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Customized Deployment Guide

Add Customized Tasks

There are two kinds of task configs: shared configs and policy-related configs.

Shared Configs

Shared configs define the robot's degrees of freedom, as well as the sensors used and their parameters. You can take ImplicitRDP/config/task/real_flip_one_usb_camera_kineteach_10fps.yaml as an example.

Note that the robot_control_mode represents the degrees of freedom of the robot action during the kinematic teaching. You can add new mode in ImplicitRDP/common/data_models.py and modify ImplicitRDP/real_world/kinematic_teaching/kineteach_controller.py accordingly.

Policy-related Configs

Policy-related configs define the obs and action shape, env runner parameters, and dataset parameters.

Add Customized Force Sensors

  1. Implement the Sensor Publisher. Because Flexiv Rizon 4s is equipped with a built-in 6-axis force/torque sensor at the end effector, we have implemented the publisher in ImplicitRDP/real_world/publisher/bimanual_robot_publisher.py. If you want to use a separate force sensor, you can add an individual force sensor publisher to publish the wrench to the ROS topic.

  2. Modify the Device Mapping Server. Our experiments use many different settings of sensor hardwares, so we use Device Mapping Server as an online database for other processes to query the current hardware settings. It provides the mapping from the sensor to the ROS2 topic name, which is requested by the Data Recorder and Runner. Please add the new sensor mapping in ImplicitRDP/real_world/device_mapping/device_mapping_server.py.

  3. Modify Services. Modify the following services to be compatible with the new sensors:

Add Customized Robots

  1. Implement the Robot Server. Note that we change the stiffness of the robot for kinematic teaching, so you need to adopt a robot which supports stiffness adjustment. Refer to ImplicitRDP/real_world/robot/bimanual_flexiv_server.py and implement a robot server for your robot with the same API. This server is requested by the Kineteach Controller and Real Env.
  2. Implement the Robot Publisher. Refer to ImplicitRDP/real_world/publisher/bimanual_robot_publisher.py and implement a similar publisher for your robot.
  3. (Optional) Modify Services. The following services may need to be modified to be compatible with the new robot: