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add realman shadow src

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yutang
2025-06-07 11:29:43 +08:00
parent e079566597
commit cf8df17d3a
98 changed files with 14215 additions and 0 deletions
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38
realman_src/realman_aloha/shadow_rm_aloha/config/data_synchronizer.yaml Normal file
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dataset_dir: '/home/rm/code/shadow_rm_aloha/data/dataset'
dataset_name: 'episode'
max_timesteps: 500
state_dim: 14
overwrite: False
arm_axis: 6
camera_names:
- 'cam_high'
- 'cam_low'
- 'cam_left'
- 'cam_right'
ros_topics:
camera_left: '/camera_left/rgb/image_raw'
camera_right: '/camera_right/rgb/image_raw'
camera_bottom: '/camera_bottom/rgb/image_raw'
camera_head: '/camera_head/rgb/image_raw'
left_master_arm: '/left_master_arm_joint_states'
left_slave_arm: '/left_slave_arm_joint_states'
right_master_arm: '/right_master_arm_joint_states'
right_slave_arm: '/right_slave_arm_joint_states'
left_aloha_state: '/left_slave_arm_aloha_state'
right_aloha_state: '/right_slave_arm_aloha_state'
robot_env: {
# TODO change the path to the correct one
rm_left_arm: '/home/rm/code/shadow_rm_aloha/config/rm_left_arm.yaml',
rm_right_arm: '/home/rm/code/shadow_rm_aloha/config/rm_right_arm.yaml',
arm_axis: 6,
head_camera: '241122071186',
bottom_camera: '152122078546',
left_camera: '150622070125',
right_camera: '151222072576',
init_left_arm_angle: [7.235, 31.816, 51.237, 2.463, 91.054, 12.04, 0.0],
init_right_arm_angle: [-6.155, 33.925, 62.137, -1.672, 87.892, -3.868, 0.0]
# init_left_arm_angle: [6.681, 38.496, 66.093, -1.141, 74.529, 3.076, 0.0],
# init_right_arm_angle: [-4.79, 37.062, 72.393, -0.477, 68.593, -9.526, 0.0]
# init_left_arm_angle: [6.45, 66.093, 2.9, 20.919, -1.491, 100.756, 18.808, 0.617],
# init_right_arm_angle: [166.953, -33.575, -163.917, 73.3, -9.581, 69.51, 0.876]
}

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realman_src/realman_aloha/shadow_rm_aloha/config/rm_left_arm.yaml Normal file
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arm_ip: "192.168.1.18"
arm_port: 8080
arm_axis: 6
local_ip: "192.168.1.101"
local_port: 8089
# arm_ki: [7, 7, 7, 3, 3, 3, 3] # rm75
arm_ki: [7, 7, 7, 3, 3, 3] # rm65
get_vel: True
get_torque: True

9
realman_src/realman_aloha/shadow_rm_aloha/config/rm_right_arm.yaml Normal file
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arm_ip: "192.168.1.19"
arm_port: 8080
arm_axis: 6
local_ip: "192.168.1.101"
local_port: 8090
# arm_ki: [7, 7, 7, 3, 3, 3, 3] # rm75
arm_ki: [7, 7, 7, 3, 3, 3] # rm65
get_vel: True
get_torque: True

4
realman_src/realman_aloha/shadow_rm_aloha/config/servo_left_arm.yaml Normal file
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port: /dev/ttyUSB1
baudrate: 460800
hex_data: "55 AA 02 00 00 67"
arm_axis: 6

4
realman_src/realman_aloha/shadow_rm_aloha/config/servo_right_arm.yaml Normal file
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port: /dev/ttyUSB0
baudrate: 460800
hex_data: "55 AA 02 00 00 67"
arm_axis: 6

6
realman_src/realman_aloha/shadow_rm_aloha/config/vis_data_path.yaml Normal file
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dataset_dir: '/home/rm/code/shadow_rm_aloha/data/dataset/20250102'
dataset_name: 'episode'
episode_idx: 1
FPS: 30
# joint_names: ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate", "J7"] # 7 joints
joint_names: ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"] # 6 joints