pos teleop

2026-05-20 19:19:56 +00:00 · 2025-10-31 10:01:41 +01:00
parent b011643dc9
commit fa6a2fb9b7
10 changed files with 1095 additions and 614 deletions
@@ -0,0 +1,148 @@
+"""
+OpenArms Teleoperation Example - Full Dual Arms
+
+This script demonstrates teleoperation of OpenArms follower robot using an OpenArms leader arm.
+It first calibrates both devices, then enters a teleoperation loop for both arms.
+"""
+
+import time
+
+from lerobot.robots.openarms.openarms_follower import OpenArmsFollower
+from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
+from lerobot.teleoperators.openarms.openarms_leader import OpenArmsLeader
+from lerobot.teleoperators.openarms.config_openarms_leader import OpenArmsLeaderConfig
+
+
+follower_config = OpenArmsFollowerConfig(
+    port_left="can0",   # CAN interface for follower left arm
+    port_right="can1",  # CAN interface for follower right arm
+    can_interface="socketcan",  # Linux SocketCAN
+    id="openarms_follower",
+    disable_torque_on_disconnect=True,
+    max_relative_target=5.0,  # Safety limit
+)
+
+
+leader_config = OpenArmsLeaderConfig(
+    port_left="can2",   # CAN interface for leader left arm
+    port_right="can3",  # CAN interface for leader right arm
+    can_interface="socketcan",  # Linux SocketCAN
+    id="openarms_leader",
+    manual_control=True,  # Enable manual control (torque disabled)
+)
+
+print("=" * 60)
+print("OpenArms Teleoperation - Full Dual Arms")
+print("=" * 60)
+
+# Initialize devices
+print("\n[1/4] Initializing devices...")
+follower = OpenArmsFollower(follower_config)
+leader = OpenArmsLeader(leader_config)
+
+# Connect and calibrate follower
+print("\n[2/4] Connecting and calibrating follower robot...")
+print("Note: If you have existing calibration, just press ENTER to use it.")
+follower.connect(calibrate=True)
+
+# Connect and calibrate leader
+print("\n[3/4] Connecting and calibrating leader arm...")
+print("Note: The leader arm will have torque disabled for manual control.")
+leader.connect(calibrate=True)
+
+# Wait for user to be ready
+print("\n[4/4] Ready for teleoperation!")
+print("\nBoth arms will be controlled (16 motors total):")
+print("  RIGHT ARM: joints 1-7 + gripper")
+print("  LEFT ARM: joints 1-7 + gripper")
+
+print("\nPress ENTER to start teleoperation...")
+input()
+
+print("\nTeleoperation started! Move both leader arms.")
+print("Press Ctrl+C to stop.\n")
+
+# All joints for both arms (16 motors total)
+all_joints = [
+    # Right arm
+    "right_joint_1",
+    "right_joint_2",
+    "right_joint_3",
+    "right_joint_4",
+    "right_joint_5",
+    "right_joint_6",
+    "right_joint_7",
+    "right_gripper",
+    # Left arm
+    "left_joint_1",
+    "left_joint_2",
+    "left_joint_3",
+    "left_joint_4",
+    "left_joint_5",
+    "left_joint_6",
+    "left_joint_7",
+    "left_gripper",
+]
+
+# Performance monitoring
+loop_times = []
+start_time = time.perf_counter()
+last_print_time = start_time
+
+try:
+    while True:
+        loop_start = time.perf_counter()
+        
+        # Get action from leader
+        leader_action = leader.get_action()
+        
+        # Filter to only position data for all joints (both arms)
+        joint_action = {}
+        for joint in all_joints:
+            pos_key = f"{joint}.pos"
+            if pos_key in leader_action:
+                joint_action[pos_key] = leader_action[pos_key]
+        
+        # Send action to follower (both arms)
+        if joint_action:
+            follower.send_action(joint_action)
+        
+        # Measure loop time
+        loop_end = time.perf_counter()
+        loop_time = loop_end - loop_start
+        loop_times.append(loop_time)
+        
+        # Print stats every 2 seconds
+        if loop_end - last_print_time >= 2.0:
+            if loop_times:
+                avg_time = sum(loop_times) / len(loop_times)
+                current_hz = 1.0 / avg_time if avg_time > 0 else 0
+                min_time = min(loop_times)
+                max_time = max(loop_times)
+                max_hz = 1.0 / min_time if min_time > 0 else 0
+                min_hz = 1.0 / max_time if max_time > 0 else 0
+                
+                print(f"[Hz Stats] Avg: {current_hz:.1f} Hz | "
+                      f"Range: {min_hz:.1f}-{max_hz:.1f} Hz | "
+                      f"Avg loop time: {avg_time*1000:.1f} ms")
+                
+                # Reset for next measurement window
+                loop_times = []
+                last_print_time = loop_end
+            
+except KeyboardInterrupt:
+    print("\n\nStopping teleoperation...")
+finally:
+    # Disconnect devices
+    print("Disconnecting devices...")
+    try:
+        follower.disconnect()
+    except Exception as e:
+        print(f"Error disconnecting follower: {e}")
+    
+    try:
+        leader.disconnect()
+    except Exception as e:
+        print(f"Error disconnecting leader: {e}")
+    
+    print("Done!")