1.增加xbox控制器和飞行手柄控制器

2.增加多臂多控制器模式
3.末端姿态由欧拉角控制切换到四元数控制
4.增加vr手柄控制器

Signed-off-by: 1002142102@qq.com <1002142102@qq.com>

.gitignore

@@ -1,4 +1,6 @@
 .vscode
 .py
 *.pyc
-.venv
+.venv
+.env
+test_data

config/.gitignore

@@ -0,0 +1,3 @@
+*
+!.gitignore
+!*.example.yml

config/realman.example.yml

@@ -1,6 +1,6 @@
 type: realman
-port: 192.168.3.18:8080
-mock: True
+port: 127.0.0.1:8800
+mock: False
 mode: 1
 gripper_range:
   - 10
@@ -9,31 +9,31 @@ motors:
   joint_1:
     id: 1
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
   joint_2: 
     id: 2
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
   joint_3: 
     id: 3
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
   joint_4: 
     id: 4
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
   joint_5: 
     id: 5
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
   joint_6: 
     id: 6
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
   gripper: 
     id: 7
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
 # cameras:
 #   left:
 #     serial_number_or_name: 153122077516
@@ -54,10 +54,10 @@ motors:
 #     height: 480
 #     use_depth: False
 joint:
-  - -90
+  - 15
   - 90
-  - 90
-  - 90
-  - 90
-  - -90
+  - 10
+  - 80
+  - 110
+  - 0
   - 10

config/record.example.yml

@@ -5,4 +5,5 @@ dataset:
   single_task: test
   repo_id: yehao/realman-test
   num_episodes: 2
-  fps: 2
+  fps: 30
+  push_to_hub: false

config/teleop.example.yml

@@ -0,0 +1,3 @@
+robot: !include realman.yml
+teleop:
+  type: xbox

pyproject.toml

@@ -6,5 +6,24 @@ readme = "README.md"
 requires-python = ">=3.12"
 dependencies = [
     "lerobot>=0.4.2",
+    "Robotic_Arm==1.1.3",
     "pygame==2.6.1",
-]
+    "pyrealsense2>=2.56.5.9235",
+    "xrobotoolkit-sdk",
+    "websockets>=15.0.1",
+    "dotenv>=0.9.9",
+    "fastapi>=0.124.4",
+    "uvicorn>=0.38.0",
+    "flameprof>=0.4",
+    "scipy>=1.16.3",
+    "meshcat>=0.3.2",
+]
+[tool.setuptools]
+packages = ["robot_client"]
+
+[tool.uv.sources]
+xrobotoolkit-sdk = [
+    { path = "whl/xrobotoolkit_sdk-1.0.2-cp312-cp312-win_amd64.whl", marker = "sys_platform == 'win32'" },
+    { path = "whl/xrobotoolkit_sdk-1.0.2-cp312-cp312-linux_x86_64.whl", marker = "sys_platform != 'win32'" }
+]
+

record.py

@@ -79,7 +79,6 @@ from lerobot.datasets.utils import build_dataset_frame, combine_feature_dicts
 from lerobot.datasets.video_utils import VideoEncodingManager
 from lerobot.policies.factory import make_policy, make_pre_post_processors
 from lerobot.policies.pretrained import PreTrainedPolicy
-from lerobot.policies.utils import make_robot_action
 from lerobot.processor import (
     PolicyAction,
     PolicyProcessorPipeline,
@@ -127,6 +126,8 @@ from lerobot.utils.utils import (
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
 from robot_client.robots.realman import RealmanRobot,RealmanRobotConfig
 from robot_client.teleoperators.xbox import Xbox,XboxConfig
+from robot_client.teleoperators.flight_stick import FlightStick,FlightStickConfig
+
 
 
 @dataclass

robot_client/robots/mix/__init__.py

@@ -0,0 +1,3 @@
+from .robot_mix import MixRobot
+from .config import MixRobotConfig
+__all__ = ["MixRobot", "MixRobotConfig"]

robot_client/robots/mix/config.py

@@ -0,0 +1,8 @@
+from dataclasses import dataclass, field
+from lerobot.robots.config import RobotConfig
+
+@RobotConfig.register_subclass("mix")
+@dataclass
+class MixRobotConfig(RobotConfig):
+    # Port to connect to the arm
+    robotList: dict[str,RobotConfig] = field(default_factory=dict[str,RobotConfig])

robot_client/robots/mix/robot_mix.py

@@ -0,0 +1,98 @@
+import logging
+from functools import cached_property
+import time
+from typing import Any
+from .config import MixRobotConfig
+from lerobot.robots.robot import Robot
+from lerobot.utils.errors import DeviceNotConnectedError
+from lerobot.robots import Robot,make_robot_from_config
+
+logger = logging.getLogger(__name__)
+class MixRobot(Robot):
+    config_class = MixRobotConfig
+    name = "mix"
+    def __init__(self, config: MixRobotConfig):
+        super().__init__(config)
+        self.config = config
+        self.robotList = {}
+        for name,config in self.config.robotList.items():
+            self.robotList[name] = make_robot_from_config(config)
+    @property
+    def _motors_ft(self) -> dict[str, type]:
+        ret = {}
+        for name,robot in self.robotList.items():
+            for pname,motor in robot._motors_ft:
+                pname = pname.replace(".pos", "")
+                ret[f"{pname}_{name}.pos"] = motor
+        return ret
+
+    @property
+    def _cameras_ft(self) -> dict[str, tuple]:
+        ret = {}
+        for name,robot in self.robotList.items():
+            for pname,cam in robot._cameras_ft:
+                ret[f"{pname}.{name}"] = cam
+        return ret
+
+    @cached_property
+    def observation_features(self) -> dict[str, type | tuple]:
+        return {**self._motors_ft, **self._cameras_ft}
+
+    @cached_property
+    def action_features(self) -> dict[str, type]:
+        ret = {}
+        for name,robot in self.robotList.items():
+            for pname,typeVal in robot.action_features.items():
+                ret[f"{name}.{pname}"] = typeVal
+        return ret
+
+    @property
+    def is_connected(self) -> bool:
+        return all([robot.is_connected for robot in self.robotList.values()])
+    
+    def connect(self, calibrate: bool = True) -> None:
+        for name,robot in self.robotList.items():
+            robot.connect(calibrate)
+    
+    @property
+    def is_calibrated(self) -> bool:
+        return all([robot.is_calibrated for robot in self.robotList.values()])
+    
+    def calibrate(self) -> None:
+        pass
+    
+    def configure(self) -> None:
+        pass
+    
+    def setup_motors(self) -> None:
+        pass
+
+    def get_observation(self) -> dict[str, Any]:
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+        obs_dict = {}
+        for name,robot in self.robotList.items():
+            obs_dict.update({f"{name}.{kname}":item for kname,item in robot.get_observation().items()})
+        return obs_dict
+    
+    def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+        dic = {}
+        for key,value in action.items():
+            name = key.split(".")[0]
+            if name not in dic:
+                dic[name] = {}
+            dic[name][key.removeprefix(name+".")] = value
+
+        for dname,dvalue in dic.items():
+            if dname not in self.robotList:
+                continue
+            self.robotList[dname].send_action(dvalue)
+
+    def disconnect(self):
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        for name,robot in self.robotList.items():
+            robot.disconnect()

robot_client/robots/realman/config.py

@@ -1,5 +1,4 @@
 from dataclasses import dataclass, field
-from lerobot.cameras.configs import CameraConfig
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig
 from lerobot.motors.motors_bus import Motor, MotorCalibration
 from lerobot.robots.config import RobotConfig
@@ -9,7 +8,7 @@ from lerobot.robots.config import RobotConfig
 class RealmanRobotConfig(RobotConfig):
     # Port to connect to the arm
     port: str
-    mock: bool = field(default_factory=bool)\
+    mock: bool = field(default_factory=bool)
     #0：关节角度透传模式 1:笛卡尔速度透传
     mode: int = 0
     gripper_range: list[int] = field(default_factory=list)
@@ -18,5 +17,7 @@ class RealmanRobotConfig(RobotConfig):
     # cameras
     cameras: dict[str, RealSenseCameraConfig] = field(default_factory=dict)
     joint: list=field(default_factory=list)
+    udp_ip: str|None = "127.0.0.1"
+    udp_port: int = 8090
     motors: dict[str, Motor] = field(default_factory=dict)
     calibration: dict[str, MotorCalibration] | None = None

robot_client/robots/realman/motors_bus.py

@@ -1,56 +1,15 @@
+import threading
 import time
 from typing import Any, Dict
 from Robotic_Arm.rm_robot_interface import *
 from lerobot.motors import Motor, MotorCalibration, MotorsBus
+from .robot_mock import RealmanMock
+from scipy.spatial.transform import Rotation as R
+
+import numpy
 #动作执行成功
 ACTION_SUCCESS = 0
 
-class RoboticArmMock:
-    def __init__(self,*args):
-        pass
-        
-    def rm_create_robot_arm(self, ip, port):
-        print(f"connnect {ip}:{port}")
-        return {"id":1}
-    
-    def rm_movej(self,*args):
-        print(f"rm_movej:{args}")
-
-    def rm_movej_follow(self,*args):
-        print(f"rm_movej_follow:{args}")
-
-    def rm_get_current_arm_state(self):
-        print("get_current_arm_state")
-        return ACTION_SUCCESS, {"pose":[0.0,0.0,0.0,0.0,0.0,0.0],"joint":[0.0,0.0,0.0,0.0,0.0,0.0]}
-    
-    def rm_movej_p(self,*args):
-        print(f"rm_movej_p:{args}")
-
-
-    def rm_set_joint_en_state(self,*args):
-        print(f"rm_set_joint_en_state:{args}")
-
-    def rm_set_gripper_route(self,*args):
-        print(f"rm_set_gripper_route:{args}")
-    
-    def rm_set_gripper_position(self,*kargs):
-        print(f"rm_set_gripper_position:{kargs}")
-    
-    def rm_get_gripper_state(self):
-        print("get_gripper_state")
-        return ACTION_SUCCESS, {"actpos":0.0}
-    
-    def rm_set_gripper_release(self,*args):
-        print(f"rm_set_gripper_release:{args}")
-    def rm_set_gripper_pick_on(self,*args):
-        print(f"rm_set_gripper_pick_on:{args}")
-
-    def rm_movev_canfd(self,*args):
-        print(f"rm_movev_canfd:{args}")
-        
-    def rm_destory(self):
-        print("destory")
-
 
 class RealmanMotorsBus(MotorsBus):
     model_number_table={}
@@ -68,14 +27,12 @@ class RealmanMotorsBus(MotorsBus):
         motors:dict[str, Motor],
         gripper_range:list[int],
         joint: list,
+        udp_ip: str,
+        udp_port: int,
         mock: bool = False,
         calibration: dict[str, MotorCalibration] | None = None,
     ):
         super().__init__(port,motors, calibration)
-        if mock:
-            self.rmarm = RoboticArmMock()
-        else:
-            self.rmarm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
         address  = port.split(':')
         self.ip = address[0]
         self.port = int(address[1])
@@ -83,8 +40,28 @@ class RealmanMotorsBus(MotorsBus):
         self.gripper_range = gripper_range
         self.init_joint_position = joint
         self.safe_disable_position = joint
+        self.mock = mock
+        if mock:
+            #self.rmarm = RealmanMock()
+            self.rmarm = RoboticArm(rm_thread_mode_e.RM_DUAL_MODE_E)
+        else:
+            self.rmarm = RoboticArm(rm_thread_mode_e.RM_DUAL_MODE_E)
         self.handle = None
-        self.init_pose = None
+        self.init_pose = numpy.zeros(8)
+        self.init_pose[-2] = 1
+        self.running = False
+        custom = rm_udp_custom_config_t()
+        custom.joint_speed = 0
+        # custom.lift_state = 1
+        custom.hand_state = 1
+        custom.plus_state = 1
+        custom.plus_base=1
+        custom.expand_state = 1
+        custom.arm_current_status = 1
+        custom.expand_state = 1
+        self.udp_config = rm_realtime_push_config_t(1, True, udp_port, 0, udp_ip, custom)
+        self.lock = threading.Lock()
+        self.temp_pose = numpy.zeros(8)
 
     @property
     def motor_names(self) -> list[str]:
@@ -97,12 +74,26 @@ class RealmanMotorsBus(MotorsBus):
     @property
     def motor_indices(self) -> list[int]:
         return [idx for idx, _ in self.motors.values()]
+    
+    def update_arm_state(self, state:rm_realtime_arm_joint_state_t):
+        joint = list(state.joint_status.joint_position)
+        gripper = state.expandState.pos
+        pose = state.waypoint.position
+        euler = state.waypoint.euler
+        pose = [pose.x, pose.y, pose.z, euler.rx, euler.ry, euler.rz, 0]
+        self.current_arm_state = {"joint": joint, "gripper": gripper, "pose": pose}
 
 
     def connect(self, enable=True) -> bool:
         '''
         使能机械臂并检测使能状态,尝试5s,如果使能超时则退出程序
         '''
+        self.handle = self.rmarm.rm_create_robot_arm(self.ip, self.port)
+
+        if self.mock:
+            self.rmarm.rm_set_arm_run_mode(0)#仿真模式
+        else:
+            self.rmarm.rm_set_arm_run_mode(1)
         enable_flag = False
         loop_flag = False
         # 设置超时时间（秒）
@@ -129,6 +120,7 @@ class RealmanMotorsBus(MotorsBus):
             if(enable_flag == enable):
                 loop_flag = True
                 enable_flag = True
+                break
             else: 
                 loop_flag = False
                 enable_flag = False
@@ -139,16 +131,34 @@ class RealmanMotorsBus(MotorsBus):
                 enable_flag = True
                 break
             time.sleep(1)
-        
-        self.handle = self.rmarm.rm_create_robot_arm(self.ip, self.port)
+        # self.rmarm.rm_set_realtime_push(self.udp_config)
+        # self.arm_state_callback = rm_realtime_arm_state_callback_ptr(self.update_arm_state)
+        # self.rmarm.rm_realtime_arm_state_call_back(self.arm_state_callback)
         self.rmarm.rm_movej(self.init_joint_position[:-1], 5, 0, 0, 1)
-        time.sleep(3)
-        ret = self.rmarm.rm_get_current_arm_state()
-        self.init_pose = ret[1]['pose']
+        self.init_pose = self.getQuatPose()
         resp = enable_flag
+        self.running = True
+        threading.Thread(target=self.update_pose).start()
+        threading.Thread(target=self.update_gripper).start()
         print(f"Returning response: {resp}")
         return resp
     
+    def getQuatPose(self)->tuple[int,rm_current_arm_state_t]:
+        state = rm_current_arm_state_t()
+        ret = rm_get_current_arm_state(self.handle, byref(state))
+        return numpy.array([
+            state.pose.position.x, 
+            state.pose.position.y, 
+            state.pose.position.z,
+            state.pose.quaternion.w,
+            state.pose.quaternion.x, 
+            state.pose.quaternion.y, 
+            state.pose.quaternion.z, 
+            self.rmarm.rm_get_gripper_state()[1]['actpos']
+        ])
+    def read_pose(self):
+        return self.init_pose
+    
     def motor_names(self):
         return
     
@@ -170,9 +180,9 @@ class RealmanMotorsBus(MotorsBus):
         return False
     
     def write_arm(self, target_joint: list):
-        ret = self.rmarm.rm_movej_follow(target_joint[:-1])
-        if ret != None: 
-            print("movej error:", ret[1])
+        ret = self.rmarm.rm_movej(self.init_joint_position[:-1], 5, 0, 0, 1)
+        if ret != 0: 
+            print("movej error:", ret)
             return ret
         
         ret = self.rmarm.rm_set_gripper_position(target_joint[-1], block=False, timeout=2)
@@ -183,11 +193,7 @@ class RealmanMotorsBus(MotorsBus):
             - 机械臂关节消息,单位1度;[-1, 1]
             - 机械臂夹爪消息,[-1, 1]
         """
-        joint_msg = self.rmarm.rm_get_current_arm_state()[1]
-        joint_state = joint_msg['joint']
-
-        gripper_msg = self.rmarm.rm_get_gripper_state()[1]
-        gripper_state = gripper_msg['actpos']
+        joint_state = self.read_pose()
         
         return {
             "joint_1": joint_state[0]/180,
@@ -196,15 +202,9 @@ class RealmanMotorsBus(MotorsBus):
             "joint_4": joint_state[3]/180,
             "joint_5": joint_state[4]/180,
             "joint_6": joint_state[5]/180,
-            "gripper": (gripper_state-500)/500
+            "gripper": (joint_state[6]-500)/500
         }
-    
-    def read_current_arm_joint_state(self):
-        return self.rmarm.rm_get_current_arm_state()[1]['joint']
-    
-    def read_current_arm_endpose_state(self):
-        return self.rmarm.rm_get_current_arm_state()[1]['pose']
-    
+    5
     def disconnect(self, disable_torque = True):
         self.safe_disconnect()
 
@@ -213,8 +213,8 @@ class RealmanMotorsBus(MotorsBus):
             Move to safe disconnect position
         """
         self.write_arm(target_joint=self.safe_disable_position)
+        self.running = False
         # 断开所有连接，销毁线程
-        RoboticArm.rm_destory()
 
     """
     向机械臂写入动作
@@ -223,37 +223,40 @@ class RealmanMotorsBus(MotorsBus):
         if name =="Goal_Position":
             self.write_arm(target_joint=actionData)
         elif name == "Goal_Velocity":#速度透传模式
-            self.rmarm.rm_movev_canfd(list(actionData.values())[:6])
-            gripper = actionData['gripper']
-            if gripper > 0 :
-                self.rmarm.rm_set_gripper_release(gripper*1000, False)
+            values = numpy.array(list(actionData.values()))
+            with self.lock:
+                self.temp_pose += numpy.array([*values[:6],0,values[-1]])
+    def update_pose(self):
+        while self.running:
+            with self.lock:
+                self.temp_pose[-1] = self.temp_pose[-1]*1000
+                temp = self.init_pose + self.temp_pose
+                newr = R.from_rotvec(self.temp_pose[3:6].tolist())
+                oldr = R.from_quat(self.init_pose[3:7].tolist())
+                temp[3:7] = (oldr * newr).as_quat()
+                self.temp_pose.fill(0)
+            ret = self.rmarm.rm_movep_canfd(temp[:-1].tolist(), False)
+            if ret == 0:
+                self.init_pose = temp
             else:
-                self.rmarm.rm_set_gripper_pick_on(gripper*1000, gripper*1000, False)
+                print(f"Error: {ret}")
+            time.sleep(0.01)
+    def clamp(self,value, min_value, max_value):
+        return max(min(value, max_value), min_value)
+    def update_gripper(self):
+        while self.running:
+            if self.init_pose[-1]>0:
+                self.rmarm.rm_set_gripper_release(500,False,0)
+                self.init_pose[-1] = 0
+            elif self.init_pose[-1]<0:
+                self.rmarm.rm_set_gripper_pick(500,300,False,0)
+                self.init_pose[-1] = 0
     
     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
-
-
-    """
-    配置电机
-    """
-    def configure_motors(self, return_delay_time=0, maximum_acceleration=254, acceleration=254) -> None:
-        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):
-            self.rmarm.rm_set_joint_en_state(motor,0)
-
-    def _disable_torque(self, motor: int, model: str, num_retry: int = 0):
-        self.rmarm.rm_set_joint_en_state(motor,0)
-
-    def enable_torque(self, motors = None, num_retry = 0):
-        for motor in self._get_motors_list(motors):
-            self.rmarm.rm_set_joint_en_state(motor,1)
+    
     @property
     def is_connected(self) -> bool:
         return self.handle is not None
@@ -265,62 +268,39 @@ class RealmanMotorsBus(MotorsBus):
         pass
 
     def _get_half_turn_homings(self, positions):
-        offsets = {}
-        for motor_id, current_pos in positions.items():
-            # 确保输入是角度值
-            current_deg = self._ensure_angle_degrees(current_pos, motor_id)
-            # 核心逻辑：让当前位置变成180°
-            offset = self._calculate_angle_offset(current_deg, motor_id)
-            offsets[motor_id] = offset
-        return offsets
-
-    def _calculate_angle_offset(self, current_deg, motor_id):
-        """计算角度偏移量"""
-        
-        # 获取关节角度范围（从配置或SDK）
-        # min_angle, max_angle = self._get_joint_limits(motor_id)
-        
-        # 对于单圈关节，我们想要的目标是范围中点
-        # 但set_half_turn_homings的语义是"变成半圈(180°)"
-        TARGET = 180.0  # 固定目标：180°
-        
-        # 计算基本偏移
-        offset = TARGET - current_deg
-        
-        # 单圈关节处理：偏移应该在[-180, 180)范围内
-        if motor_id <= 6:  # 单圈关节
-            # 优化偏移到最短路径
-            while offset >= 180.0:
-                offset -= 360.0
-            while offset < -180.0:
-                offset += 360.0
-        else:  # 多圈关节（关节7）
-            # 多圈关节：只需要考虑在当前圈内的偏移
-            current_in_first_turn = current_deg % 360.0
-            offset = TARGET - current_in_first_turn
-            
-            # 同样优化到最短路径
-            if offset >= 180.0:
-                offset -= 360.0
-            elif offset < -180.0:
-                offset += 360.0
-        
-        # 保留RealMan精度
-        return round(offset, 3)
+        pass
     
     def _find_single_motor(self, motor: str, initial_baudrate: int | None = None) -> tuple[int, int]:
         return 0,self.motors[motor].id
 
     def _encode_sign(self, data_name, ids_values):
-        raise NotImplementedError
+        pass
 
     def _decode_sign(self, data_name, ids_values):
-        raise NotImplementedError
+        pass
 
     def _split_into_byte_chunks(self, value, length):
-        raise NotImplementedError
+        pass
 
     def broadcast_ping(self, num_retry = 0, raise_on_error = False):
-        raise NotImplementedError
+        pass
     def _handshake(self) -> None:
         pass
+    def _assert_protocol_is_compatible(self, instruction_name):
+        return True
+
+
+    """
+    配置电机
+    """
+    def configure_motors(self, return_delay_time=0, maximum_acceleration=254, acceleration=254) -> None:
+        pass
+
+    def disable_torque(self, motors: int | str | list[str] | None = None, num_retry: int = 0):
+        pass
+
+    def _disable_torque(self, motor: int, model: str, num_retry: int = 0):
+        pass
+
+    def enable_torque(self, motors = None, num_retry = 0):
+        pass

robot_client/robots/realman/robot.py

@@ -21,6 +21,8 @@ class RealmanRobot(Robot):
             motors=config.motors,
             joint=config.joint,
             mock=self.config.mock,
+            udp_ip=self.config.udp_ip,
+            udp_port=self.config.udp_port,
             gripper_range=config.gripper_range,
             calibration=self.calibration,
         )
@@ -68,7 +70,7 @@ class RealmanRobot(Robot):
                 "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
             )
             self.calibrate()
-        self.configure()
+        # self.configure()
         logger.info(f"{self} connected.")
     
     @property

robot_client/robots/realman/robot_mock.py

@@ -0,0 +1,29 @@
+class RealmanMock:
+    def __init__(self):
+        self.joint = [0.0]*6
+        self.pose = [0.0]*6
+        self.gripper = 0
+        pass
+    def rm_create_robot_arm(self, ip: str, port: int, level: int = 3, log_func = None) -> int:
+        return 1
+    def rm_movej(self, joint: list[float], v: int, r: int, connect: int, block: int) -> int:
+        self.joint = joint
+    def rm_get_current_arm_state(self) -> tuple[int, dict[str, any]]:
+        return (0, {"joint": self.joint, "pose": self.pose})
+    
+    def rm_get_gripper_state(self) -> tuple[int, dict[str, any]]:
+        return (0, {"actpos": self.gripper})
+    
+    def rm_movep_canfd(self, pose: list[float], follow: bool, trajectory_mode: int = 0, radio: int = 0) -> int:
+        self.pose = pose
+        return 0
+    def rm_set_gripper_position(self, position: int, block: bool, timeout: int) -> int:
+        self.gripper = position
+        return 0
+    
+    def rm_movej(self, joint: list[float], v: int, r: int, connect: int, block: int) -> int:
+        self.joint = joint
+        return 0
+    
+    def rm_set_arm_run_mode(self, mode: int) ->int:
+        return 0

robot_client/teleoperators/flight_stick/flight_stick.py

@@ -9,15 +9,18 @@ class FlightStick(Xbox):
     name = "flight_stick"
 
     def get_action(self):
-        pygame.event.pump()
-        pose_speeds = [0.0] * 6
+        pose_speeds = {}
         """更新末端位姿控制"""
         # 根据控制模式调整步长
         current_linear_step = self.linear_step * (0.1 if self.fine_control_mode else 1.0)
         current_angular_step = self.angular_step * (0.1 if self.fine_control_mode else 1.0)
+        if self.joystick.get_button(2):  # A按钮
+                self.fine_control_mode = True
+        if self.joystick.get_button(3):  # B按钮
+                self.fine_control_mode = False
         
         # print(f"步长设置 - 线性: {current_linear_step}, 角度: {current_angular_step}")
-        print(f"精细控制模式: {self.fine_control_mode}")
+        # print(f"精细控制模式: {self.fine_control_mode}")
         # print(f"{self.joystick.get_axis(0)},{self.joystick.get_axis(1)},{self.joystick.get_axis(2)},{self.joystick.get_axis(3)}")
         # 方向键控制XY
         hat = self.joystick.get_hat(0)
@@ -26,36 +29,40 @@ class FlightStick(Xbox):
         hat_left = hat[0] == -1  # X-
         hat_right = hat[0] == 1  # X+
         # 计算各轴速度
-        pose_speeds['x.vel'] = -current_linear_step if hat_left else (current_linear_step if hat_right else 0.0)  # X
-        pose_speeds['y.vel'] = current_linear_step if hat_up else (-current_linear_step if hat_down else 0.0)  # Y
+        pose_speeds['x.vel'] = current_linear_step if hat_left else (-current_linear_step if hat_right else 0.0)  # X
+        pose_speeds['y.vel'] = -current_linear_step if hat_up else (current_linear_step if hat_down else 0.0)  # Y
         
         # print(f"方向键状态: up={hat_up}, down={hat_down}, left={hat_left}, right={hat_right}")
-        # 油门控制Z轴
-        gas_axis = -self.joystick.get_axis(2)
-        
-        # 设置Z速度
-        z_mapping = self.apply_nonlinear_mapping(gas_axis)
-        # print(f"Z轴非线性映射: {gas_axis} -> {z_mapping}")
-        pose_speeds['z.vel'] = z_mapping * current_linear_step  # Z
+        if self.joystick.get_button(8):  # X按钮
+            pose_speeds['z.vel'] = current_linear_step/3
+        elif self.joystick.get_button(9):  # Y按钮
+            pose_speeds['z.vel'] = -current_linear_step/3
+        else:
+            pose_speeds['z.vel'] = 0
 
         
         # 主摇杆X轴控制RX旋转
         # 设置RX旋转速度
-        rx_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(1))
+        rx_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(0))
         # print(f"RX轴非线性映射: {x_axis} -> {rx_mapping}")
         pose_speeds['rx.vel'] = rx_mapping * current_angular_step * 2  # RX
         
         # 主摇杆Y轴控制RY旋转
         # 设置RY旋转速度
-        ry_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(0))
+        ry_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(1))
         # print(f"RY轴非线性映射: {y_axis} -> {ry_mapping}")
         pose_speeds['ry.vel'] = ry_mapping * current_angular_step * 2  # RY
     
         # 主摇杆左右旋转轴 控制RZ旋转
         # 设置RZ旋转速度
-        rz_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(3))
+        rz_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(3))
         # print(f"RZ轴非线性映射: {z_axis} -> {rz_mapping}")
         pose_speeds['rz.vel'] = rz_mapping * current_angular_step * 2  # RZ
-        
-        pose_speeds['gripper.vel'] = 0
+        if self.joystick.get_button(0):  # X按钮
+            pose_speeds['gripper.vel'] = current_linear_step
+        elif self.joystick.get_button(1):  # Y按钮
+            pose_speeds['gripper.vel'] = -current_linear_step
+        else:
+            pose_speeds['gripper.vel'] = 0
+        # print(f"pose_speeds: {pose_speeds}")
         return pose_speeds

robot_client/teleoperators/mix/__init__.py

@@ -0,0 +1,2 @@
+from .mix import Mix,MixConfig
+__all__ = ["Mix", "MixConfig"]

robot_client/teleoperators/mix/config.py

@@ -0,0 +1,6 @@
+from dataclasses import dataclass, field
+from lerobot.teleoperators import TeleoperatorConfig
+@dataclass
+@TeleoperatorConfig.register_subclass("mix")
+class MixConfig(TeleoperatorConfig):
+    teleopList: dict[str,TeleoperatorConfig] = field(default_factory=dict[str,TeleoperatorConfig])

robot_client/teleoperators/mix/mix.py

@@ -0,0 +1,64 @@
+import queue
+import threading
+import pygame
+import time
+import sys
+from  lerobot.teleoperators import Teleoperator,make_teleoperator_from_config
+from .config import MixConfig
+"""
+混合控制器。
+"""
+class Mix(Teleoperator):
+    config_class = MixConfig
+    name = "mix"
+    def __init__(self, config: MixConfig):
+        self.config = config
+        self.teleopList = {}
+        for name,teleop in self.config.teleopList.items():
+            self.teleopList[name] = make_teleoperator_from_config(teleop)
+    @property
+    def action_features(self):
+        action_features = {}
+        for name,teleop in self.teleopList.items():
+            for i,item in enumerate(teleop.action_features()["names"].keys()):
+                action_features[f"{name}.{item}"] = i
+        return {
+            "dtype": "float32",
+            "shape": (len(action_features),),
+            "names": action_features,
+        }
+
+    @property
+    def feedback_features(self):
+        return {}
+
+    @property
+    def is_connected(self):
+        return all([teleop.is_connected for teleop in self.teleopList.values()])
+
+    def connect(self, calibrate = True):
+        for teleop in self.teleopList.values():
+            teleop.connect(calibrate)
+    @property
+    def is_calibrated(self):
+        return True
+
+    def calibrate(self):
+        return all([teleop.calibrate() for teleop in self.teleopList.values()])
+
+    def configure(self):
+        pass
+
+    def get_action(self):
+        data = {}
+        for index,teleop in self.teleopList.items():
+            for key,item in teleop.get_action().items():
+                data[f"{index}.{key}"] = item
+        return data
+
+    def send_feedback(self, feedback):
+        pass
+
+    def disconnect(self):
+        for teleop in self.teleopList.values():
+            teleop.disconnect()

robot_client/teleoperators/xbox/xbox.py

@@ -1,8 +1,11 @@
+import queue
+import threading
 import pygame
 import time
 import sys
 from  lerobot.teleoperators import Teleoperator
 from .config import XboxConfig
+from ...utlis.pygame_event import PygameEvent
 """
 Xbox类用于检测和监控飞行手柄。
 """
@@ -21,6 +24,8 @@ class Xbox(Teleoperator):
         self.fine_control_mode = False
         self.reset()
     def reset(self):
+        self.running = False
+        self.action_data ={"x.vel":0, "y.vel":0, "z.vel":0, "rx.vel.vel":0, "ry.vel":0, "rz.vel":0, "gripper.vel":0}
         self.joystick = None
     @property
     def action_features(self):
@@ -37,8 +42,8 @@ class Xbox(Teleoperator):
     @property
     def is_connected(self):
         return self.joystick is not None
-
-    def connect(self, calibrate = True):
+    
+    def update(self,q:queue.Queue):
         # 初始化pygame
         pygame.init()
         pygame.joystick.init()
@@ -47,16 +52,23 @@ class Xbox(Teleoperator):
         print(f"检测到 {joystick_count} 个手柄设备")
         
         if joystick_count == 0:
-            print("未检测到任何手柄设备！")
+            q.put((False,"未检测到任何手柄设备！"))
             return False
 
         if joystick_count<self.config.index+1:
-            print(f"未检测到配置中指定的索引设备！") 
+            q.put((False,"未检测到配置中指定的索引设备！"))
             return False
         # 初始化所有检测到的手柄
         self.joystick = pygame.joystick.Joystick(self.config.index)
-        print(f"已连接设备：{self.joystick.get_name()}")
+        q.put((True,f"已连接设备：{self.joystick.get_name()}"))
+        while self.running:
+            self.action_data = self.update_action()
+        pygame.joystick.quit()
+        pygame.quit()
 
+    def connect(self, calibrate = True):
+        PygameEvent.start()
+        self.joystick = PygameEvent.getState(self.config.index)
     @property
     def is_calibrated(self):
         return True
@@ -68,7 +80,6 @@ class Xbox(Teleoperator):
         pass
 
     def get_action(self):
-        pygame.event.pump()
         pose_speeds = {}
         """更新末端位姿控制"""
         # 根据控制模式调整步长
@@ -80,7 +91,7 @@ class Xbox(Teleoperator):
                 self.fine_control_mode = False
         
         # print(f"步长设置 - 线性: {current_linear_step}, 角度: {current_angular_step}")
-        print(f"精细控制模式: {self.fine_control_mode}")
+        # print(f"精细控制模式: {self.fine_control_mode}")
         
         # 方向键控制XY
         hat = self.joystick.get_hat(0)
@@ -90,42 +101,96 @@ class Xbox(Teleoperator):
         hat_right = hat[0] == 1  # X+
         # print(f"方向键状态: up={hat_up}, down={hat_down}, left={hat_left}, right={hat_right}")
         # 计算各轴速度
-        pose_speeds['x.vel'] = -current_linear_step if hat_left else (current_linear_step if hat_right else 0.0)  # X
-        pose_speeds['y.vel'] = current_linear_step if hat_up else (-current_linear_step if hat_down else 0.0)  # Y
+        pose_speeds['x.vel'] = current_linear_step if hat_left else (-current_linear_step if hat_right else 0.0)  # X
+        pose_speeds['y.vel'] = -current_linear_step if hat_up else (current_linear_step if hat_down else 0.0)  # Y
 
-        # 左摇杆X轴
-        z_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(1))
-        print(f"Z轴非线性映射: {self.joystick.get_axis(1)} -> {z_mapping}")
-        pose_speeds['z.vel'] = z_mapping * current_angular_step * 2  # RY
+        # 左右扳机控制z轴
+        right_tiger = ((self.joystick.get_axis(5)+1)/2)
+        left_tiger = ((self.joystick.get_axis(2)+1)/2)
+        z_mapping = self.apply_nonlinear_mapping(left_tiger - right_tiger)
+        pose_speeds['z.vel'] = z_mapping * current_linear_step
 
-        #左摇杆X轴控制RX旋转
+        #右摇杆X轴控制RX旋转
         # 设置RX旋转速度
-        rx_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(2))
+        rx_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(3))
         # print(f"RX轴非线性映射: {x_axis} -> {rx_mapping}")
         pose_speeds['rx.vel'] = rx_mapping * current_angular_step * 2  # RX
 
-        # 左摇杆Y轴控制RY旋转
+        # 右摇杆Y轴控制RY旋转
         # 设置RY旋转速度
-        ry_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(3))
+        ry_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(4))
         # print(f"RY轴非线性映射: {y_axis} -> {ry_mapping}")
         pose_speeds['ry.vel'] = ry_mapping * current_angular_step * 2  # RY
     
-        # 左右扳机控制RZ旋转
+        # 左摇杆X轴RZ旋转
         # 设置RZ旋转速度
-        right_tiger = ((self.joystick.get_axis(5)+1)/2)
-        left_tiger = ((self.joystick.get_axis(4)+1)/2)
-        print(f"左右扳机: {left_tiger} {right_tiger}")
-        rz_mapping = self.apply_nonlinear_mapping(left_tiger - right_tiger)
+        rz_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(0))
         # print(f"RZ轴非线性映射: {z_axis} -> {rz_mapping}")
         pose_speeds['rz.vel'] = rz_mapping * current_angular_step * 2  # RZ
 
-        # 右摇杆Y轴控制夹爪
+        # 左摇杆Y轴控制夹爪
         # 设置夹爪开合速度
-        gripper_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(0))
+        gripper_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(1))
         # print(f"gripper轴非线性映射: {self.joystick.get_axis(0)} -> {gripper_mapping}")
         pose_speeds['gripper.vel'] = gripper_mapping * current_angular_step * 2  # RY
-        
         return pose_speeds
+
+    # def update_action(self):
+    #     pygame.event.pump()
+    #     pose_speeds = {}
+    #     """更新末端位姿控制"""
+    #     # 根据控制模式调整步长
+    #     current_linear_step = self.linear_step * (0.1 if self.fine_control_mode else 1.0)
+    #     current_angular_step = self.angular_step * (0.1 if self.fine_control_mode else 1.0)
+    #     if self.joystick.get_button(0):  # A按钮
+    #             self.fine_control_mode = True
+    #     if self.joystick.get_button(1):  # B按钮
+    #             self.fine_control_mode = False
+        
+    #     # print(f"步长设置 - 线性: {current_linear_step}, 角度: {current_angular_step}")
+    #     # print(f"精细控制模式: {self.fine_control_mode}")
+        
+    #     # 方向键控制XY
+    #     hat = self.joystick.get_hat(0)
+    #     hat_up = hat[1] == 1     # Y+
+    #     hat_down = hat[1] == -1  # Y-
+    #     hat_left = hat[0] == -1  # X-
+    #     hat_right = hat[0] == 1  # X+
+    #     # print(f"方向键状态: up={hat_up}, down={hat_down}, left={hat_left}, right={hat_right}")
+    #     # 计算各轴速度
+    #     pose_speeds['x.vel'] = current_linear_step if hat_left else (-current_linear_step if hat_right else 0.0)  # X
+    #     pose_speeds['y.vel'] = -current_linear_step if hat_up else (current_linear_step if hat_down else 0.0)  # Y
+
+    #     # 左右扳机控制z轴
+    #     right_tiger = ((self.joystick.get_axis(5)+1)/2)
+    #     left_tiger = ((self.joystick.get_axis(2)+1)/2)
+    #     z_mapping = self.apply_nonlinear_mapping(left_tiger - right_tiger)
+    #     pose_speeds['z.vel'] = z_mapping * current_angular_step * 2
+
+    #     #右摇杆X轴控制RX旋转
+    #     # 设置RX旋转速度
+    #     rx_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(3))
+    #     # print(f"RX轴非线性映射: {x_axis} -> {rx_mapping}")
+    #     pose_speeds['rx.vel'] = rx_mapping * current_angular_step * 2  # RX
+
+    #     # 右摇杆Y轴控制RY旋转
+    #     # 设置RY旋转速度
+    #     ry_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(4))
+    #     # print(f"RY轴非线性映射: {y_axis} -> {ry_mapping}")
+    #     pose_speeds['ry.vel'] = ry_mapping * current_angular_step * 2  # RY
+    
+    #     # 左摇杆X轴RZ旋转
+    #     # 设置RZ旋转速度
+    #     rz_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(0))
+    #     # print(f"RZ轴非线性映射: {z_axis} -> {rz_mapping}")
+    #     pose_speeds['rz.vel'] = rz_mapping * current_angular_step * 2  # RZ
+
+    #     # 左摇杆Y轴控制夹爪
+    #     # 设置夹爪开合速度
+    #     gripper_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(1))
+    #     # print(f"gripper轴非线性映射: {self.joystick.get_axis(0)} -> {gripper_mapping}")
+    #     pose_speeds['gripper.vel'] = gripper_mapping * current_angular_step * 2  # RY
+    #     return pose_speeds
     
     def apply_nonlinear_mapping(self, value):
         """应用非线性映射以提高控制精度"""
@@ -142,5 +207,3 @@ class Xbox(Teleoperator):
 
     def disconnect(self):
         self.reset()
-        pygame.joystick.quit()
-        pygame.quit()

robot_client/teleoperators/xr/__init__.py

@@ -0,0 +1,6 @@
+import ctypes
+import platform
+if platform.system() == 'Linux':
+    ctypes.CDLL("/opt/apps/roboticsservice/SDK/x64/libPXREARobotSDK.so")
+from .xr import Xr,XrConfig
+__all__ = ["Xr", "XrConfig"]

robot_client/teleoperators/xr/config.py

@@ -0,0 +1,6 @@
+from dataclasses import dataclass
+from lerobot.teleoperators import TeleoperatorConfig
+@dataclass
+@TeleoperatorConfig.register_subclass("xr")
+class XrConfig(TeleoperatorConfig):
+    pass

robot_client/teleoperators/xr/xr.py

@@ -0,0 +1,213 @@
+import threading
+import numpy as np
+import xrobotoolkit_sdk as xrt
+import time
+import sys
+from  lerobot.teleoperators import Teleoperator
+from .config import XrConfig
+from scipy.spatial.transform import Rotation as R
+import meshcat.transformations as tf
+"""
+Xbox类用于检测和监控飞行手柄。
+"""
+class Xr(Teleoperator):
+    config_class = XrConfig
+    name = "xr"
+    def __init__(self, config: XrConfig):
+        
+        self.R_HEADSET_TO_WORLD = np.array(
+            [
+                [-1, 0, 0],
+                [0, 0, 1],
+                [0, 1, 0],
+            ]
+        )
+        self.R_HEADSET_TO_WORLD2 = np.array(
+            [
+                [1, 0, 0],
+                [0, 1, 0],
+                [0, 0, 1],
+            ]
+        )
+        self.config = config
+        # 控制参数
+        self.linear_step = 0.0015  # 线性移动步长(m)
+        self.current_linear_step = self.linear_step
+        self.angular_step = 0.0003  # 角度步长(rad) - 从度转换为弧度
+        self.current_angular_step = self.angular_step
+        # 摇杆死区
+        self.deadzone = 0.15
+        
+        # 精细控制模式
+        self.fine_control_mode = False
+        self.running = False
+        self.data = {
+            "left": {
+                "pose": np.zeros(7),
+                "init_pose":None,
+                "trigger":0.0,
+                "axis":[0.0]*2,
+                "grip":0.0,
+                "axis_button":0.0
+            },
+            "right": {
+                "pose": np.zeros(7),
+                "init_pose":None,
+                "trigger":0.0,
+                "grip":0.0,
+                "axis":[0.0]*2,
+                "axis_button":0.0
+            }
+        }
+        self.scale_factor = 0.2
+        self.x = 0.0
+        self.y = 0.0
+        self.a = 0.0
+        self.b = 0.0
+    @property
+    def action_features(self):
+        return {
+            "dtype": "float32",
+            "shape": (7,),
+            "names": {"x.vel":0, "y.vel":1, "z.vel":2, "rx.vel.vel":3, "ry.vel":4, "rz.vel":5, "rw.vel":6, "gripper.vel":7},
+        }
+
+    @property
+    def feedback_features(self):
+        return {}
+
+    @property
+    def is_connected(self):
+        return self.joystick is not None
+    
+    def quaternion2euler(self,quaternion:list):
+        r = R.from_quat(quaternion)
+        euler = r.as_euler('xyz', degrees=True)
+        return euler
+
+    def update(self):
+        while self.running:
+            self.a = xrt.get_A_button()
+            self.b = xrt.get_B_button()
+            self.x = xrt.get_X_button()
+            self.y = xrt.get_Y_button()
+            self.data['left']['pose'] = xrt.get_left_controller_pose()
+            self.data['left']['trigger'] = xrt.get_left_trigger()
+            self.data['left']['grip'] = xrt.get_left_grip()
+            self.data['left']['axis'] = xrt.get_left_axis()
+            self.data['left']['axis_button'] = xrt.get_left_axis_click()
+            self.data['right']['pose'] = xrt.get_right_controller_pose()
+            self.data['right']['trigger'] = xrt.get_right_trigger()
+            self.data['right']['grip'] = xrt.get_right_grip()
+            self.data['right']['axis'] = xrt.get_right_axis()
+            self.data['right']['axis_button'] = xrt.get_right_axis_click()
+            time.sleep(0.01)
+    def connect(self, calibrate = True):
+        # 初始化vr
+        xrt.init()
+        # 设置超时时间（秒）
+        timeout = 5
+        # 记录进入循环前的时间
+        start_time = time.time()
+        elapsed_time_flag = False
+        print("等待vr初始化完成")
+        while True:
+            elapsed_time = time.time() - start_time
+            right_pose = xrt.get_right_controller_pose()
+            left_pose = xrt.get_left_controller_pose()
+            if not all(num == 0 for num in right_pose) and not all(num == 0 for num in left_pose):
+                print(f"connect success")
+                self.running = True
+                threading.Thread(target=self.update).start()
+                break
+            # 检查是否超过超时时间
+            if elapsed_time > timeout:
+                print("超时....")
+                elapsed_time_flag = True
+                break
+            time.sleep(1)
+        return not elapsed_time_flag
+    @property
+    def is_calibrated(self):
+        return True
+
+    def calibrate(self):
+        pass
+
+    def configure(self):
+        pass
+
+    def get_pose(self, prefix,pose_speeds):
+        data = self.data[prefix]
+        xr_pose = np.array(data['pose'])
+        """Process the current XR controller pose."""
+        # Get position and orientation
+        controller_xyz = np.array([xr_pose[0], xr_pose[1], xr_pose[2]])
+        controller_xyz = self.R_HEADSET_TO_WORLD @ controller_xyz
+        controller_quat = R.from_quat(xr_pose[3:])
+        if data['trigger'] >0 or data['grip']>0:
+            isLock = data['grip']>0
+            if data['init_pose'] is None:
+                data['init_pose'] = controller_quat
+                data['init_position'] = controller_xyz
+        else:
+            data['init_pose'] = None
+
+        if data['init_pose'] is None:
+            delta_xyz = np.zeros(3)
+            delta_rot = np.array([0.0, 0.0, 0.0])
+        else:
+            delta_xyz =  (controller_xyz - data['init_position']) * self.scale_factor
+            delta_rot = self.quat_diff_as_angle_axis(controller_quat,data['init_pose'])
+            data['init_pose'] = controller_quat
+            data['init_position'] = controller_xyz
+            if isLock :
+                delta_rot = [0.0,0.0,0.0]
+            else:
+                delta_rot *= self.scale_factor
+                delta_rot = self.R_HEADSET_TO_WORLD2 @ delta_rot
+                print(f"{prefix}:{delta_rot}")
+        pose_speeds[f'{prefix}.x.vel'] = delta_xyz[0]
+        pose_speeds[f'{prefix}.y.vel'] = delta_xyz[1]
+        pose_speeds[f'{prefix}.z.vel'] = delta_xyz[2]
+        pose_speeds[f'{prefix}.rx.vel'] = delta_rot[2]
+        pose_speeds[f'{prefix}.ry.vel'] = delta_rot[1]
+        pose_speeds[f'{prefix}.rz.vel'] = -delta_rot[0]
+
+        # 设置夹爪开合速度
+        gripper_mapping = -self.apply_nonlinear_mapping(-data['axis'][0])
+        pose_speeds[f'{prefix}.gripper.vel'] = gripper_mapping * self.current_angular_step * 2
+
+    def quat_diff_as_angle_axis(self,q1: R, q2: R, eps: float = 1e-6) -> np.ndarray:
+        delta_q = q2 * q1.inv()
+        rotvec = delta_q.as_rotvec()
+        angle = np.linalg.norm(rotvec)
+        if angle < eps:
+            return np.zeros(3, dtype=np.float64)
+        return rotvec
+    def get_action(self):
+        pose_speeds = {}
+        """更新末端位姿控制"""
+        # 根据控制模式调整步长
+        if self.a:  # A按钮
+                self.fine_control_mode = True
+                self.scale_factor = 0.07
+        if self.b:  # B按钮
+                self.fine_control_mode = False
+                self.scale_factor = 0.2
+        self.get_pose('left',pose_speeds)
+        self.get_pose('right',pose_speeds)
+        return pose_speeds
+    
+    def apply_nonlinear_mapping(self, value):
+        """应用非线性映射以提高控制精度"""
+        # 保持符号，但对数值应用平方映射以提高精度
+        value = 0.0 if abs(value) < self.deadzone else value
+        sign = 1 if value >= 0 else -1
+        return sign * (abs(value) ** 2)
+
+    def send_feedback(self, feedback):
+        pass
+
+    def disconnect(self):
+        self.running = False

robot_client/utlis/pygame_event.py

@@ -0,0 +1,81 @@
+import threading
+import pygame
+import atexit
+
+class PygameEventState(object):
+    def __init__(self,joystick):
+        joystick.init()
+        self.states={
+            'axis':[0]*joystick.get_numaxes(),
+            'button':[0]*joystick.get_numbuttons(),
+            'hat':[[0,0]]*joystick.get_numhats()
+        }
+    def get_axis(self,index):
+        return self.states['axis'][index]
+    def get_numaxes(self):
+        return len(self.states['axis'])
+    def set_axis(self,index,value):
+        self.states['axis'][index]=value
+    
+    def get_button(self,index):
+        return self.states['button'][index]
+    def get_numbuttons(self):
+        return len(self.states['button'])
+    def set_button(self,index,value):
+        self.states['button'][index]=value
+    def get_hat(self,index):
+        return self.states['hat'][index]
+    def get_numhats(self):
+        return len(self.states['hat'])
+    def set_hat(self,index,value):
+        self.states['hat'][index]=value
+            
+
+class _PygameEvent:
+    def __init__(self):
+        self.running = False
+
+    def start(self):
+        if self.running: return
+        self.running = True
+        threading.Thread(target=self.eventLoop).start()
+
+    def getState(self,index):
+        if index >= len(self.states):
+            raise ValueError("不存在的控制器")
+        return self.states[index]
+    def eventLoop(self):
+        # 初始化pygame
+        pygame.init()
+        pygame.joystick.init()
+        """检测连接的手柄"""
+        joystick_count = pygame.joystick.get_count()
+        self.states=[]
+        joysticks = []
+        for i in range(joystick_count):
+            joystick = pygame.joystick.Joystick(i)
+            joystick.init()
+            self.states.append(PygameEventState(joystick))
+            joysticks.append(joystick)
+
+        print(f"检测到 {joystick_count} 个手柄设备")
+        while self.running:
+            event = pygame.event.wait()
+            data = event.dict
+            if 'instance_id' not in data:
+                continue
+            state = self.states[data['instance_id']]
+            if event.type == pygame.JOYAXISMOTION:
+                state.set_axis(data['axis'], data['value'])
+            elif event.type == pygame.JOYHATMOTION:
+                state.set_hat(data['hat'], data['value'])
+            elif event.type == pygame.JOYBUTTONUP:
+                state.set_button(data['button'], 0)
+            elif event.type == pygame.JOYBUTTONDOWN:
+                state.set_button(data['button'], 1)
+    def stop(self):
+        self.running = False
+@atexit.register
+def exit():
+    PygameEvent.stop()
+PygameEvent = _PygameEvent()

teleop.py

@@ -0,0 +1,12 @@
+import cProfile
+import io
+import pstats
+from lerobot.scripts.lerobot_teleoperate import teleoperate
+from robot_client.robots.realman import RealmanRobot,RealmanRobotConfig
+from robot_client.robots.mix import MixRobot,MixRobotConfig
+from robot_client.teleoperators.xbox import Xbox,XboxConfig
+from robot_client.teleoperators.flight_stick import FlightStick,FlightStickConfig
+from robot_client.teleoperators.xr import XrConfig
+from robot_client.teleoperators.mix import Mix,MixConfig
+if __name__ == "__main__":
+    teleoperate()

test.py

@@ -0,0 +1,131 @@
+import time
+
+import numpy as np
+from robot_client.teleoperators.xr import Xr,XrConfig
+import matplotlib.pyplot as plt
+from matplotlib.animation import FuncAnimation
+from scipy.spatial.transform import Rotation
+from mpl_toolkits.mplot3d import Axes3D,art3d
+import matplotlib.patches as mpatches
+
+def create_cube(center=(0, 0, 0), size=1):
+    """创建立方体的顶点和面"""
+    # 立方体的8个顶点
+    vertices = np.array([
+        [-1, -1, -1], [1, -1, -1], [1, 1, -1], [-1, 1, -1],
+        [-1, -1, 1], [1, -1, 1], [1, 1, 1], [-1, 1, 1]
+    ], dtype=float)
+    
+    # 缩放并平移
+    vertices = vertices * (size / 2)
+    vertices = vertices + np.array(center)
+    
+    # 定义6个面的顶点索引
+    faces = [
+        [0, 1, 2, 3],  # 底面
+        [4, 5, 6, 7],  # 顶面
+        [0, 1, 5, 4],  # 前面
+        [2, 3, 7, 6],  # 后面
+        [1, 2, 6, 5],  # 右面
+        [0, 3, 7, 4],  # 左面
+    ]
+    
+    return vertices, faces
+
+def apply_rotation_to_cube(vertices, quaternion):
+    """将四元数旋转应用到立方体顶点"""
+    q_xyzw = quaternion
+    rot = R.from_quat(q_xyzw)
+    
+    # 计算中心点
+    center = np.mean(vertices, axis=0)
+    
+    # 相对中心的旋转
+    rotated_vertices = vertices.copy()
+    rotated_vertices -= center
+    rotated_vertices = rot.apply(rotated_vertices)
+    rotated_vertices += center
+    
+    return rotated_vertices
+def plot_rotating_cube(fig,quat):
+    
+    
+    # 创建立方体
+    vertices, faces = create_cube(center=(0, 0, 0), size=2)
+    
+    # 颜色设置
+    face_colors = ['#1f77b4', '#ff7f0e', '#2ca02c', '#d62728', '#9467bd', '#8c564b']
+    edge_color = 'black'
+    
+    # 绘制每个四元数对应的旋转
+    # 应用旋转
+    rotated_vertices = apply_rotation_to_cube(vertices, quat)
+    
+    # 绘制3D立方体
+    for j, face in enumerate(faces):
+        face_verts = rotated_vertices[face]
+        ax3d.add_collection3d(
+            art3d.Poly3DCollection(
+                [face_verts], 
+                facecolors=face_colors[j % len(face_colors)], 
+                alpha=0.6,
+                edgecolors=edge_color,
+                linewidths=1
+            )
+        )
+    
+    # 绘制坐标轴
+    axis_length = 3
+    axes = np.array([[axis_length, 0, 0], [0, axis_length, 0], [0, 0, axis_length]])
+    rot = R.from_quat(quat if len(quat)==4 else [quat[1], quat[2], quat[3], quat[0]])
+    rotated_axes = rot.apply(axes)
+    
+    colors = ['red', 'green', 'blue']
+    labels = ['X', 'Y', 'Z']
+    
+    for axis, color, label in zip(rotated_axes, colors, labels):
+        ax3d.quiver(0, 0, 0, axis[0], axis[1], axis[2], 
+                   color=color, arrow_length_ratio=0.1, linewidth=2)
+        ax3d.text(axis[0], axis[1], axis[2], label, color=color, fontsize=12, fontweight='bold')
+    
+    
+    return ax3d
+
+# 示例使用
+if __name__ == "__main__":
+    # 创建一个旋转序列
+    from scipy.spatial.transform import Rotation as R
+    
+    
+    """绘制立方体旋转序列"""
+    fig = plt.figure(figsize=(12, 8))
+    
+    # 创建子图布局
+    ax3d = fig.add_subplot(121, projection='3d')
+    
+    # 设置3D坐标轴
+    ax3d.set_xlim([-3, 3])
+    ax3d.set_ylim([-3, 3])
+    ax3d.set_zlim([-3, 3])
+    ax3d.set_xlabel('X轴', fontsize=10)
+    ax3d.set_ylabel('Y轴', fontsize=10)
+    ax3d.set_zlabel('Z轴', fontsize=10)
+    ax3d.set_title('旋转立方体', fontsize=12)
+    ax3d.view_init(elev=20, azim=45)
+    
+    fig.suptitle('四元数旋转可视化', fontsize=16, fontweight='bold')
+    angle = 1
+    rot = R.from_euler('y', angle)
+    quat = rot.as_quat()  # (x, y, z, w)
+    def update(frame):
+        return plot_rotating_cube(fig,ax3d,quat)
+
+    ani = FuncAnimation(fig, update, frames=200, blit=True)#blit是关键
+
+    plt.show()
+    xr = Xr(XrConfig())
+    xr.connect()
+    while True:
+        data = xr.get_action()
+        plot_rotating_cube([data["left.rx.vel"],data["left.ry.vel"],data["left.rz.vel"],data["left.rw.vel"]])
+        time.sleep(200)

test2.py

@@ -0,0 +1,24 @@
+from Robotic_Arm.rm_robot_interface import *
+import numpy
+
+def getPose(handle)->tuple[int,rm_current_arm_state_t]:
+        state = rm_current_arm_state_t()
+        ret = rm_get_current_arm_state(handle, byref(state))
+        return ret,state
+# 运行简化版
+if __name__ == "__main__":
+    rmarm = RoboticArm(rm_thread_mode_e.RM_DUAL_MODE_E)
+    handle = rmarm.rm_create_robot_arm("127.0.0.1", 8800)
+    rmarm.rm_set_arm_run_mode(0)
+    rmarm.rm_movej([15,90,10,80,110,0], 5, 0, 0, 1)
+    ret,pose = getPose(handle)
+    init_pose = numpy.array([
+            pose.pose.position.x, 
+            pose.pose.position.y, 
+            pose.pose.position.z,
+            pose.qu
+        ])
+    init_pose[0]+=0.02
+    print(init_pose)
+    ret = rmarm.rm_movel(init_pose.tolist(),5,50,0,1)
+    print(ret)

uv.lock

@@ -3,7 +3,8 @@ revision = 3
 requires-python = ">=3.12"
 resolution-markers = [
     "sys_platform == 'linux'",
-    "sys_platform != 'linux'",
+    "sys_platform == 'win32'",
+    "sys_platform != 'linux' and sys_platform != 'win32'",
 ]
 
 [[package]]
@@ -131,6 +132,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/fb/76/641ae371508676492379f16e2fa48f4e2c11741bd63c48be4b12a6b09cba/aiosignal-1.4.0-py3-none-any.whl", hash = "sha256:053243f8b92b990551949e63930a839ff0cf0b0ebbe0597b0f3fb19e1a0fe82e", size = 7490, upload-time = "2025-07-03T22:54:42.156Z" },
 ]
 
+[[package]]
+name = "annotated-doc"
+version = "0.0.4"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/57/ba/046ceea27344560984e26a590f90bc7f4a75b06701f653222458922b558c/annotated_doc-0.0.4.tar.gz", hash = "sha256:fbcda96e87e9c92ad167c2e53839e57503ecfda18804ea28102353485033faa4", size = 7288, upload-time = "2025-11-10T22:07:42.062Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/1e/d3/26bf1008eb3d2daa8ef4cacc7f3bfdc11818d111f7e2d0201bc6e3b49d45/annotated_doc-0.0.4-py3-none-any.whl", hash = "sha256:571ac1dc6991c450b25a9c2d84a3705e2ae7a53467b5d111c24fa8baabbed320", size = 5303, upload-time = "2025-11-10T22:07:40.673Z" },
+]
+
 [[package]]
 name = "annotated-types"
 version = "0.7.0"
@@ -140,6 +150,28 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/78/b6/6307fbef88d9b5ee7421e68d78a9f162e0da4900bc5f5793f6d3d0e34fb8/annotated_types-0.7.0-py3-none-any.whl", hash = "sha256:1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53", size = 13643, upload-time = "2024-05-20T21:33:24.1Z" },
 ]
 
+[[package]]
+name = "anyio"
+version = "4.12.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "idna" },
+    { name = "typing-extensions", marker = "python_full_version < '3.13'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/16/ce/8a777047513153587e5434fd752e89334ac33e379aa3497db860eeb60377/anyio-4.12.0.tar.gz", hash = "sha256:73c693b567b0c55130c104d0b43a9baf3aa6a31fc6110116509f27bf75e21ec0", size = 228266, upload-time = "2025-11-28T23:37:38.911Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/7f/9c/36c5c37947ebfb8c7f22e0eb6e4d188ee2d53aa3880f3f2744fb894f0cb1/anyio-4.12.0-py3-none-any.whl", hash = "sha256:dad2376a628f98eeca4881fc56cd06affd18f659b17a747d3ff0307ced94b1bb", size = 113362, upload-time = "2025-11-28T23:36:57.897Z" },
+]
+
+[[package]]
+name = "asttokens"
+version = "3.0.1"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/be/a5/8e3f9b6771b0b408517c82d97aed8f2036509bc247d46114925e32fe33f0/asttokens-3.0.1.tar.gz", hash = "sha256:71a4ee5de0bde6a31d64f6b13f2293ac190344478f081c3d1bccfcf5eacb0cb7", size = 62308, upload-time = "2025-11-15T16:43:48.578Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/d2/39/e7eaf1799466a4aef85b6a4fe7bd175ad2b1c6345066aa33f1f58d4b18d0/asttokens-3.0.1-py3-none-any.whl", hash = "sha256:15a3ebc0f43c2d0a50eeafea25e19046c68398e487b9f1f5b517f7c0f40f976a", size = 27047, upload-time = "2025-11-15T16:43:16.109Z" },
+]
+
 [[package]]
 name = "attrs"
 version = "25.4.0"
@@ -194,6 +226,63 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/70/7d/9bc192684cea499815ff478dfcdc13835ddf401365057044fb721ec6bddb/certifi-2025.11.12-py3-none-any.whl", hash = "sha256:97de8790030bbd5c2d96b7ec782fc2f7820ef8dba6db909ccf95449f2d062d4b", size = 159438, upload-time = "2025-11-12T02:54:49.735Z" },
 ]
 
+[[package]]
+name = "cffi"
+version = "2.0.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "pycparser", marker = "implementation_name != 'PyPy'" },
+]
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