Skip to content

README.md

Latest commit

 

History

History
307 lines (227 loc) · 6.63 KB

README.md

File metadata and controls

307 lines (227 loc) · 6.63 KB
Raw

PAROL6 Robot Integration for LeRobot

PAROL6 is a 6-DOF robotic arm similar to UR5 in workspace and capabilities. This integration provides full support for PAROL6 in the LeRobot framework, including ROS2 bridge for seamless integration with the ROS2 ecosystem.

Features

  • 6-DOF Control: Full control of all 6 joints (shoulder_pan, shoulder_lift, elbow, wrist_1, wrist_2, wrist_3)
  • ROS2 Integration: Optional ROS2 bridge for integration with ROS2 control stack
  • Camera Support: Multi-camera support for vision-based learning
  • Safety Features:
    • Joint limits enforcement
    • Maximum relative target limiting
    • Position filtering for smooth motion
  • Dual Communication: Support for both direct serial and ROS2 communication

Hardware Specifications

Parameter Value
Degrees of Freedom 6
Workspace Similar to UR5
Joint Limits See config file
Max Velocity 3.15 rad/s (typical)
Max Acceleration 10 rad/s²
Communication Serial (USB) or ROS2

Quick Start

1. Installation

# Install LeRobot (if not already installed)
pip install -e .

# For ROS2 support, install ROS2 adapter
cd ros2_adapter
pip install -e .

2. Basic Usage (Without ROS2)

from lerobot.common.robots.parol6 import Parol6, Parol6Config

# Create configuration
config = Parol6Config(
    id="my_parol6",
    port="/dev/ttyUSB0",
    baudrate=115200,
)

# Connect to robot
robot = Parol6(config)
robot.connect()

# Get observation
obs = robot.get_observation()
print(f"Current position: {obs}")

# Send action
action = {
    "shoulder_pan.pos": 0.0,
    "shoulder_lift.pos": -1.57,
    "elbow.pos": 1.57,
    "wrist_1.pos": -1.57,
    "wrist_2.pos": -1.57,
    "wrist_3.pos": 0.0,
}
robot.send_action(action)

# Disconnect
robot.disconnect()

3. Usage with ROS2

from lerobot.common.robots.parol6 import Parol6, Parol6Config

# Create configuration with ROS2 enabled
config = Parol6Config(
    id="my_parol6",
    use_ros2_bridge=True,
    ros2_namespace="/parol6",
    control_frequency=100,
)

# Connect (will start ROS2 bridge automatically)
robot = Parol6(config)
robot.connect()

# Use robot as normal
obs = robot.get_observation()
robot.send_action(action)

robot.disconnect()

4. Start ROS2 Node Separately

# Start ROS2 bridge node
./scripts/parol6/start_parol6_ros2.sh sim /parol6

# In another terminal, run your LeRobot script
python your_script.py

Configuration

The Parol6Config class provides extensive configuration options:

@dataclass
class Parol6Config(RobotConfig):
    # Communication
    port: str = "/dev/ttyUSB0"
    baudrate: int = 115200

    # ROS2 Settings
    use_ros2_bridge: bool = False
    ros2_namespace: str = "/parol6"

    # Safety
    max_relative_target: float = 0.5  # Max movement per step
    disable_torque_on_disconnect: bool = True

    # Control
    control_frequency: int = 100  # Hz
    enable_position_filter: bool = True
    position_filter_coeff: float = 0.8

    # Joint limits (rad)
    joint_limits: dict = ...

    # Cameras
    cameras: dict[str, CameraConfig] = {}

ROS2 Topics

When using ROS2 bridge, the following topics are available:

Published Topics

  • /parol6/joint_states (sensor_msgs/JointState): Current joint positions and velocities
  • /parol6/joint_trajectory_controller/state (control_msgs/JointTrajectoryControllerState): Controller state

Subscribed Topics

  • /parol6/joint_trajectory_controller/joint_trajectory (trajectory_msgs/JointTrajectory): Joint trajectory commands
  • /parol6/joint_commands (sensor_msgs/JointState): Direct position commands

Testing

Test LeRobot Integration

# Test basic connection
python scripts/parol6/test_parol6_lerobot.py --test connection

# Test joint control
python scripts/parol6/test_parol6_lerobot.py --test control

# Test with ROS2
python scripts/parol6/test_parol6_lerobot.py --use-ros2 --test all

Test Robosuite Simulation

# Install robosuite first
pip install robosuite

# Run simulation tests
python tests/parol6/test_parol6_robosuite.py --test all

Test ROS2 Integration

# Make sure ROS2 is sourced
source /opt/ros/humble/setup.bash

# Run ROS2 tests
python tests/parol6/test_ros2_integration.py --test all

Examples

Teleoperation with Joycon

python -m lerobot.teleoperate \
    --robot.type=parol6 \
    --robot.port=/dev/ttyUSB0 \
    --robot.id=my_parol6 \
    --teleop.type=joycon

Data Recording

python -m lerobot.record \
    --robot.type=parol6 \
    --robot.port=/dev/ttyUSB0 \
    --robot.id=my_parol6 \
    --robot.cameras="{ \
        OBS_IMAGE_1: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30} \
    }" \
    --dataset.single_task="Pick and place" \
    --dataset.repo_id=Datasets/parol6_pick_place \
    --dataset.num_episodes=50 \
    --teleop.type=joycon

Training with SmolVLA

python lerobot/scripts/train.py \
    --policy.path=lerobot/smolvla_base \
    --dataset.repo_id=Datasets/parol6_pick_place \
    --batch_size=8 \
    --steps=20000 \
    --output_dir=outputs/train/parol6_smolvla \
    --policy.device=cuda

Inference

python -m lerobot.record \
    --robot.type=parol6 \
    --robot.port=/dev/ttyUSB0 \
    --robot.id=my_parol6 \
    --policy.path=outputs/train/parol6_smolvla/checkpoints/last/pretrained_model

Robosuite Integration

PAROL6 is similar to UR5, so you can use Robosuite's UR5e model for simulation:

import robosuite as suite

# Create environment
env = suite.make(
    env_name="Lift",
    robots="UR5e",  # UR5e is similar to PAROL6
    has_renderer=True,
    control_freq=20,
)

# Use with PAROL6 action space
obs = env.reset()
for i in range(1000):
    # PAROL6-style action (6 joints + gripper)
    action = parol6_controller.get_action(obs)
    obs, reward, done, info = env.step(action)
    env.render()

Troubleshooting

Serial Connection Issues

# Check if device is connected
ls -l /dev/ttyUSB*

# Add user to dialout group
sudo usermod -a -G dialout $USER

# Set permissions (temporary)
sudo chmod 666 /dev/ttyUSB0

ROS2 Issues

# Make sure ROS2 is sourced
source /opt/ros/humble/setup.bash

# Check ROS2 nodes
ros2 node list

# Check topics
ros2 topic list

# Echo joint states
ros2 topic echo /parol6/joint_states

Contributing

Contributions are welcome! Please see the main LeRobot contributing guidelines.

License

Apache-2.0

References