Quick Start¶

Setup¶

Detect all connected cameras, arms, and SpaceMouse devices, and generate a starter ~/.config/raiden/camera.json:

rd list_devices

Each camera entry requires a role field ("scene", "left_wrist", or "right_wrist"):

{
  "scene_camera_1":     {"serial": 37038161,       "type": "zed",       "role": "scene"},
  "left_wrist_camera":  {"serial": "123456789012", "type": "realsense", "role": "left_wrist"},
  "right_wrist_camera": {"serial": 14932342,       "type": "zed",       "role": "right_wrist"}
}

Arm configuration¶

Raiden supports bimanual (default) and single-arm setups via the --arms flag (bimanual or single). In single-arm mode the active arm is always called the left arm and the global coordinate origin is always the left-arm base frame.

Workflow¶

Follow these steps in order:

Calibration - hand-eye calibration for wrist cameras and static extrinsics for scene cameras.
Teleoperation - practice controlling the arms before recording. Leader-follower mode (default) or SpaceMouse:
```
rd teleop
rd teleop --control spacemouse
```
Recording - capture teleoperation demonstrations:
```
rd record
rd record --control spacemouse
```
Conversion - extract frames and build the dataset:
```
rd convert
```
Visualization - inspect converted recordings:
```
rd visualize
```

SpaceMouse¶

Install the udev rule once so devices are accessible without sudo:

sudo bash scripts/install_spacemouse_udev.sh

Then unplug, replug, and log out/in. Use rd list_devices to find the /dev/hidrawN paths, and scripts/test_spacemouse_read.py to verify axes:

uv run python scripts/test_spacemouse_read.py --path-r /dev/hidraw4 --path-l /dev/hidraw5