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(
+            # "right": IntelRealSenseCameraConfig(
-                serial_number="405622075165",
+            #     serial_number="405622075165",
-                fps=30,
+            #     fps=30,
-                width=640,
+            #     width=640,
-                height=480,
+            #     height=480,
-                use_depth=False
+            #     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")
 

realman.md

@@ -8,6 +8,8 @@ conda activate lerobot
 Install 🤗 LeRobot:
 ```bash
 pip install -e . -i https://pypi.tuna.tsinghua.edu.cn/simple
+pip install edge-tts
+sudo apt install mpv -y
 
 # pip uninstall numpy
 # pip install numpy==1.26.0
@@ -51,18 +53,19 @@ echo $HF_USER
 
 ```bash
 python lerobot/scripts/control_robot.py \
-    --robot.type=piper \
+    --robot.type=realman \
     --robot.inference_time=false \
     --control.type=record \
-    --control.fps=30 \
+    --control.fps=15 \
     --control.single_task="move" \
-    --control.repo_id=${HF_USER}/test \
+    --control.repo_id=maic/test \
     --control.num_episodes=2 \
     --control.warmup_time_s=2 \
     --control.episode_time_s=10 \
     --control.reset_time_s=10 \
     --control.play_sounds=true \
-    --control.push_to_hub=false
+    --control.push_to_hub=false \
+    --control.display_data=true
 ```
 
 Press right arrow -> at any time during episode recording to early stop and go to resetting. Same during resetting, to early stop and to go to the next episode recording.  
@@ -104,22 +107,50 @@ python lerobot/scripts/train.py \
   --wandb.enable=true
 ``` 
 
+# FT smolvla
+python lerobot/scripts/train.py \
+ --dataset.repo_id=maic/move_the_bottle_into_ultrasonic_device_with_realman_single  \
+ --policy.path=lerobot/smolvla_base \
+ --output_dir=outputs/train/smolvla_move_the_bottle_into_ultrasonic_device_with_realman_single \
+ --job_name=smolvla_move_the_bottle_into_ultrasonic_device_with_realman_single  \
+ --policy.device=cuda  \
+ --wandb.enable=false \
+ --steps=200000 \
+ --batch_size=16
+
 
 # Inference
 还是使用control_robot.py中的record loop，配置 **--robot.inference_time=true** 可以将手柄移出。
 ```bash
 python lerobot/scripts/control_robot.py \
-    --robot.type=piper \
+    --robot.type=realman \
     --robot.inference_time=true \
     --control.type=record \
     --control.fps=30 \
-    --control.single_task="move" \
+    --control.single_task="move the bottle into ultrasonic device with realman single" \
-    --control.repo_id=$USER/eval_act_jack \
+    --control.repo_id=maic/move_the_bottle_into_ultrasonic_device_with_realman_single \
     --control.num_episodes=1 \
     --control.warmup_time_s=2 \
     --control.episode_time_s=30 \
     --control.reset_time_s=10 \
     --control.push_to_hub=false \
-    --control.policy.path=outputs/train/act_koch_pick_place_lego/checkpoints/latest/pretrained_model
+    --control.policy.path=outputs/train/act_move_the_bottle_into_ultrasonic_device_with_realman_single/checkpoints/100000/pretrained_model
 ```
 
+
+```bash
+python lerobot/scripts/control_robot.py     \
+--robot.type=realman     \
+--robot.inference_time=true     \
+--control.type=record     \
+--control.fps=30     \
+--control.single_task="move the bottle into ultrasonic device with realman single"     \
+--control.repo_id=maic/eval_smolvla_move_the_bottle_into_ultrasonic_device_with_realman_single     \
+--control.num_episodes=1     \
+--control.warmup_time_s=2     \
+--control.episode_time_s=60     \
+--control.reset_time_s=10     \
+--control.push_to_hub=false     \
+--control.policy.path=outputs/train/smolvla_move_the_bottle_into_ultrasonic_device_with_realman_single/checkpoints/160000/pretrained_model \
+--control.display_data=true
+```