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feat(r2): add the Robbyant R2 real-robot extension - #326
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andylin-hao wants to merge 1 commit into
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Let an LLM planner operate an R2 without a VLA. An env server on the robot runs RLinf's R2Env and checks every planner command against a site config (per-arm workspace box, per-call distance and rotation, joint speed) before the robot moves. The planner gets Cartesian arm moves, grippers, the head, an opt-in chassis, state views, and back_project, which turns pixels into base_link points from depth, configured intrinsics and distortion, and camera poses computed from the robot's URDF and measured joints. Add robots.r2.diagnostics for a no-motion server check, offline tests including an HTTP loopback through the real facade and client, and English and Chinese deployment docs. R2 support in RLinf is in RLinf/RLinf#1745. Signed-off-by: Hao Lin <[email protected]> Co-Authored-By: Claude Opus 5.5 <[email protected]>
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Let an LLM planner operate an R2 without a VLA. An env server on the robot runs RLinf's R2Env and checks every planner command against a site config (per-arm workspace box, per-call distance and rotation, joint speed) before the robot moves.
The planner gets Cartesian arm moves, grippers, the head, an opt-in chassis, state views, and back_project, which turns pixels into base_link points from depth, configured intrinsics and distortion, and camera poses computed from the robot's URDF and measured joints.
Add robots.r2.diagnostics for a no-motion server check, offline tests including an HTTP loopback through the real facade and client, and English and Chinese deployment docs. R2 support in RLinf is in RLinf/RLinf#1745.
Description
Testing
Manual verification
Checklist