Repository layout
The Pinkrab repository is a ROS 2 workspace, and the packages under src/ are built together with colcon build. How to install is described in Install.
Directories
Section titled “Directories”| Path | Contents |
|---|---|
src/pinkrab_core |
Rig config, ports, servo bus, angles, URDF, kinematics, LeRobot robot classes |
src/pinkrab_cli |
The pinkrab CLI: ports, servo check, calibration, cameras, lens fit |
src/pinkrab_description |
URDF/xacro, meshes, MJCF scene, printable parts and 3MF projects |
src/pinkrab_umi |
Hermit: recording, marker tracking, conversion to LeRobot datasets, print files |
src/pinkrab_studio |
The browser workbench, foot switch and remote training |
src/pinkrab_policy |
Rollout, training launcher, run log |
src/pinkrab_sim |
The UMI loop in MuJoCo (Simulation) |
src/pinkrab_mujoco |
The rig in MuJoCo, stepped headless, asked about contact |
src/pinkrab_driver · pinkrab_safety · pinkrab_teleop · pinkrab_bridge |
ROS 2 nodes: servo driver, safety gate, Hermit teleoperation, studio bridge |
src/pinkrab_bringup · pinkrab_interfaces |
Launch files, messages and services |
lerobot-plugin |
bi_pinkrab_follower as a LeRobot robot type |
docs |
This documentation site (Starlight) |
Work folder outside the repository
Section titled “Work folder outside the repository”Calibration, port assignment, camera lens fits, recorded episodes, datasets and training results all live in ~/pinkrab/, outside the checkout. They describe your own rig, so they are never committed.