240,120,40,24,31,25,5]" \
    --teleop.left_arm_config.position_kd="[3,3,1.5,1.0,0.2,0.2,0.2,0.05]" \
    --teleop.right_arm_config.position_kp="[240,240,120,40,24,31,25,5]" \
    --teleop.right_arm_config.position_kd="[3,3,1.5,1.0,0.2,0.2,0.2,0.05]" \
    --robot.left_arm_config.position_kp="[240,240,120,40,24,31,25,5]" \
    --robot.left_arm_config.position_kd="[5,5,1.5,0.3,0.3,0.3,0.3,0.05]" \
    --robot.right_arm_config.position_kp="[240,240,120,40,24,31,25,5]" \
    --robot.right_arm_config.position_kd="[5,5,1.5,0.3,0.3,0.3,0.3,0.05]" \
    --dataset.repo_id=local/openarm_open_lab_door \
    --dataset.single_task="Open lab door handle" \
    --dataset.fps=30 \
    --dataset.num_episodes=100 \
    --dataset.episode_time_s=40 \
    --dataset.reset_time_s=10 \
    --dataset.push_to_hub=false \
    --display_data=true

Definition of Done

• Leader + follower arms initialize without errors
• All 3 cameras stream at configured resolutions
• Full teleoperation and recording session runs cleanly
• No dependency errors on ARM64