How to run real-world example on a uFactory lite 6 robot

[jannwawerek]

Great project!

I understand that the rtde_interpolation_controller.py is controlling the UR5. Is there any way to use a uFactory lite 6 robot arm instead?

Thanks for your help!

[cheng-chi]

Hi @jannwawerek, I never used uFactory robots myself, however I think it should be easy to port RTDEInterpolationController over. You really just need to replace line 268 (rtde_c.servoL) with whatever uFactory's API that accept end-effector positional command.

[ruoshiliu]

Upon some preliminary testing, velocity control (vc_set_cartesian_velocity) seems to work better than positional control (set_position) for xArm SDK. Here's a short script to control xArm series with spacemouse (adapted from demo_real_robot.py). Hope it's helpful.

"""
Usage:
(robodiff)$ python demo_xarm.py --robot_ip <ip_of_xarm> --max_speed 100

Robot movement:
Move your SpaceMouse to move the robot EEF (3 spatial DoF only).
Press SpaceMouse left button once to reset to initial pose.
"""

# %%
import time
from multiprocessing.managers import SharedMemoryManager
import click
import cv2
import sys
import numpy as np
import scipy.spatial.transform as st
from diffusion_policy.real_world.spacemouse_shared_memory import Spacemouse
from diffusion_policy.common.precise_sleep import precise_wait
from diffusion_policy.real_world.keystroke_counter import (
    KeystrokeCounter, Key, KeyCode
)

# xArm API
sys.path.append('/home/USER/xArm-Python-SDK')
from xarm.wrapper import XArmAPI

@click.command()
@click.option('--robot_ip', '-ri', default="192.168.1.220", required=False, help="UR5's IP address e.g. 192.168.0.204")
@click.option('--init_joints', '-j', is_flag=True, default=True, help="Whether to initialize robot joint configuration in the beginning.")
@click.option('--frequency', '-f', default=10, type=float, help="Control frequency in Hz.")
@click.option('--command_latency', '-cl', default=0.01, type=float, help="Latency between receiving SapceMouse command to executing on Robot in Sec.")
@click.option('--max_speed', '-ms', default=100, type=float, help="Max speed of the robot in mm/s.")
def main(robot_ip, init_joints, frequency, command_latency, max_speed):
    max_speed = max_speed * frequency
    dt = 1/frequency
    with SharedMemoryManager() as shm_manager:
        with KeystrokeCounter() as key_counter, \
            Spacemouse(shm_manager=shm_manager) as sm:

            arm = XArmAPI(robot_ip, is_radian=True)
            cv2.setNumThreads(1)

            # initialize xarm
            arm.motion_enable(enable=True)
            arm.set_mode(0)
            arm.set_state(state=0)
            time.sleep(1)
            if init_joints:
                arm.reset(wait=True)

            arm.set_mode(5)
            arm.set_state(0)

            time.sleep(1.0)
            print('Ready!')
            state = arm.get_position()
            target_pose = state[1]
            t_start = time.monotonic()
            iter_idx = 0
            stop = False
            is_recording = False
            while not stop:
                # calculate timing
                t_cycle_end = t_start + (iter_idx + 1) * dt
                t_sample = t_cycle_end - command_latency
                t_command_target = t_cycle_end + dt

                # handle key presses
                press_events = key_counter.get_press_events()
                stage = key_counter[Key.space]

                precise_wait(t_sample)
                # get teleop command
                sm_state = sm.get_motion_state_transformed()
                # print(sm_state)
                dpos = sm_state[:3] * (max_speed / frequency)
                drot_xyz = sm_state[3:] * (max_speed / frequency)

                drot_xyz[:] = 0

                drot = st.Rotation.from_euler('xyz', drot_xyz)
                target_pose[:3] += dpos
                target_pose[3:] = (drot * st.Rotation.from_rotvec(
                    target_pose[3:])).as_rotvec()

                speed = np.linalg.norm(dpos) / dt

                if sm.is_button_pressed(0):
                    arm.set_mode(0)
                    arm.set_state(0)
                    time.sleep(0.1)
                    arm.reset(wait=True)
                    arm.set_mode(5)
                    arm.set_state(0)

                dvel = dpos

                if speed > 0.1:
                    dvel = dpos * (max_speed / speed)
                else:
                    dvel *= 0
                    # continue

                print('scaled speed:', np.linalg.norm(dvel))

                x_velocity, y_velocity, z_velocity = dvel
                roll_velocity, pitch_velocity, yaw_velocity = drot_xyz
                print(f'x_velocity: {x_velocity}, y_velocity: {y_velocity}, z_velocity: {z_velocity}')
                print(f'roll_velocity: {roll_velocity}, pitch_velocity: {pitch_velocity}, yaw_velocity: {yaw_velocity}')

                arm.vc_set_cartesian_velocity([x_velocity, y_velocity, z_velocity, roll_velocity, pitch_velocity, yaw_velocity])

                precise_wait(t_cycle_end)
                iter_idx += 1

# %%
if __name__ == '__main__':
    main()

[manadaniel]

@ruoshiliu thank you very much for providing this hint as well as exemplary code! How did you came to this finding? What’s the issue with set_position? Have you tried the set_servo_cartesian method as well? That’s what I am going for currently, might be able to test tomorrow. Docs for set_servo_cartesian

[duidui6666]

你好@jannwawerek，我自己从未使用过 uFactory 机器人，但是我认为移植 RTDEInterpolationController 应该很容易。您实际上只需将第 268 行 (rtde_c.servoL) 替换为接受末端执行器位置命令的 uFactory 的 API。

Is it not necessary to obtain the robot arm status information? @cheng-chi