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Dora pipeline Robots

Aloha is a bi manual robot that can be teleoperated using a similar arm. This repository contains the Dora pipeline to manipulate arms, cameras, and record/replay episodes with LeRobot.

  • To check if the robot is connected, install dynamixel wizard here

  • Dynamixel wizard is a very helpful debugging tool that connects to individual motors of the robot. It allows things such as rebooting the motor (very useful!), torque on/off, and sending commands. However, it has no knowledge about the kinematics of the robot, so be careful about collisions. The robot will collapse if motors are torque off i.e. there is no automatically engaged brakes in joints.

  • Open Dynamixel wizard, go into options and select:

    • Protocal 2.0
    • All ports
    • 1000000 bps
    • ID range from 0-10

  • Note: repeat above everytime before you scan.

  • Then hit Scan. There should be 4 devices showing up, each with 9 motors.

  • One issue that arises is the port each robot binds to can change over time, e.g. a robot that is initially ttyUSB0 might suddenly become ttyUSB5. To resolve this, we bind each robot to a fixed symlink port with the following mapping:

    • ttyDXL_master_right: right master robot (master: the robot that the operator would be holding)
    • ttyDXL_puppet_right: right puppet robot (puppet: the robot that performs the task)
    • ttyDXL_master_left: left master robot
    • ttyDXL_puppet_left: left puppet robot

  • Take ttyDXL_master_right: right master robot as an example:

    1. Find the port that the right master robot is currently binding to, e.g. ttyUSB0

    2. run udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep serial to obtain the serial number. Use the first one that shows up, the format should look similar to FT6S4DSP.

    3. sudo vim /etc/udev/rules.d/99-fixed-interbotix-udev.rules and add the following line:

      SUBSYSTEM=="tty", ATTRS{serial}=="", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL_master_right"

    4. This will make sure the right master robot is always binding to ttyDXL_master_right

    5. Repeat with the rest of 3 arms.

You have an example of the given rules in hardware_config.yml.

cd dora-lerobot

sudo cp robots/aloha/hardware_config/99-interbotix-udev.rules /etc/udev/rules.d
sudo cp robots/aloha/hardware_config/99-fixed-interbotix-udev.rules /etc/udev/rules.d
  • To apply the changes, run sudo udevadm control --reload && sudo udevadm trigger
  • If successful, you should be able to find ttyDXL* in your /dev

Documentation

https://github.com/Interbotix/interbotix_ros_toolboxes/blob/humble/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/core.py

https://github.com/Interbotix/interbotix_ros_toolboxes/blob/c187bcea89b60391244bb19943ebd78f770aa975/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/core.py#L380-L398

Acknowledgement

This work is inspired from tonyzhaozh/aloha and we're trying to bring perfornance improvement.

License

This library is licensed under the Apache License 2.0.