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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 type: realman
port: 192.168.3.18:8080 port: 192.168.3.18:8080
gripper_range:
- 10
- 990
motors: motors:
joint_1: joint_1:
id: 1 id: 1

59
src/lerobot/motors/realman/realman.py
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@@ -17,6 +17,7 @@ class RealmanMotorsBus(MotorsBus):
self, self,
port: str, port: str,
motors:dict[str, Motor], motors:dict[str, Motor],
gripper_range:list[int],
joint: list, joint: list,
calibration: dict[str, MotorCalibration] | None = None, calibration: dict[str, MotorCalibration] | None = None,
): ):
@@ -25,6 +26,7 @@ class RealmanMotorsBus(MotorsBus):
address = port.split(':') address = port.split(':')
self.handle = self.rmarm.rm_create_robot_arm(address[0], int(address[1])) self.handle = self.rmarm.rm_create_robot_arm(address[0], int(address[1]))
self.motors = motors self.motors = motors
self.gripper_range = gripper_range
self.init_joint_position = joint self.init_joint_position = joint
self.safe_disable_position = joint self.safe_disable_position = joint
self.rmarm.rm_movej(self.init_joint_position[:-1], 5, 0, 0, 1) 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 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): def write(self, data_name: str, motor: str, value: Value, *, normalize: bool = True, num_retry: int = 0):
return False return False
@@ -176,6 +178,10 @@ class RealmanMotorsBus(MotorsBus):
def sync_write(self,name,actionData: dict[str, Any]): def sync_write(self,name,actionData: dict[str, Any]):
if name =="Goal_Position": if name =="Goal_Position":
self.write_arm(target_joint=actionData) 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): def _assert_protocol_is_compatible(self, instruction_name):
return True return True
@@ -185,14 +191,7 @@ class RealmanMotorsBus(MotorsBus):
配置电机 配置电机
""" """
def configure_motors(self, return_delay_time=0, maximum_acceleration=254, acceleration=254) -> None: def configure_motors(self, return_delay_time=0, maximum_acceleration=254, acceleration=254) -> None:
for motor in self.motors: self.rmarm.rm_set_gripper_route(self.gripper_range[0],self.gripper_range[1])
# 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)
def disable_torque(self, motors: int | str | list[str] | None = None, num_retry: int = 0): def disable_torque(self, motors: int | str | list[str] | None = None, num_retry: int = 0):
for motor in self._get_motors_list(motors): for motor in self._get_motors_list(motors):
@@ -207,30 +206,32 @@ class RealmanMotorsBus(MotorsBus):
@property @property
def is_calibrated(self) -> bool: def is_calibrated(self) -> bool:
motors_calibration = self.read_calibration() return True
if set(motors_calibration) != set(self.calibration): # motors_calibration = self.read_calibration()
return False # if set(motors_calibration) != set(self.calibration):
# return False
same_ranges = all( # same_ranges = all(
self.calibration[motor].range_min == cal.range_min # self.calibration[motor].range_min == cal.range_min
and self.calibration[motor].range_max == cal.range_max # and self.calibration[motor].range_max == cal.range_max
for motor, cal in motors_calibration.items() # for motor, cal in motors_calibration.items()
) # )
if self.protocol_version == 1: # if self.protocol_version == 1:
return same_ranges # return same_ranges
same_offsets = all( # same_offsets = all(
self.calibration[motor].homing_offset == cal.homing_offset # self.calibration[motor].homing_offset == cal.homing_offset
for motor, cal in motors_calibration.items() # for motor, cal in motors_calibration.items()
) # )
return same_ranges and same_offsets # return same_ranges and same_offsets
def write_calibration(self, calibration_dict, cache = True): def write_calibration(self, calibration_dict, cache = True):
for motor, calibration in calibration_dict.items(): pass
self.rmarm.rm_set_joint_min_pos(self, motor, calibration.range_min) # for motor, calibration in calibration_dict.items():
self.rmarm.rm_set_joint_max_pos(self, motor, calibration.range_max) # self.rmarm.rm_set_joint_min_pos(self, motor, calibration.range_min)
if cache: # self.rmarm.rm_set_joint_max_pos(self, motor, calibration.range_max)
self.calibration = calibration_dict # if cache:
# self.calibration = calibration_dict
def _get_half_turn_homings(self, positions): def _get_half_turn_homings(self, positions):
offsets = {} offsets = {}

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

@@ -17,11 +17,11 @@ class RealmanRobot(Robot):
def __init__(self, config: RealmanRobotConfig): def __init__(self, config: RealmanRobotConfig):
super().__init__(config) super().__init__(config)
self.config = config self.config = config
print(config)
self.bus = RealmanMotorsBus( self.bus = RealmanMotorsBus(
port=self.config.port, port=self.config.port,
motors=config.motors, motors=config.motors,
joint=config.joint, joint=config.joint,
gripper_range=config.gripper_range,
calibration=self.calibration, calibration=self.calibration,
) )
self.cameras = make_cameras_from_configs(config.cameras) self.cameras = make_cameras_from_configs(config.cameras)
@@ -56,15 +56,15 @@ class RealmanRobot(Robot):
raise DeviceAlreadyConnectedError(f"{self} already connected") raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect() self.bus.connect()
for cam in self.cameras.values():
cam.connect()
if not self.is_calibrated and calibrate: if not self.is_calibrated and calibrate:
logger.info( logger.info(
"Mismatch between calibration values in the motor and the calibration file or no calibration file found" "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
) )
self.calibrate() self.calibrate()
for cam in self.cameras.values():
cam.connect()
self.configure() self.configure()
logger.info(f"{self} connected.") logger.info(f"{self} connected.")
@@ -73,69 +73,18 @@ class RealmanRobot(Robot):
return self.bus.is_calibrated return self.bus.is_calibrated
def calibrate(self) -> None: def calibrate(self) -> None:
if self.calibration: """move piper to the home position"""
# Calibration file exists, ask user whether to use it or run new calibration if not self.is_connected:
user_input = input( raise ConnectionError()
f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
) self.bus.apply_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)
def configure(self) -> None: def configure(self) -> None:
with self.bus.torque_disabled(): with self.bus.torque_disabled():
self.bus.configure_motors() 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: def setup_motors(self) -> None:
for motor in reversed(self.bus.motors): pass
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}")
def get_observation(self) -> dict[str, Any]: def get_observation(self) -> dict[str, Any]:
if not self.is_connected: 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): class RealmanRobotConfig(RobotConfig):
# Port to connect to the arm # Port to connect to the arm
port: str port: str
gripper_range: list[int] = [10, 990]
disable_torque_on_disconnect: bool = True disable_torque_on_disconnect: bool = True
# cameras # cameras
cameras: dict[str, RealSenseCameraConfig] = field(default_factory=dict) cameras: dict[str, RealSenseCameraConfig] = field(default_factory=dict)