docs(dual-franka): streamline deployment and calibration (v0.1) by NewYork424 · Pull Request #285 · RLinf/RPent

NewYork424 · 2026-10-14T13:40:20Z

Depends on #284; merge after it. Only the paired EN/ZH Dual-Franka guides are changed.

Summary

Align installation with Quick Start and add a Tsinghua PyPI mirror example.
Use consistent auto-start commands; explain terminal/Dashboard interaction, operator reset, and explicit Codex storage isolation.
Describe both sorting tasks and their task-name-based memory identities.
Document the single task-independent VLA console introduced in feat(dual-franka): unify operator reset and manual runtime(v0.1) #284, replacing references to duplicate entry points and removed shell wrappers.
Clarify camera placement, checkpoint settings, and calibration preparation/validation/cleanup; restore the libfranka developer-install prerequisite.

Validation

Both EN/ZH Sphinx builds passed with -W --keep-going; git diff --check passed. No hardware or model commands were executed.

Copilot

Copilot was unable to review this pull request because the user who requested the review has reached their quota limit.

read-the-docs-community · 2026-10-14T13:41:06Z

Documentation build overview

📚 RPent | 🛠️ Build #35190961 | 📁 Comparing 0c729ce against latest (034cbda)

🔍 Preview build

8 files changed · ± 8 modified

± Modified

read-the-docs-community · 2026-10-14T13:41:08Z

Documentation build overview

📚 RPent-cn | 🛠️ Build #35190962 | 📁 Comparing 0c729ce against latest (034cbda)

🔍 Preview build

8 files changed · ± 8 modified

± Modified

qurakchin · 2026-10-15T09:56:49Z


-VLA 抓取演示
-------------
+新任务 1 对应旧任务 3，新任务 2 对应旧任务 6。旧日志和 memory 保留原编号；旧的 ``dual_franka_t1`` 记忆不代表新任务 1 的经验，请显式选择并核对要复用的记忆。任务编号不决定是否探索，需要探索时另加 ``--explore``。


is the 旧任务 need to reserve?

qurakchin · 2026-10-15T12:11:04Z


-   export PI05_CHECKPOINT_PATH=/path/to/checkpoints/global_step_N
-   export DUAL_FRANKA_REPO_ID=org/dual-franka-tcp-rot6d
+任务 ``2`` 对碗、盘子和两个杯子进行脏污分类，不含筷勺。碗中的鸡块、盘子或杯子中的蛋挞锡盘标记脏污：脏物放入金属筐，干净物放入纸盒。任务提供 ``vla_right_grasp`` / ``vla_handoff`` / ``vla_left_place`` 技能。


this line is strange at here.

please move to a proper position

qurakchin · 2026-10-16T09:27:34Z

+
+   任务编号同时用于启动命令和记忆标识（如 ``dual_franka_t1``）。修改任务时，请保持编号与任务内容的对应关系，不要随意重排或复用编号。
+
+任务 ``2`` 中，碗中的鸡块、盘子或杯子中的蛋挞锡盘标记脏污：脏物放入金属筐，干净物放入纸盒。任务提供 ``vla_right_grasp`` / ``vla_handoff`` / ``vla_left_place`` 技能。


why only add a description of task 2

Added both sorting-task descriptions in 0c729ce; task 0 remains documented as the single-skill check.

Sonorous281 · 2026-10-16T09:40:36Z

 ``base_camera`` 和 ``d455_camera`` 都需要标定到 **右臂基座**。可使用
 ``calibration_tools/``，也可继续使用 ROS
 `easy_handeye <https://github.com/IFL-CAMP/easy_handeye>`_，最终加载格式均为 YAML。
 腕部相机在默认配置中仅用于观测；若使用腕部 RGBD 相机进行投影，需要按下文


Could we remove the extra whitespace here?

Cleaned up the extra spacing in 0c729ce.

Sonorous281 · 2026-10-16T10:01:13Z

-
-停止运行
------------
-


why delete?

Removed the standalone stopping section to keep the guide concise. Ctrl+C behavior is unchanged; already-issued actions may still finish, so it is not an emergency stop. My previous reply confused this section with the VLA console.

Sonorous281 · 2026-10-16T10:03:15Z

-先按 :doc:`../guides/configure_planner` 配置规划器与模型服务。
-
-任务 ``0`` 用于逐臂测试小幅平移、旋转和夹爪动作：
+手动入口读取已注册的工具 schema。在仓库根目录运行：


"手动入口读取已注册的工具 schema。" be more clear

Reworded in 0c729ce: list available skills and inspect their accepted parameters, without the schema-internals wording.

Sonorous281 · 2026-10-16T10:03:30Z


-VLA 抓取演示
-------------
+与任务入口一致，未指定 endpoint 时，自动在空闲端口启动所需服务，直接使用返回的客户端，退出时只停止本次启动的服务。传入 ``--env-endpoint``、``--vla-endpoint`` 或 ``--sam3-endpoint`` 可复用已有服务。连接已有 Env 不会复位。若新启动 Env，手动动作前先请求场景确认并执行一次复位；显式调用手动 ``reset`` 也会等待确认。列出工具和查看 schema 不启动服务。


"直接使用返回的客户端" ?

Removed the internal-client wording in 0c729ce. The guide now describes automatic startup/connection and cleanup of owned services.

Sonorous281 · 2026-10-16T10:04:59Z

-   pip install -r calibration_tools/requirements.txt pyrealsense2
+   uv pip install -r calibration_tools/requirements.txt pyrealsense2

 在右臂控制节点使用匹配机器人固件的 libfranka 开发库编译状态读取程序：


the installation link was removed, but this step still assumes that the libfranka development files are already installed.

Restored the official libfranka installation link before the reader build, including the headers/CMake prerequisite, in 0c729ce.

wilburx813 · 2026-10-16T10:25:34Z


-标定（Calibration）
----------------------------------------
+连接机械臂前，请核对 libfranka 与机器人固件的兼容性。标定状态读取程序还需要 libfranka 开发库，见下文的标定步骤。


seems calibration venv doesn't install libfranka?

Correct: the Python calibration environment does not install the C++ libfranka development library. In 0c729ce, the guide explicitly links its separate installation on the right-arm node before building the state reader.

wilburx813 · 2026-10-16T10:26:11Z

+   * - ID
+     - 内容
+     - 是否需要 VLA
+   * - 0
+     - 规划器驱动的单技能检查
+     - 否
+   * - 1
+     - 碗盘脏污分类，包含杯子和筷勺
+     - 是
+   * - 2
+     - 碗盘及两个杯子脏污分类，无筷勺
+     - 是


only 3 tasks now？

Yes. Many previous tasks were incomplete debugging experiments. We removed those and retained three runnable tasks with clear purposes: a skill smoke test and two sorting tasks.

docs(dual-franka): streamline deployment and calibration

472178b

Copilot AI balanced review requested due to automatic review settings October 14, 2026 13:40

Copilot AI reviewed Oct 14, 2026

Merge branch 'main' into docs/dual-franka-usage

0e3a519

Sonorous281 requested a review from Code-Hit-ai October 15, 2026 10:07

qurakchin reviewed Oct 15, 2026

View reviewed changes

codex and others added 2 commits October 15, 2026 21:13

docs(dual-franka): simplify workflow and publish checkpoint download

ab507d9

Merge branch 'main' into docs/dual-franka-usage

8a6fa05

Code-Hit-ai mentioned this pull request Oct 15, 2026

feat(dual-franka): unify operator reset and manual runtime(v0.1) #284

Open

docs(dual-franka): explain task ID and memory association

39da56c

qurakchin reviewed Oct 16, 2026

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Sonorous281 reviewed Oct 16, 2026

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wilburx813 reviewed Oct 16, 2026

View reviewed changes

docs(dual-franka): clarify setup and unified VLA testing

0c729ce

Sonorous281 approved these changes Oct 16, 2026

View reviewed changes


		任务编号同时用于启动命令和记忆标识（如 ``dual_franka_t1``）。修改任务时，请保持编号与任务内容的对应关系，不要随意重排或复用编号。

		任务 ``2`` 中，碗中的鸡块、盘子或杯子中的蛋挞锡盘标记脏污：脏物放入金属筐，干净物放入纸盒。任务提供 ``vla_right_grasp`` / ``vla_handoff`` / ``vla_left_place`` 技能。


		停止运行
		------------

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NewYork424 commented Oct 14, 2026 •

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