<aside> 💡
This guide only covers the build of the DexWild specific part of the setup. This includes the components used for human demo collection and how to set up DexWild camera on the robot.
For robot setup please refer to:
https://bidex-teleop.github.io/
For LEAP V2 Advanced setup, please refer to:
For LEAP V1 setup, please refer to:
</aside>
Quantities are for(2 hands / 1 hand), depending on if you want to collect bimanual data.
| Part (hyperlinked) | Qty | Price | Notes |
|---|---|---|---|
| Parts you may already have | |||
| Manus Metagloves | 2/1 | $6000/3000 😭 | Ask for EDU pricing |
| Jetson Orin NX | 1 | $760.99 | |
| ZED Mini | 1 | $399 | |
| New Parts | |||
| Short HDMI Cable | 1 | $10.99 | |
| 5” Touch Screen | 1 | $39.99 | |
| 20000mAh Power Bank | 1 | $35.99 | > 36W output |
| USB Clicker | 1 | $26.99 | |
| Foot Pedal | 1 | $16.99 | |
| Head GoPro Mount | 1 | $9.99 | |
| Tripod | 1 | $22.99 | Any Tripod Works |
| Tripod GoPro Mount | 1 | $6.99 | |
| USB-C 15v Trigger Cable | 1 | $14.99 | |
| USB-C Variable Voltage Trigger Cable | 1 | $12.99 | |
| Powered USB Hub | 1 | $13.46 | |
| USB extension Cable | 1 | $8.99 | |
| Global Shutter Arducam | 8/4 | $479.92/239.96 | |
| Arducam Wide Angle Lens | 8/4 | $119.92/59.96 | |
| Low Profile Lens Mount | 8/4 | $48/24 | |
| Lens Retainer Nut | 8/4 | $9.99 | Pack of 10 |
| USB Splitter | 2/1 | $11.76 | |
| Metric Bolts, Washers, Nuts Kit | 1 | $24.99 | |
| M2 Threaded Inserts | 1 | $9.98 |
<aside> 🖨️
For 3D printing, we recommend PLA, ~20% infill, and standard settings otherwise.
</aside>
<aside> 🧊
3D Prints
2D Prints → make sure the scale is correct and matches the aruco cube!
dexwild_aruco_right_letter.pdf
</aside>
The first step is to prepare the cameras. You will need a windows PC for this step.
Download the Arducam Serial Number Tool (also at this link)
We need to give each camera an unique serial number. Plug each camera in and follow this guide to give each camera a number. e.g. “00001”, “00002”.
Now follow the guide below to replace the lens on the camera to be wide angle.
We need to focus the lens of the camera. Plug the camera into your computer.
cd dexwild
cd misc_scripts
python3 list_cameras.py
# you should see [num_a, num_b, num_c, ...] for each camera plugged in.
python test_cameras.py --cameras num_a num_b num_c
# Also make a note of the serial numbers of each camera.
Now twist the lens forward and backwards until the image shown becomes clear. Then tighten the retaining nut.