Merge pull request #28 from FlagOpen/dev

Merge dev into main

Author: Ryu-Yang

robodriver/core/monitor.py

@@ -45,8 +45,8 @@ def send_machine_info_periodically(self, interval_seconds=60):
 
     def start(self):
         """启动后台线程"""
-        self._thread.start()
         self._running = True
+        self._thread.start()
 
     def stop(self):
         """停止后台线程"""

robodriver/robots/robodriver-robot-realman-aio-ros1/README.md

@@ -5,8 +5,7 @@
 ### 1.1 Clone the repository / 克隆仓库
 
 ```bash
-git clone --recurse-submodules https://github.com/BAAI-EI-DATA/robodriver-robot-realman-aio-ros1.git
-cd robodriver-robot-realman-aio-ros1
+git clone https://github.com/FlagOpen/RoboDriver.git
 ```
 
 ### 1.2 Install the project to RoboDriver / 安装到 RoboDriver 环境
@@ -15,6 +14,7 @@ Make sure you are in the `robodriver` conda env.
 确保你已经进入 `robodriver` 的 conda 环境：
 
 ```bash
+conda create -n robodriver python=3.10
 conda activate robodriver
 pip install -e .
 ```
@@ -44,7 +44,7 @@ In this repository directory:
 在本仓库目录中运行：
 
 ```bash
-cd /path/to/your/robodriver-robot-realman-aio-ros1
+cd /path/to/your/RoboDriver/robodriver/robots/robodriver-robot-realman-aio-ros1
 python -m robodriver_robot_realman_aio_ros1.ros1_zmq_bridge
 ```
 
@@ -55,6 +55,7 @@ In your RoboDriver project directory:
 
 ```bash
 cd /path/to/your/RoboDriver
+conda activate robodriver
 python robodriver/scripts/run.py   --robot.type=realman_aio_ros1
 ```
 

robodriver/robots/robodriver-robot-realman1-aio-dora/README.md

@@ -1,78 +1,84 @@
 # robodriver-robot-realman1-aio-dora
-## Get Start
-Clone the repository
+## 快速开始
+克隆代码仓库
 ```
-git clone --recurse-submodules https://github.com/BAAI-EI-DATA/robodriver-robot-realman1-aio-dora.git && cd robodriver-robot-realman1-aio-dora
+git clone https://github.com/FlagOpen/RoboDriver.git
 ```
-Install uv:
+
+安装 Robodriver 环境
 ```
+cd /path/to/your/RoboDriver
 pip install uv
-```
-Create and activate a virtual environment for realman dora node:
-```
-uv venv .venv -p 3.9
+uv venv .venv -p 3.10
 source .venv/bin/activate
-```
-Install dependencies
-```
 uv pip install -e .[hardware]
 ```
-Install the project to Robodriver
+
+安装 robodriver-robot-realman1-aio-dora 模块 环境
 ```
-cd /path/to/your/RoboDriver
+cd /path/to/your/RoboDriver/robodriver/robots/robodriver-robot-realman1-aio-dora
+uv venv .venv -p 3.9
 source .venv/bin/activate
-cd /path/to/your/robodriver-robot-realman1-aio-dora
 uv pip install -e .
-source .venv/bin/activate
 ```
-Configure the dataflow.yml
+
+配置 dataflow.yml 文件
 ```
-cd /path/to/your/robodriver-robot-realman1-aio-dora
+cd /path/to/your/RoboDriver/robodriver/robots/robodriver-robot-realman1-aio-dora
 cd dora
 ```
-Open the dataflow.yml file, then modify the VIRTUAL_ENV path, as well as DEVICE_SERIAL, ARM_IP, and ARM_PORT. 
-### Parameter explanation:
 
-- VIRTUAL_ENV: The path of the virtual environment used by the realman dora node
-- DEVICE_SERIAL: Serial number of the RealSense camera
-- ARM_IP: IP of the robotic arm
-- ARM_PORT: PORT of the robotic arm
+打开 dataflow.yml 文件，修改其中的 VIRTUAL_ENV 路径，以及 DEVICE_SERIAL、ARM_IP 和 ARM_PORT 参数。
+### 参数说明：
 
-## Start collecting
-Activate environment
+- VIRTUAL_ENV：realman dora 节点使用的虚拟环境路径
+- DEVICE_SERIAL：RealSense 相机的序列号
+- ARM_IP：机械臂的 IP 地址
+- ARM_PORT：机械臂的端口号
+
+## 开始数据采集
+激活环境
 ```
 cd /path/to/your/RoboDriver
 source .venv/bin/activate
 ```
-Start Dora
+
+启动 Dora 服务
 ```
 dora up
 ```
-Start dataflow
+
+启动数据流
 ```
-cd /path/to/your/robodriver-robot-realman1-aio-dora
+cd /path/to/your/RoboDriver/robodriver/robots/robodriver-robot-realman1-aio-dora
 dora start dora/dataflow.yml --uv
 ```
-Launch RoboXStudio
+
+启动 RoboDriver 主程序
 ```
 cd /path/to/your/RoboDriver
 source .venv/bin/activate
 python robodriver/scripts/run.py \
   --robot.type=realman1_aio_dora 
 ```
 
-## Bug Fixes
-1. Rerun video replay failure:  
-   Edit `RoboDriver/robodriver/core/coordinator.py`, change `visual_worker(mode="distant")` to `mode="local"`.
+## 问题修复
+1. 视频回放功能重新运行失败：  
+   编辑 `RoboDriver/robodriver/core/coordinator.py` 文件，将 `visual_worker(mode="distant")` 中的模式改为 `mode="local"`。
 
-2. OpenCV cvShowImage error on launch (`python robodriver/scripts/run.py --robot.type=realman1_aio_dora`):  
-   Comment out `cv2.imshow(key, img)` and `cv2.waitKey(1)` in `robodriver/scripts/run.py`.
+2. 启动时出现 OpenCV cvShowImage 错误（执行 `python robodriver/scripts/run.py --robot.type=realman1_aio_dora` 时）：  
+   注释掉 `robodriver/scripts/run.py` 文件中的 `cv2.imshow(key, img)` 和 `cv2.waitKey(1)` 两行代码。
 
+## 数据说明
+RealMan 机械臂的数据由 Dora 节点进行传输。每个机械臂节点会发送**14 维数据信息**，具体组成如下：
 
-## Data Information
-RealMan robotic arm data is transmitted by the Dora node. Each robotic arm node sends **14-dimensional information** with the following composition:
+- 关节角度：1-7 号关节的角度值（7 维）
+- 夹爪状态：夹爪的开合程度
+- 末端执行器位姿：末端欧拉角（3 维，分别表示绕 X/Y/Z 轴的旋转角度）
+**如需修改数据信息，可调整 dataflow.yml 和 config.py 文件**
 
-- Joint angles: Values of joints 1-7 (7 dimensions)
-- Gripper state: Gripper opening/closing degree 
-- End-effector pose: End Euler angles (3 dimensions, representing rotation around X/Y/Z axes) \
-**When you need to modify the data information, you can modify dataflow.yml and config.py**
+### 总结
+1. 部署流程分为克隆代码、安装双环境（RoboDriver 主环境 + realman1-aio-dora 模块环境）、配置核心参数三步；
+2. 启动采集需依次激活环境、启动 Dora 服务、运行数据流、启动主程序；
+3. 已知两个常见问题的修复方案：修改视频回放模式、注释 OpenCV 显示代码；
+4. 机械臂传输 14 维数据，核心维度包含关节角度、夹爪状态和末端位姿，可通过配置文件调整数据结构。

robodriver/robots/robodriver-robot-realman1-aio-dora/README_EN.md

@@ -0,0 +1,79 @@
+# robodriver-robot-realman1-aio-dora
+## Get Start
+Clone the repository
+```
+git clone https://github.com/FlagOpen/RoboDriver.git
+```
+
+Install the project to Robodriver
+```
+cd /path/to/your/RoboDriver
+pip install uv
+uv venv .venv -p 3.10
+source .venv/bin/activate
+uv pip install -e .[hardware]
+```
+
+Install the project to robodriver-robot-realman1-aio-dora
+```
+cd /path/to/your/RoboDriver/robodriver/robots/robodriver-robot-realman1-aio-dorarobodriver-robot-realman1-aio-dora
+uv venv .venv -p 3.9
+uv pip install -e .
+source .venv/bin/activate
+```
+
+Configure the dataflow.yml
+```
+cd /path/to/your/RoboDriver/robodriver/robots/robodriver-robot-realman1-aio-dorarobodriver-robot-realman1-aio-dora
+cd dora
+```
+
+Open the dataflow.yml file, then modify the VIRTUAL_ENV path, as well as DEVICE_SERIAL, ARM_IP, and ARM_PORT. 
+### Parameter explanation:
+
+- VIRTUAL_ENV: The path of the virtual environment used by the realman dora node
+- DEVICE_SERIAL: Serial number of the RealSense camera
+- ARM_IP: IP of the robotic arm
+- ARM_PORT: PORT of the robotic arm
+
+## Start collecting
+Activate environment
+```
+cd /path/to/your/RoboDriver
+source .venv/bin/activate
+```
+
+Start Dora
+```
+dora up
+```
+
+Start dataflow
+```
+cd /path/to/your/RoboDriver/robodriver/robots/robodriver-robot-realman1-aio-dorarobodriver-robot-realman1-aio-dora
+dora start dora/dataflow.yml --uv
+```
+
+Launch RoboDriver
+```
+cd /path/to/your/RoboDriver
+source .venv/bin/activate
+python robodriver/scripts/run.py \
+  --robot.type=realman1_aio_dora 
+```
+
+## Bug Fixes
+1. Rerun video replay failure:  
+   Edit `RoboDriver/robodriver/core/coordinator.py`, change `visual_worker(mode="distant")` to `mode="local"`.
+
+2. OpenCV cvShowImage error on launch (`python robodriver/scripts/run.py --robot.type=realman1_aio_dora`):  
+   Comment out `cv2.imshow(key, img)` and `cv2.waitKey(1)` in `robodriver/scripts/run.py`.
+
+
+## Data Information
+RealMan robotic arm data is transmitted by the Dora node. Each robotic arm node sends **14-dimensional information** with the following composition:
+
+- Joint angles: Values of joints 1-7 (7 dimensions)
+- Gripper state: Gripper opening/closing degree 
+- End-effector pose: End Euler angles (3 dimensions, representing rotation around X/Y/Z axes) \
+**When you need to modify the data information, you can modify dataflow.yml and config.py**

robodriver/robots/robodriver-robot-realman1-aio-dora/dora/dataflow.yml

@@ -7,7 +7,7 @@ nodes:
       - image
       - image_depth
     env:
-      VIRTUAL_ENV: /home/rm/robodriver-robot-realman1-aio-dora/.venv
+      VIRTUAL_ENV: ../.venv
       DEVICE_SERIAL: 150622072280
       IMAGE_WIDTH: 640
       IMAGE_HEIGHT: 480
@@ -20,7 +20,7 @@ nodes:
       - image
       - image_depth
     env:
-      VIRTUAL_ENV: /home/rm/robodriver-robot-realman1-aio-dora/.venv
+      VIRTUAL_ENV: ../.venv
       DEVICE_SERIAL: 216322070529
       IMAGE_WIDTH: 640
       IMAGE_HEIGHT: 480
@@ -33,36 +33,36 @@ nodes:
       - image
       - image_depth
     env:
-      VIRTUAL_ENV: /home/rm/robodriver-robot-realman1-aio-dora/.venv
+      VIRTUAL_ENV: ../.venv
       DEVICE_SERIAL: 152222072189 
       IMAGE_WIDTH: 640
       IMAGE_HEIGHT: 480
 
   - id: arm_realman1_aio_left
-    path: nodes/dora_arm_realman/dora_arm_realman/main.py
-    build: pip install -e nodes/dora_arm_realman
+    path: ../../../../components/arms/dora-arm-realman/dora_arm_realman/main.py
+    build: pip install -e ../../../../components/arms/dora-arm-realman/dora_arm_realman
     inputs:
       get_joint: dora/timer/millis/33
       action_joint: realman1_aio_dora/action_joint
     outputs:
       - joint
     env:
-      VIRTUAL_ENV: /home/rm/robodriver-robot-realman1-aio-dora/.venv
+      VIRTUAL_ENV: ../.venv
       ARM_IP: 169.254.128.18
       ARM_PORT: 8080
       ARM_NAME: RealMan-aio-left
       ARM_ROLE: aio
 
   - id: arm_realman1_aio_right
-    path: nodes/dora_arm_realman/dora_arm_realman/main.py
-    build: pip install -e nodes/dora_arm_realman
+    path: ../../../../components/arms/dora-arm-realman/dora_arm_realman/main.py
+    build: pip install -e ../../../../components/arms/dora-arm-realman/dora_arm_realman
     inputs:
       get_joint: dora/timer/millis/33
       action_joint: realman1_aio_dora/action_joint
     outputs:
       - joint
     env:
-      VIRTUAL_ENV: /home/rm/robodriver-robot-realman1-aio-dora/.venv
+      VIRTUAL_ENV: ../.venv
       ARM_IP: 169.254.128.19
       ARM_PORT: 8080
       ARM_NAME: RealMan-aio-right

robodriver/robots/utils.py

@@ -46,6 +46,6 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
 
 def safe_update_status(robot: Robot) -> str:
     if hasattr(robot, "update_status"):
-        robot.update_status()
+        return robot.update_status()
     else:
         return RobotStatus().to_json()