Aloha真机部署

概述

本文档描述基于 AgileX Aloha 双臂平台部署 FluxVLA 模型进行自主操作的完整流程。

上电

• 打开机器电源，对四个机械臂进行上电

• 检查四个机械臂是否都亮绿灯，正常上电

2. 软件环境准备

2.1 创建 Conda 环境

conda create -n aloha_sdk3.0 python=3.8.19
conda activate aloha_sdk3.0

2.2 安装 Piper SDK

git clone https://github.com/agilexrobotics/piper_sdk.git
cd piper_sdk
pip3 install .

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3. 启动机械臂

启动机械臂使能与控制节点（mode:=1 为从动模式，auto_enable:=true 自动上使能）：

conda activate aloha_sdk3.0
roslaunch piper start_ms_piper.launch mode:=1 auto_enable:=true

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4. 启动相机

启动三路深度相机：

roslaunch astra_camera nmulti_camera.launch

启动完成后，通过 rostopic list 确认以下 Topic 正常发布：

相机	Color Topic	Depth Topic	点云 Topic
前方 (f)	/camera_f/color/image_raw	/camera_f/depth/image_raw	/camera_f/depth/points
手部 (h)	/camera_h/color/image_raw	/camera_h/depth/image_raw	/camera_h/depth/points
左侧 (l)	/camera_l/color/image_raw	/camera_l/depth/image_raw	/camera_l/depth/points
右侧 (r)	/camera_r/color/image_raw	/camera_r/depth/image_raw	/camera_r/depth/points

机械臂关节状态 Topic：

Topic	说明
/master/joint_left	左主臂关节状态
/master/joint_right	右主臂关节状态
/puppet/joint_left	左从臂关节状态
/puppet/joint_right	右从臂关节状态
/puppet/end_pose_left	左从臂末端位姿
/puppet/end_pose_right	右从臂末端位姿
/left_arm/trajectory	左臂轨迹指令
/right_arm/trajectory	右臂轨迹指令
/left_arm/model_trajectory	左臂模型输出轨迹
/right_arm/model_trajectory	右臂模型输出轨迹

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5. 运行 FluxVLA 模型推理

在 IDE 中通过”运行与调试”启动，或直接命令行运行：

WANDB_MODE=disabled HF_ENDPOINT=https://hf-mirror.com \
python scripts/inference_real_robot.py \
    --config configs/gr00t/gr00t_eagle_3b_aloha_fold_towel_3cam_4090_full_train.py \
    --ckpt-path ./work_dirs/work_dirs/419acaf40_gr00t_eagle_3b_aloha_fold_towel_3cam_4090_full_train_bs256/checkpoints/step-037356-epoch-06-loss=0.0617.pt

对应的 VSCode launch.json 配置：

{
    "name": "Inference gr00t eagle",
    "type": "debugpy",
    "request": "launch",
    "program": "scripts/inference_real_robot.py",
    "console": "integratedTerminal",
    "args": [
        "--config", "configs/gr00t/gr00t_eagle_3b_aloha_fold_towel_3cam_4090_full_train.py",
        "--ckpt-path", "./work_dirs/work_dirs/419acaf40_gr00t_eagle_3b_aloha_fold_towel_3cam_4090_full_train_bs256/checkpoints/step-037356-epoch-06-loss=0.0617.pt"
    ],
    "env": {
        "WANDB_MODE": "disabled",
        "HF_ENDPOINT": "https://hf-mirror.com"
    }
}

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6. 机械臂复位

任务结束或需要归零时，发送复位指令将双臂回到零位（末端夹爪保持微张 0.1）：

左臂复位：

rostopic pub /master/joint_left sensor_msgs/JointState "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: ''
name: ['']
position: [0,0,0,0,0,0,0.1]
velocity: [0]
effort: [0]"

右臂复位：

rostopic pub /master/joint_right sensor_msgs/JointState "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: ''
name: ['']
position: [0,0,0,0,0,0,0.1]
velocity: [0]
effort: [0]"

position 中的 7 个值对应 6 个关节角度 + 1 个夹爪开合量，全部置零表示回到初始位姿，0.1 使夹爪保持微张状态。