2.4 KiB
2.4 KiB
How to Build Your Own Arm
Define your own config for the robot arm (unitree_deploy/robot_devices/arm/config.py)
@ArmConfig.register_subclass("z1") # Register your custom arm wrapper. Here use def __init__(self, config: Z1DualArmConfig):
@dataclass
class Z1ArmConfig(ArmConfig):
port: str
motors: dict[str, tuple[int, str]]
mock: bool = False
init_pose_left: list = None
init_pose_right: list = None
control_dt: float = 1/500.0
# Default parameters go first [parameters that may need to be customized],
# Non-default parameters go later [fixed parameters]
Description of methods in your arm class (unitree_deploy/robot_devices/arm/utils.py)
# Base class for Arm, extensible with required methods
class Arm(Protocol):
def connect(self): ...
def disconnect(self): ...
def motor_names(self): ...
def read_current_motor_q(self): ...
def read_current_arm_q(self): ...
def read_current_arm_dq(self): ...
def write_arm(self): ...
def arm_ik(self): ...
How to implement external calls? Use make_arm_motors_buses_from_configs [based on the config file] to construct the UnitreeRobot class. Use make_arm_motors_bus [based on arm_type] which is generally used for external module loading.
Implementation of the arm class (unitree_deploy/robot_devices/arm/.../....py)
# These methods need to be implemented and completed
def connect(self): ...
def disconnect(self): ...
def motor_names(self): ...
# connect() and disconnect() should handle initialization and homing respectively
def read_current_motor_q(self): ...
def read_current_arm_q(self): ...
def read_current_arm_dq(self): ...
# Outputs should be unified as np.ndarray
def write_arm(self): ...
# Write control commands here
def arm_ik(self): ...
# Wrap IK into your own arm class for external calling
# Private/protected properties [for reading motor names, IDs, etc.]
@property
def motor_names(self) -> list[str]:
return list(self.motors.keys())
@property
def motor_models(self) -> list[str]:
return [model for _, model in self.motors.values()]
@property
def motor_indices(self) -> list[int]:
return [idx for idx, _ in self.motors.values()]
All arms use threading to implement _subscribe_motor_state and _ctrl_motor_state threads for internal reading and writing within the class.