Longterm robot project created by the members of Cogito Cogitron.

The project is largely inspired by the work done by HuggingFace with lerobot.

Prerequisits:

• Ensure that Git and Python is installed on your machine.

Download the repository by running the following:

git clone https://github.com/CogitoNTNU/cogitron

After cloning the repository you can change into the directory by running:

cd ./cogitron

You can search for devices in year network by using the nmap script run by:

./cogitron/scripts/find_server.sh

It is assumed that nmap is installed and that you are running the script in a linux enviroment. If you are on windows you can install WSL and run it from there.

If you get a Permission denied error after trying to execute a script you can use the following command to allow execution of the script:

sudo chmod +x ./cogitron/scripts/find_server.sh

After executing the script you will obtain a list of IP-addresses with port 22 open. These will likely have an active SSH-service.

You can connect to a SSH server by running

ssh cogitron@<ip-address>

where you replace the "<ip-address>" with the actual ip address you are trying to connect to. You can then type in the password to the SSH session. This gives you a Bash shell to the machine.

Note: It is required to run the code on Linux.

To set up a Python enviroment run the following in the terminal:

python3 -m venv venv

Then activate it:

. venv/bin/activate

Install the requirements with:

pip install -r requirements.txt

If you want to connect to connect to the machine with SSH you have to setup a SSH server on the machine.

Installing the following packages might be required if they are not present on your machine:

apt install libcap-dev libsystemd-dev python3-dev

You can run the following command to build and install the project. Replace <wheel-name> with the generated wheel filename:

python3 -m build --outdir dist; pip install dist/<wheel-name>.whl --force-reinstall

Script for training and running the AI models can be found under the folder:

./cogitron/scripts/

For more information see the documentation for lerobot

Distributed under the GPLv3 License. See LICENSE for more information.