新增X30及nova2采集设备

robodriver/robots/robodriver-robot-deeprobotics-x30-ros1/.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[codz]
+*$py.class
+
+# C extensions
+*.so
+
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+# pyenv
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+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
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+marimo/_static/
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+__marimo__/
+
+**out/

robodriver/robots/robodriver-robot-deeprobotics-x30-ros1/README.md

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+# robodriver-robot-deeprobotics-x30-ros1
+
+## 1. Get Start / 快速开始
+
+### 1.1 Install the project to RoboDriver / 安装到 RoboDriver 环境
+
+Make sure you are in the `robodriver` conda env.  
+确保你已经进入 `robodriver` 的 conda 环境：
+
+```bash
+conda activate robodriver
+pip install -e .
+```
+
+## 2. Start Collecting / 开始采集数据
+
+### 2.1 Activate environment / 激活环境
+
+```bash
+conda activate robodriver
+```
+
+### 2.2 在云深处X30机器狗开发板上运行ros1_to_zmq.py
+
+```bash
+python sdk_to_zmq.py
+```
+
+### 2.4 Launch RoboXStudio / 启动 RoboXStudio
+
+In your RoboDriver project directory:  
+在你的 RoboDriver 工程目录中：
+
+```bash
+cd /path/to/your/RoboDriver
+python -m robodriver.scripts.run --robot.type=deeprobotics_x30_ros1
+```

robodriver/robots/robodriver-robot-deeprobotics-x30-ros1/lerobot_robot_deeprobotics_x30_ros1/__init__.py

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+from robodriver_robot_deeprobotics_x30_ros1 import *

robodriver/robots/robodriver-robot-deeprobotics-x30-ros1/pyproject.toml

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+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "robodriver_robot_deeprobotics_x30_ros1"
+version = "0.1.0"
+readme = "README.md"
+requires-python = ">=3.10"
+license = { text = "Apache-2.0" }
+keywords = ["robotics", "lerobot", "deeprobotics_x30_ros1"]
+
+dependencies = [
+    "logging_mp",
+    "numpy",
+    "pyzmq",
+    "opencv-python",
+]
+
+[tool.setuptools.packages.find]
+include = ["robodriver_robot_deeprobotics_x30_ros1"]
+

robodriver/robots/robodriver-robot-deeprobotics-x30-ros1/robodriver_robot_deeprobotics_x30_ros1/__init__.py

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+from .robot import DeeproboticsX30Ros1Robot
+from .config import DeeproboticsX30Ros1RobotConfig

robodriver/robots/robodriver-robot-deeprobotics-x30-ros1/robodriver_robot_deeprobotics_x30_ros1/calibrate.py

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+def calibrate():
+    pass

robodriver/robots/robodriver-robot-deeprobotics-x30-ros1/robodriver_robot_deeprobotics_x30_ros1/config.py

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+from typing import Dict
+from dataclasses import dataclass, field
+
+from lerobot.robots.config import RobotConfig
+from lerobot.cameras import CameraConfig
+from lerobot.cameras.opencv import OpenCVCameraConfig
+from lerobot.motors import Motor, MotorNormMode
+
+
+@RobotConfig.register_subclass("deeprobotics_x30_ros1")
+@dataclass
+class DeeproboticsX30Ros1RobotConfig(RobotConfig):
+    use_degrees = True
+    norm_mode_body = (
+        MotorNormMode.DEGREES if use_degrees else MotorNormMode.RANGE_M100_100
+    )
+
+    # 按组件分组：{ comp_id: { joint_name: Motor, ... }, ... }
+    leader_motors: Dict[str, Dict[str, Motor]] = field(
+        default_factory=lambda norm_mode_body=norm_mode_body: {
+            "leader_joints": {
+                # 前左腿 (front left)
+                "fl_hipx": Motor(1, "robot_motor", norm_mode_body),
+                "fl_hipy": Motor(2, "robot_motor", norm_mode_body),
+                "fl_knee": Motor(3, "robot_motor", norm_mode_body),
+                # 前右腿 (front right)
+                "fr_hipx": Motor(4, "robot_motor", norm_mode_body),
+                "fr_hipy": Motor(5, "robot_motor", norm_mode_body),
+                "fr_knee": Motor(6, "robot_motor", norm_mode_body),
+                # 后左腿 (hind left)
+                "hl_hipx": Motor(7, "robot_motor", norm_mode_body),
+                "hl_hipy": Motor(8, "robot_motor", norm_mode_body),
+                "hl_knee": Motor(9, "robot_motor", norm_mode_body),
+                # 后右腿 (hind right)               
+                "hr_hipx": Motor(10, "robot_motor", norm_mode_body),
+                "hr_hipy": Motor(11, "robot_motor", norm_mode_body),
+                "hr_knee": Motor(11, "robot_motor", norm_mode_body),
+            },
+        }
+    )
+
+    follower_motors: Dict[str, Dict[str, Motor]] = field(
+        default_factory=lambda norm_mode_body=norm_mode_body: {
+            "follower_joint": {
+                # 前左腿 (front left)
+                "fl_hipx": Motor(1, "robot_motor", norm_mode_body),
+                "fl_hipy": Motor(2, "robot_motor", norm_mode_body),
+                "fl_knee": Motor(3, "robot_motor", norm_mode_body),
+                # 前右腿 (front right)
+                "fr_hipx": Motor(4, "robot_motor", norm_mode_body),
+                "fr_hipy": Motor(5, "robot_motor", norm_mode_body),
+                "fr_knee": Motor(6, "robot_motor", norm_mode_body),
+                # 后左腿 (hind left)
+                "hl_hipx": Motor(7, "robot_motor", norm_mode_body),
+                "hl_hipy": Motor(8, "robot_motor", norm_mode_body),
+                "hl_knee": Motor(9, "robot_motor", norm_mode_body),
+                # 后右腿 (hind right)               
+                "hr_hipx": Motor(10, "robot_motor", norm_mode_body),
+                "hr_hipy": Motor(11, "robot_motor", norm_mode_body),
+                "hr_knee": Motor(11, "robot_motor", norm_mode_body),
+            },
+        }
+    )
+
+    cameras: Dict[str, CameraConfig] = field(
+        default_factory=lambda: {
+            "image_top": OpenCVCameraConfig(index_or_path=0, fps=30, width=640, height=480),
+        }
+    )
+
+    use_videos: bool = True
+
+    microphones: Dict[str, int] = field(default_factory=lambda: {}
+    )