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This commit is contained in:
yehao
2025-12-04 15:11:07 +08:00
parent cf4bb351ed
commit ba2b3c217a
4 changed files with 45 additions and 91 deletions
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3
realman.yml
View File

@@ -1,5 +1,8 @@
type: realman
port: 192.168.3.18:8080
gripper_range:
- 10
- 990
motors:
joint_1:
id: 1

59
src/lerobot/motors/realman/realman.py
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@@ -17,6 +17,7 @@ class RealmanMotorsBus(MotorsBus):
self,
port: str,
motors:dict[str, Motor],
gripper_range:list[int],
joint: list,
calibration: dict[str, MotorCalibration] | None = None,
):
@@ -25,6 +26,7 @@ class RealmanMotorsBus(MotorsBus):
address = port.split(':')
self.handle = self.rmarm.rm_create_robot_arm(address[0], int(address[1]))
self.motors = motors
self.gripper_range = gripper_range
self.init_joint_position = joint
self.safe_disable_position = joint
self.rmarm.rm_movej(self.init_joint_position[:-1], 5, 0, 0, 1)
@@ -105,7 +107,7 @@ class RealmanMotorsBus(MotorsBus):
"""
移动到初始位置
"""
self.write(target_joint=self.init_joint_position)
self.write_arm(target_joint=self.init_joint_position)
def write(self, data_name: str, motor: str, value: Value, *, normalize: bool = True, num_retry: int = 0):
return False
@@ -176,6 +178,10 @@ class RealmanMotorsBus(MotorsBus):
def sync_write(self,name,actionData: dict[str, Any]):
if name =="Goal_Position":
self.write_arm(target_joint=actionData)
def sync_read(self, data_name, motors = None, *, normalize = True, num_retry = 0):
if data_name == "Present_Position":
return self.read()
def _assert_protocol_is_compatible(self, instruction_name):
return True
@@ -185,14 +191,7 @@ class RealmanMotorsBus(MotorsBus):
配置电机
"""
def configure_motors(self, return_delay_time=0, maximum_acceleration=254, acceleration=254) -> None:
for motor in self.motors:
# By default, Feetech motors have a 500µs delay response time (corresponding to a value of 250 on
# the 'Return_Delay_Time' address). We ensure this is reduced to the minimum of 2µs (value of 0).
self.write("Return_Delay_Time", motor, return_delay_time)
# Set 'Maximum_Acceleration' to 254 to speedup acceleration and deceleration of the motors.
if self.protocol_version == 0:
self.write("Maximum_Acceleration", motor, maximum_acceleration)
self.write("Acceleration", motor, acceleration)
self.rmarm.rm_set_gripper_route(self.gripper_range[0],self.gripper_range[1])
def disable_torque(self, motors: int | str | list[str] | None = None, num_retry: int = 0):
for motor in self._get_motors_list(motors):
@@ -207,30 +206,32 @@ class RealmanMotorsBus(MotorsBus):
@property
def is_calibrated(self) -> bool:
motors_calibration = self.read_calibration()
if set(motors_calibration) != set(self.calibration):
return False
return True
# motors_calibration = self.read_calibration()
# if set(motors_calibration) != set(self.calibration):
# return False
same_ranges = all(
self.calibration[motor].range_min == cal.range_min
and self.calibration[motor].range_max == cal.range_max
for motor, cal in motors_calibration.items()
)
if self.protocol_version == 1:
return same_ranges
# same_ranges = all(
# self.calibration[motor].range_min == cal.range_min
# and self.calibration[motor].range_max == cal.range_max
# for motor, cal in motors_calibration.items()
# )
# if self.protocol_version == 1:
# return same_ranges
same_offsets = all(
self.calibration[motor].homing_offset == cal.homing_offset
for motor, cal in motors_calibration.items()
)
return same_ranges and same_offsets
# same_offsets = all(
# self.calibration[motor].homing_offset == cal.homing_offset
# for motor, cal in motors_calibration.items()
# )
# return same_ranges and same_offsets
def write_calibration(self, calibration_dict, cache = True):
for motor, calibration in calibration_dict.items():
self.rmarm.rm_set_joint_min_pos(self, motor, calibration.range_min)
self.rmarm.rm_set_joint_max_pos(self, motor, calibration.range_max)
if cache:
self.calibration = calibration_dict
pass
# for motor, calibration in calibration_dict.items():
# self.rmarm.rm_set_joint_min_pos(self, motor, calibration.range_min)
# self.rmarm.rm_set_joint_max_pos(self, motor, calibration.range_max)
# if cache:
# self.calibration = calibration_dict
def _get_half_turn_homings(self, positions):
offsets = {}

73
src/lerobot/robots/realman/realman_robot.py
View File

@@ -17,11 +17,11 @@ class RealmanRobot(Robot):
def __init__(self, config: RealmanRobotConfig):
super().__init__(config)
self.config = config
print(config)
self.bus = RealmanMotorsBus(
port=self.config.port,
motors=config.motors,
joint=config.joint,
gripper_range=config.gripper_range,
calibration=self.calibration,
)
self.cameras = make_cameras_from_configs(config.cameras)
@@ -56,15 +56,15 @@ class RealmanRobot(Robot):
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect()
for cam in self.cameras.values():
cam.connect()
if not self.is_calibrated and calibrate:
logger.info(
"Mismatch between calibration values in the motor and the calibration file or no calibration file found"
)
self.calibrate()
for cam in self.cameras.values():
cam.connect()
self.configure()
logger.info(f"{self} connected.")
@@ -73,69 +73,18 @@ class RealmanRobot(Robot):
return self.bus.is_calibrated
def calibrate(self) -> None:
if self.calibration:
# Calibration file exists, ask user whether to use it or run new calibration
user_input = input(
f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
)
if user_input.strip().lower() != "c":
logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
self.bus.write_calibration(self.calibration)
return
logger.info(f"\nRunning calibration of {self}")
self.bus.disable_torque()
for motor in self.bus.motors:
self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
input(f"Move {self} to the middle of its range of motion and press ENTER....")
homing_offsets = self.bus.set_half_turn_homings()
full_turn_motor = "wrist_roll"
unknown_range_motors = [motor for motor in self.bus.motors if motor != full_turn_motor]
print(
f"Move all joints except '{full_turn_motor}' sequentially through their "
"entire ranges of motion.\nRecording positions. Press ENTER to stop..."
)
range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
range_mins[full_turn_motor] = 0
range_maxes[full_turn_motor] = 4095
self.calibration = {}
for motor, m in self.bus.motors.items():
self.calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=0,
homing_offset=homing_offsets[motor],
range_min=range_mins[motor],
range_max=range_maxes[motor],
)
self.bus.write_calibration(self.calibration)
self._save_calibration()
print("Calibration saved to", self.calibration_fpath)
"""move piper to the home position"""
if not self.is_connected:
raise ConnectionError()
self.bus.apply_calibration()
def configure(self) -> None:
with self.bus.torque_disabled():
self.bus.configure_motors()
for motor in self.bus.motors:
self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
# Set P_Coefficient to lower value to avoid shakiness (Default is 32)
self.bus.write("P_Coefficient", motor, 16)
# Set I_Coefficient and D_Coefficient to default value 0 and 32
self.bus.write("I_Coefficient", motor, 0)
self.bus.write("D_Coefficient", motor, 32)
if motor == "gripper":
self.bus.write("Max_Torque_Limit", motor, 500) # 50% of max torque to avoid burnout
self.bus.write("Protection_Current", motor, 250) # 50% of max current to avoid burnout
self.bus.write("Overload_Torque", motor, 25) # 25% torque when overloaded
def setup_motors(self) -> None:
for motor in reversed(self.bus.motors):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
pass
def get_observation(self) -> dict[str, Any]:
if not self.is_connected:

1
src/lerobot/robots/realman/realman_robot_config.py
View File

@@ -9,6 +9,7 @@ from lerobot.robots.config import RobotConfig
class RealmanRobotConfig(RobotConfig):
# Port to connect to the arm
port: str
gripper_range: list[int] = [10, 990]
disable_torque_on_disconnect: bool = True
# cameras
cameras: dict[str, RealSenseCameraConfig] = field(default_factory=dict)