https://github.com/phospho-app/phosphobot
Share and explore robotics projects built with the phosphobot dev kit
https://github.com/phospho-app/phosphobot
robots
Last synced: about 1 month ago
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Share and explore robotics projects built with the phosphobot dev kit
- Host: GitHub
- URL: https://github.com/phospho-app/phosphobot
- Owner: phospho-app
- License: mit
- Created: 2025-01-10T10:21:53.000Z (4 months ago)
- Default Branch: main
- Last Pushed: 2025-04-12T20:32:17.000Z (about 1 month ago)
- Last Synced: 2025-04-13T04:12:59.415Z (about 1 month ago)
- Topics: robots
- Language: Python
- Homepage: https://robots.phospho.ai
- Size: 37.9 MB
- Stars: 47
- Watchers: 4
- Forks: 7
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
Awesome Lists containing this project
README
# phosphobot
A community-driven platform for robotics enthusiasts to share and explore creative projects built with the phospho starter pack.
## Overview
This repository contains demo code and community projects developed using the phospho starter pack. Whether you're a beginner or an experienced developer, you can explore existing projects or contribute your own creations.
## Getting started
1. **Get Your Dev Kit**: Purchase your Phospho starter pack at [robots.phospho.ai](https://robots.phospho.ai). Unbox it and set it up following the instructions in the box.
2. **Install the phosphobot server** and run it:
```bash
# Install it this way
curl -fsSL https://raw.githubusercontent.com/phospho-app/phosphobot/main/install.sh | bash
# Start it this way
phosphobot run
# Upgrade it with brew or with apt
# sudo apt update && sudo apt install phosphobot
# brew update && brew upgrade phosphobot
```
3. Use the **phosphobot python client** to interact with the phosphobot server API.
```
pip install --upgrade phosphobot
```
We release new versions very often.
## How to train ACT with LeRobot?
1. **Record a Dataset with phosphobot**: Record a dataset using the app. Do the same gesture 30-50 times (depending on the task complexity) to create a dataset. [Learn more](https://docs.phospho.ai/basic-usage/dataset-recording)
2. **Install LeRobot**. [LeRobot](https://github.com/huggingface/lerobot) by HuggingFace is a research-oriented library for AI training which is still a work in progress. We made a few workarounds to make sure it works reliably. On MacOS, here is a step by step guide.
2.1. Install [uv](https://docs.astral.sh/uv/), a Python environment manager.
```bash
# On macOS and Linux.
curl -LsSf https://astral.sh/uv/install.sh | sh
```
2.2 Create a new directory and install requirements.
```bash
mkdir my_model
cd my_model
uv init
uv add phosphobot git+https://github.com/phospho-app/lerobot
git clone https://github.com/phospho-app/lerobot
```
2.3 On MacOS M1, you need to set this variable for torchcodec to work.
```bash
export DYLD_LIBRARY_PATH="/opt/homebrew/lib:/usr/local/lib:$DYLD_LIBRARY_PATH"
```
2.4 Run the **LeRobot** training script. For example, on Mac M1:
```bash
uv run lerobot/lerobot/scripts/train.py \
--dataset.repo_id=PLB/simple-lego-pickup-mono-2 \
--policy.type=act \
--output_dir=outputs/train/phoshobot_test \
--job_name=phosphobot_test \
--policy.device=mps
```
Change the dataset.repo_id to the id of your dataset on Hugging Face.
Change the `--policy.device` flag based on your hardware: `cuda` if you have an NVIDIA GPU, `mps` if you use a MacBook Pro Sillicon, and `cpu` otherwise.
3. **Use the ACT model to control your robot**:
3.1 Launch the ACT server to run inference. This should be running on a beefy GPU machine. Check out our folder [/inference] for more details.
```bash
curl -o server.py https://raw.githubusercontent.com/phospho-app/phosphobot/refs/heads/main/inference/ACT/server.py
```
```bash
uv run server.py --model_id LegrandFrederic/Orange-brick-in-black-box # Replace with
```
3.2 Make sure the [phosphobot server](https://docs.phospho.ai/installation) is running to control your robot:
```bash
# Install it this way
curl -fsSL https://raw.githubusercontent.com/phospho-app/phosphobot/main/install.sh | bash
# Start it this way
phosphobot run
```
3.3 Create a script called `my_model/client.py` and copy paste the content below.
```python
# /// script
# requires-python = ">=3.11"
# dependencies = [
# "phosphobot",
# ]
# ///
from phosphobot.camera import AllCameras
from phosphobot.api.client import PhosphoApi
from phosphobot.am import ACT
import time
import numpy as np
# Connect to the phosphobot server
client = PhosphoApi(base_url="http://localhost:80")
# Get a camera frame
allcameras = AllCameras()
# Need to wait for the cameras to initialize
time.sleep(1)
# Instantiate the model
model = ACT()
while True:
images = [
allcameras.get_rgb_frame(camera_id=0, resize=(240, 320)),
allcameras.get_rgb_frame(camera_id=1, resize=(240, 320)),
allcameras.get_rgb_frame(camera_id=2, resize=(240, 320)),
]
# Get the robot state
state = client.control.read_joints()
inputs = {"state": np.array(state.angles_rad), "images": np.array(images)}
# Go through the model
actions = model(inputs)
for action in actions:
# Send the new joint postion to the robot
client.control.write_joints(angles=action.tolist())
# Wait to respect frequency control (30 Hz)
time.sleep(1 / 30)
```
3.4 Run this script to control your robot using the model:
```
uv run client.py
```
For the full detailed instructions and other model (Pi0, OpenVLA,...), refer to the [docs](https://docs.phospho.ai/basic-usage/inference).
## Join the Community
Connect with other developers and share your experience in our [Discord community](https://discord.gg/cbkggY6NSK)
## Community Projects
Explore projects created by our community members in the [code_examples](./code_examples) directory. Each project includes its own documentation and setup instructions.
## Support
- **Documentation**: Read the [documentation](https://docs.phospho.ai)
- **Community Support**: Join our [Discord server](https://discord.gg/cbkggY6NSK)
- **Issues**: Submit problems or suggestions through [GitHub Issues](https://github.com/phospho-app/phosphobot/issues)
## License
MIT License
---
Made with 💚 by the Phospho community