update some readme

lerobot/common/robot_devices/robots/configs.py

@@ -701,7 +701,7 @@ class RealmanRobotConfig(RobotConfig):
                     "joint_6": [6, "realman"],
                     "gripper": [7, "realman"],
                 },
-                init_joint = {'joint': [90, -90, -90, -90, 90, -90, 1000]}
+                init_joint = {'joint': [90, -90, -90, 90, -90, 90, 10]}
             )
         }
     )
@@ -721,13 +721,13 @@ class RealmanRobotConfig(RobotConfig):
                 height=480,
                 use_depth=False
             ),
-            "right": IntelRealSenseCameraConfig(
-                serial_number="405622075165",
-                fps=30,
-                width=640,
-                height=480,
-                use_depth=False
-            ),
+            # "right": IntelRealSenseCameraConfig(
+            #     serial_number="405622075165",
+            #     fps=30,
+            #     width=640,
+            #     height=480,
+            #     use_depth=False
+            # ),
             "front": IntelRealSenseCameraConfig(
                 serial_number="145422072751",
                 fps=30,

lerobot/common/robot_devices/robots/realman.py

@@ -43,6 +43,7 @@ class RealmanRobot:
         
         # build state-action cache
         self.joint_queue = deque(maxlen=2)
+        self.last_endpose = init_pose
 
         # build gamepad teleop
         if not self.inference_time:
@@ -187,8 +188,10 @@ class RealmanRobot:
             before_write_t = time.perf_counter()
             
             # result = self.arm.rmarm.rm_movej_p(target_pose, 100, 0, 0, 0)
-            self.arm.rmarm.rm_movep_follow(target_pose)
+            if self.last_endpose != target_pose:
+                self.arm.rmarm.rm_movep_follow(target_pose)
             self.arm.rmarm.rm_set_gripper_position(action['gripper'], False, 2)
+            self.last_endpose = target_pose
 
             ret = self.arm.rmarm.rm_get_current_arm_state()
             target_joints = ret[1].get('joint', self.arm.init_joint_position)

lerobot/common/utils/utils.py

@@ -175,7 +175,8 @@ def say(text, blocking=False):
         cmd = ["say", text]
 
     elif system == "Linux":
-        cmd = ["spd-say", text]
+        # cmd = ["spd-say", text]
+        cmd = ["edge-playback", "-t", text]
         if blocking:
             cmd.append("--wait")