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openral-detect

Hardware probing + RobotDescription assembly for openral detect.

Part of OpenRAL — the open Robot Abstraction Layer for vision-language-action robotics. This package is one member of the OpenRAL Python workspace; see the architecture overview and the eight-layer model in the project docs.

All OpenRAL workspace packages move in lockstep at 0.1.x until the first public release.

Usage

openral detect is an always-interactive custom robot.yaml builder. There is no --interactive/-i flag — probing a rig and writing a manifest always walks the operator through naming the rig and binding its cameras.

# Build a custom robot.yaml (prompts for a rig name + per-camera sensor
# bindings; writes robots/<name>/robot.yaml by default).
openral detect

# Also scaffold a DeployScene with the workcell (non-robot) camera bindings.
openral detect \
  --output robots/my_so101_bench/robot.yaml \
  --deployment scenes/deploy/so101_bench.yaml

# Inspect probes without writing files or prompting (CI-safe).
openral detect --include usb,gpu,cameras_v4l2 --report detect.json --no-write

openral detect probes USB, DDS, GPU, V4L2, RealSense, Orbbec, and network interfaces; resolves a canonical manifest (from USB/DDS inference or --robot) as a template, never as the output; and records accelerator capabilities used by openral rskill check. The interactive flow is:

  1. Prompt for a custom robot name (default: the canonical rig's name). This becomes RobotDescription.name, and — unless --output is given — sets the default output path to robots/<name>/robot.yaml, so a DeployScene with robot_id: <name> resolves it.
  2. Everything except the sensor list is inherited verbatim from the canonical manifest: joints, URDF/MJCF, safety envelope, capabilities, compute.
  3. A sensor wizard walks every detected camera (V4L2 + RealSense + Orbbec) and asks which sensor it is. A thumbnail (opencv) is grabbed only for V4L2 (/dev/video*) devices; RealSense and Orbbec entries key on model + serial (no device_path) and get no thumbnail:
    • a canonical sensor name (e.g. top, wrist) reuses that manifest SensorSpec verbatim (frame, intrinsics, vla_feature_key) plus the real device binding, with a warning that the intrinsics are still the canonical rig's — best to supply your own calibrated fx/fy/cx/cy;
    • a new name creates a new robot sensor (prompts for parent_frame; generic intrinsics + the same calibration warning);
    • w:<name> records a workcell/workspace camera — written only into the --deployment DeployScene, never into the robot manifest;
    • Enter skips the device. Canonical sensors that are never bound to a device are dropped from the custom manifest.
  4. An opt-in gate, "Customize joint limits & safety envelope? [y/N]" — N (default) inherits the canonical values verbatim; y walks each joint's position/velocity/effort limits and the safety scalars with Enter-to-keep-default prompts.
  5. When the manifest is written outside the canonical rig's directory, file: asset refs (URDF/MJCF/SRDF) are rewritten repo-root-relative so they still resolve from the new location.
  6. For a serial (lerobot Feetech) arm — SO-100/SO-101/… — the scaffolded --deployment scene needs a lerobot calibration (per-servo IDs + homing offsets) before deploy run can connect. When the scene's calibration directory is empty, openral detect prints a "Calibration required" notice pointing at the lerobot calibrate flow (https://huggingface.co/docs/lerobot/v0.6.0/en/so101#calibrate); link an existing <id>.json into that directory or generate one there.

Only --no-write short-circuits to probe-only inspection: no prompts, cameras are auto-enriched from the sensor catalog (real intrinsics via reverse lookup) instead of wizard-bound, and no robot.yaml/DeployScene is written. This is the CI-safe path. --report <path> is an orthogonal flag that always dumps the raw DetectionReport JSON to path; used alone (without --no-write) it does not make the run non-interactive — the full builder still prompts for a rig name, runs the camera wizard, and writes robot.yaml. For a headless/CI probe, pass --no-write (optionally together with --report).

Bare Feetech USB detection defaults to so101_follower because SO-100 and SO-101 are electrically indistinguishable on the bus. Force the older arm with:

openral detect --robot so100

--deployment writes a DeployScene shell: robot_id set to the custom name, the wizard's workcell camera bindings, and the HAL's port overridden with the serial device actually detected on this host (e.g. /dev/ttyACM0). The custom robots/<name>/robot.yaml this produces is read by openral deploy run (via robot_id/--robot) — it is not a throwaway inspection artifact. --deployment does not choose an rSkill; deploy run lets the reasoner pick from installed, capability-matched rSkills.