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yutang
2025-06-26 14:35:47 +08:00
parent 2fc2fe998b
commit e374804061
5 changed files with 80 additions and 47 deletions
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39
lerobot/common/robot_devices/robots/configs.py
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@@ -683,7 +683,8 @@ class RealmanRobotConfig(RobotConfig):
inference_time: bool = False inference_time: bool = False
max_gripper: int = 990 max_gripper: int = 990
min_gripper: int = 10 min_gripper: int = 10
servo_config_file: str = "/home/maic/LYT/lerobot/realman_src/realman_aloha/shadow_rm_robot/config/servo_arm.yaml" axis: int = 6
servo_config_file: str = "/home/maic/LYT/lerobot/lerobot/common/robot_devices/teleop/servo_arm.yaml"
left_follower_arm: dict[str, MotorsBusConfig] = field( left_follower_arm: dict[str, MotorsBusConfig] = field(
@@ -701,7 +702,27 @@ class RealmanRobotConfig(RobotConfig):
"joint_6": [6, "realman"], "joint_6": [6, "realman"],
"gripper": [7, "realman"], "gripper": [7, "realman"],
}, },
init_joint = {'joint': [90, -90, -90, 90, -90, 90, 10]} init_joint = {'joint': [-90, 90, 90, 90, 90, -90, 10]}
)
}
)
right_follower_arm: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": RealmanMotorsBusConfig(
ip = "192.168.3.19",
port = 8080,
motors={
# name: (index, model)
"joint_1": [1, "realman"],
"joint_2": [2, "realman"],
"joint_3": [3, "realman"],
"joint_4": [4, "realman"],
"joint_5": [5, "realman"],
"joint_6": [6, "realman"],
"gripper": [7, "realman"],
},
init_joint = {'joint': [-90, 90, 90, 90, 90, -90, 10]}
) )
} }
) )
@@ -721,13 +742,13 @@ class RealmanRobotConfig(RobotConfig):
height=480, height=480,
use_depth=False 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( "front": IntelRealSenseCameraConfig(
serial_number="145422072751", serial_number="145422072751",
fps=30, fps=30,

26
lerobot/common/robot_devices/robots/realman.py
View File

@@ -206,8 +206,13 @@ class RealmanRobot:
ret = self.arm.rmarm.rm_get_current_arm_state() ret = self.arm.rmarm.rm_get_current_arm_state()
current_pose = ret[1]['pose'] current_pose = ret[1]['pose']
self.teleop.update_endpose_state(current_pose) self.teleop.update_endpose_state(current_pose)
target_joints = action['joint_angles'] target_joints = action['joint_angles'][:-1]
if action['master_controller_status']['infrared'] == 1:
if action['master_controller_status']['button'] == 1:
self.arm.rmarm.rm_movej_canfd(target_joints, False)
else:
self.arm.rmarm.rm_movej(target_joints, 5, 0, 0, 0)
# do action # do action
before_write_t = time.perf_counter() before_write_t = time.perf_counter()
self.joint_queue.append(list(self.arm.read().values())) self.joint_queue.append(list(self.arm.read().values()))
@@ -215,14 +220,15 @@ class RealmanRobot:
else: else:
# 末端位姿控制模式 # 末端位姿控制模式
target_pose = [ # target_pose = [
action['end_pose']['X'], # X (m) # action['end_pose']['X'], # X (m)
action['end_pose']['Y'], # Y (m) # action['end_pose']['Y'], # Y (m)
action['end_pose']['Z'], # Z (m) # action['end_pose']['Z'], # Z (m)
action['end_pose']['RX'], # RX (rad) # action['end_pose']['RX'], # RX (rad)
action['end_pose']['RY'], # RY (rad) # action['end_pose']['RY'], # RY (rad)
action['end_pose']['RZ'] # RZ (rad) # action['end_pose']['RZ'] # RZ (rad)
] # ]
target_pose = action['end_pose']
# do action # do action
before_write_t = time.perf_counter() before_write_t = time.perf_counter()

57
lerobot/common/robot_devices/teleop/gamepad.py
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@@ -20,12 +20,13 @@ class ServoArm:
self.config = self._load_config(config_file) self.config = self._load_config(config_file)
self.port = self.config["port"] self.port = self.config["port"]
self.baudrate = self.config["baudrate"] self.baudrate = self.config["baudrate"]
self.hex_data = self.config["hex_data"] self.joint_hex_data = self.config["joint_hex_data"]
self.control_hex_data = self.config["control_hex_data"]
self.arm_axis = self.config.get("arm_axis", 7) self.arm_axis = self.config.get("arm_axis", 7)
try: try:
self.serial_conn = serial.Serial(self.port, self.baudrate, timeout=0) self.serial_conn = serial.Serial(self.port, self.baudrate, timeout=0)
self.bytes_to_send = binascii.unhexlify(self.hex_data.replace(" ", "")) self.bytes_to_send = binascii.unhexlify(self.joint_hex_data.replace(" ", ""))
self.serial_conn.write(self.bytes_to_send) self.serial_conn.write(self.bytes_to_send)
time.sleep(1) time.sleep(1)
self.connected = True self.connected = True
@@ -53,7 +54,8 @@ class ServoArm:
return { return {
"port": "/dev/ttyUSB0", "port": "/dev/ttyUSB0",
"baudrate": 460800, "baudrate": 460800,
"hex_data": "55 AA 02 00 00 67", "joint_hex_data": "55 AA 02 00 00 67",
"control_hex_data": "55 AA 08 00 00 B9",
"arm_axis": 6 "arm_axis": 6
} }
@@ -94,6 +96,17 @@ class ServoArm:
joints["grasp"] = grasp_value joints["grasp"] = grasp_value
return joints return joints
def _parse_controller_data(self, hex_received):
status = {
'infrared': 0,
'button': 0
}
if len(hex_received) == 18:
status['infrared'] = self._bytes_to_signed_int(bytearray.fromhex(hex_received[12:14]))
status['button'] = self._bytes_to_signed_int(bytearray.fromhex(hex_received[14:16]))
# print(infrared)
return status
def get_joint_actions(self): def get_joint_actions(self):
"""从串口读取数据并解析关节动作。 """从串口读取数据并解析关节动作。
@@ -106,6 +119,7 @@ class ServoArm:
try: try:
self.serial_conn.write(self.bytes_to_send) self.serial_conn.write(self.bytes_to_send)
time.sleep(0.02)
bytes_received = self.serial_conn.read(self.serial_conn.inWaiting()) bytes_received = self.serial_conn.read(self.serial_conn.inWaiting())
if len(bytes_received) == 0: if len(bytes_received) == 0:
return {} return {}
@@ -117,20 +131,15 @@ class ServoArm:
logging.error(f"读取串口数据错误: {e}") logging.error(f"读取串口数据错误: {e}")
return {} return {}
def set_gripper_action(self, action): def get_controller_status(self):
"""设置夹爪动作。 bytes_to_send = binascii.unhexlify(self.control_hex_data.replace(" ", ""))
Args: self.serial_conn.write(bytes_to_send)
action (int): 夹爪动作值。 time.sleep(0.02)
""" bytes_received = self.serial_conn.read(self.serial_conn.inWaiting())
if not self.connected: hex_received = binascii.hexlify(bytes_received).decode("utf-8").upper()
return # print("control status:", hex_received)
status = self._parse_controller_data(hex_received)
try: return status
action = int(action * 1000)
action_bytes = action.to_bytes(4, byteorder="little", signed=True)
self.bytes_to_send = self.bytes_to_send[:74] + action_bytes + self.bytes_to_send[78:]
except Exception as e:
logging.error(f"设置夹爪动作错误: {e}")
def close(self): def close(self):
"""关闭串口连接""" """关闭串口连接"""
@@ -174,6 +183,7 @@ class HybridController:
# 主臂关节状态 # 主臂关节状态
self.master_joint_actions = {} self.master_joint_actions = {}
self.master_controller_status = {}
self.use_master_arm = False self.use_master_arm = False
# 末端位姿限制 # 末端位姿限制
@@ -282,6 +292,7 @@ class HybridController:
if self.servo_arm and self.servo_arm.connected: if self.servo_arm and self.servo_arm.connected:
try: try:
self.master_joint_actions = self.servo_arm.get_joint_actions() self.master_joint_actions = self.servo_arm.get_joint_actions()
self.master_controller_status = self.servo_arm.get_controller_status()
if self.master_joint_actions: if self.master_joint_actions:
logging.debug(f"主臂关节状态: {self.master_joint_actions}") logging.debug(f"主臂关节状态: {self.master_joint_actions}")
@@ -324,7 +335,7 @@ class HybridController:
# 如果有主臂夹爪数据，使用主臂夹爪状态 # 如果有主臂夹爪数据，使用主臂夹爪状态
if self.use_master_arm and "grasp" in self.master_joint_actions: if self.use_master_arm and "grasp" in self.master_joint_actions:
self.gripper = self.master_joint_actions["grasp"] * 1000 self.gripper = self.master_joint_actions["grasp"]# * 1000
self.joint[-1] = self.gripper self.joint[-1] = self.gripper
@@ -406,14 +417,8 @@ class HybridController:
'control_mode': 'joint' if self.joint_control_mode else 'end_pose', 'control_mode': 'joint' if self.joint_control_mode else 'end_pose',
'use_master_arm': self.use_master_arm, 'use_master_arm': self.use_master_arm,
'master_joint_actions': self.master_joint_actions, 'master_joint_actions': self.master_joint_actions,
'end_pose': { 'master_controller_status': self.master_controller_status,
'X': self.pose[0], 'end_pose': self.pose,
'Y': self.pose[1],
'Z': self.pose[2],
'RX': self.pose[3],
'RY': self.pose[4],
'RZ': self.pose[5],
},
'joint_angles': self.joint, 'joint_angles': self.joint,
'gripper': int(self.gripper), 'gripper': int(self.gripper),
'tozero': self.tozero 'tozero': self.tozero

3
lerobot/common/robot_devices/teleop/servo_arm.yaml
View File

@@ -1,5 +1,6 @@
port: /dev/ttyUSB0 port: /dev/ttyUSB0
right_port: /dev/ttyUSB1 right_port: /dev/ttyUSB1
baudrate: 460800 baudrate: 460800
hex_data: "55 AA 02 00 00 67" joint_hex_data: "55 AA 02 00 00 67"
control_hex_data: "55 AA 08 00 00 B9"
arm_axis: 6 arm_axis: 6

2
realman.md
View File

@@ -39,7 +39,7 @@ bash can_activate.sh can0 1000000
cd .. cd ..
python lerobot/scripts/control_robot.py \ python lerobot/scripts/control_robot.py \
--robot.type=piper \ --robot.type=realman \
--robot.inference_time=false \ --robot.inference_time=false \
--control.type=teleoperate --control.type=teleoperate
``` ```