Dataset Preparation - Prerequisites

This section describes the necessary setup steps before starting data preparation.

INFO

When executing terminal commands in this document, refer to the indicators below to run them on the correct PC or Docker container

• USER PC: Your PC that connects to the robot via SSH
• ROBOT PC: The NVIDIA Jetson AGX Orin inside the AI Worker robot
• 🐋 AI WORKER: AI Worker Docker container
• 🐋 PHYSICAL AI TOOLS: Physical AI Tools Docker container

To begin data preparation, access the Robot PC either directly or via SSH. See the Setup Guide for instructions on how to connect via SSH.

Launch Physical AI Server

INFO

The Physical AI Server is the backend that connects with the Web UI. It should be running to use the interface for data recording.

Open a terminal and enter the Physical AI Tools Docker container:

ROBOT PC

cd ~/physical_ai_tools && ./docker/container.sh enter

Launch Physical AI Server with the following command:

ROBOT PC 🐋 PHYSICAL AI TOOLS

ros2 launch physical_ai_server physical_ai_server_bringup.launch.py

Or, use shortcut command:

ai_server

Launch the ROS 2 Teleoperation Node

Open a terminal and enter the Docker container:

ROBOT PC

cd ~/ai_worker && ./docker/container.sh enter

Then, launch the ROS 2 teleoperation node with the appropriate command for your robot type (BG2 or SG2):

WARNING

Executing the code will cause robot to move immediately.

INFO

This command launches the leader, follower, and camera nodes for AI Worker.

ROBOT PC 🐋 AI WORKER

ffw_bg2_ai