Implement SO-100 leader calibration

lerobot/common/teleoperators/so100/teleop_so100.py

@@ -14,19 +14,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import json
 import logging
 import time
 
-import numpy as np
-
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
-from lerobot.common.motors import Motor, MotorNormMode
+from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode
-from lerobot.common.motors.calibration import find_min_max, find_offset, set_calibration
 from lerobot.common.motors.feetech import (
     FeetechMotorsBus,
+    OperatingMode,
+    TorqueMode,
 )
-from lerobot.common.motors.feetech.feetech import TorqueMode
 
 from ..teleoperator import Teleoperator
 from .configuration_so100 import SO100TeleopConfig
@@ -71,19 +68,6 @@ class SO100Teleop(Teleoperator):
     def feedback_feature(self) -> dict:
         return {}
 
-    def configure(self) -> None:
-        if not self.calibration_fpath.exists():
-            print("Calibration file not found. Running calibration.")
-            self.calibrate()
-        else:
-            print("Calibration file found. Loading calibration data.")
-            set_calibration(self.arm, self.calibration_fpath)
-
-        # We assume that at connection time, arm is in a rest position,
-        # and torque can be safely disabled to run calibration.
-        for name in self.arm.names:
-            self.arm.write("Torque_Enable", name, TorqueMode.DISABLED.value)
-
     @property
     def is_connected(self) -> bool:
         return self.arm.is_connected
@@ -96,46 +80,53 @@ class SO100Teleop(Teleoperator):
 
         logging.info("Connecting arm.")
         self.arm.connect()
+        if not self.is_calibrated:
+            self.calibrate()
+
         self.configure()
 
-        # Check arm can be read
+    def configure(self) -> None:
-        self.arm.sync_read("Present_Position")
+        # We assume that at connection time, arm is in a rest position,
-
+        # and torque can be safely disabled to run calibration.
-    def calibrate(self) -> None:
-        print(f"\nRunning calibration of {self.name} teleop")
         for name in self.arm.names:
             self.arm.write("Torque_Enable", name, TorqueMode.DISABLED.value)
 
-        offsets = find_offset(self.arm)
+    @property
-        min_max = find_min_max(self.arm)
+    def is_calibrated(self) -> bool:
+        motors_calibration = self.arm.get_calibration()
+        return motors_calibration == self.calibration
 
-        calibration = {}
+    def calibrate(self) -> None:
+        print(f"\nRunning calibration of {self.id} SO-100 teleop")
         for name in self.arm.names:
-            motor_id = self.arm.motors[name].id
+            self.arm.write("Torque_Enable", name, TorqueMode.DISABLED.value)
-            calibration[str(motor_id)] = {
+            self.arm.write("Operating_Mode", name, OperatingMode.POSITION.value)
-                "name": name,
-                "homing_offset": offsets.get(name, 0),
-                "drive_mode": 0,
-                "min": min_max[name]["min"],
-                "max": min_max[name]["max"],
-            }
 
-        with open(self.calibration_fpath, "w") as f:
+        input("Move robot to the middle of its range of motion and press ENTER....")
-            json.dump(calibration, f, indent=4)
+        homing_offsets = self.arm.set_half_turn_homings()
+
+        print(
+            "Move all joints except 'wrist_roll' (id=5) sequentially through their entire ranges of motion."
+        )
+        print("Recording positions. Press ENTER to stop...")
+        auto_range_motors = [name for name in self.arm.names if name != "wrist_roll"]
+        ranges = self.arm.register_ranges_of_motion(auto_range_motors)
+        ranges["wrist_roll"] = {"min": 0, "max": 4095}
+
+        self.calibration = {}
+        for name, motor in self.arm.motors.items():
+            self.calibration[name] = MotorCalibration(
+                id=motor.id,
+                drive_mode=0,
+                homing_offset=homing_offsets[name],
+                range_min=ranges[name]["min"],
+                range_max=ranges[name]["max"],
+            )
+
+        self._save_calibration()
         print("Calibration saved to", self.calibration_fpath)
 
-    def set_calibration(self) -> None:
+    def get_action(self) -> dict[str, float]:
-        """After calibration all motors function in human interpretable ranges.
-        Rotations are expressed in degrees in nominal range of [-180, 180],
-        and linear motions (like gripper of Aloha) in nominal range of [0, 100].
-        """
-        if not self.calibration_fpath.exists():
-            logging.error("Calibration file not found. Please run calibration first")
-            raise FileNotFoundError(self.calibration_fpath)
-
-        self.arm.set_calibration(self.calibration_fpath)
-
-    def get_action(self) -> np.ndarray:
         """The returned action does not have a batch dimension."""
         # Read arm position
         before_read_t = time.perf_counter()
@@ -144,7 +135,7 @@ class SO100Teleop(Teleoperator):
 
         return action
 
-    def send_feedback(self, feedback: np.ndarray) -> None:
+    def send_feedback(self, feedback: dict[str, float]) -> None:
         # TODO(rcadene, aliberts): Implement force feedback
         pass
 

lerobot/common/teleoperators/teleoperator.py

@@ -1,7 +1,11 @@
 import abc
+from pathlib import Path
 from typing import Any
 
+import draccus
+
 from lerobot.common.constants import HF_LEROBOT_CALIBRATION, TELEOPERATORS
+from lerobot.common.motors.motors_bus import MotorCalibration
 
 from .config import TeleoperatorConfig
 
@@ -22,6 +26,9 @@ class Teleoperator(abc.ABC):
         )
         self.calibration_dir.mkdir(parents=True, exist_ok=True)
         self.calibration_fpath = self.calibration_dir / f"{self.id}.json"
+        self.calibration: dict[str, MotorCalibration] = {}
+        if self.calibration_fpath.is_file():
+            self._load_calibration()
 
     @abc.abstractproperty
     def action_feature(self) -> dict:
@@ -40,11 +47,29 @@ class Teleoperator(abc.ABC):
         """Connects to the teleoperator."""
         pass
 
+    @abc.abstractmethod
+    def configure(self) -> None:
+        pass
+
+    @abc.abstractproperty
+    def is_calibrated(self) -> bool:
+        pass
+
     @abc.abstractmethod
     def calibrate(self) -> None:
         """Calibrates the teleoperator."""
         pass
 
+    def _load_calibration(self, fpath: Path | None = None) -> None:
+        fpath = self.calibration_fpath if fpath is None else fpath
+        with open(fpath) as f, draccus.config_type("json"):
+            self.calibration = draccus.load(dict[str, MotorCalibration], f)
+
+    def _save_calibration(self, fpath: Path | None = None) -> None:
+        fpath = self.calibration_fpath if fpath is None else fpath
+        with open(fpath, "w") as f, draccus.config_type("json"):
+            draccus.dump(self.calibration, f, indent=4)
+
     @abc.abstractmethod
     def get_action(self) -> dict[str, Any]:
         """Gets the action to send to a teleoperator."""
@@ -59,7 +84,3 @@ class Teleoperator(abc.ABC):
     def disconnect(self) -> None:
         """Disconnects from the teleoperator."""
         pass
-
-    def __del__(self):
-        if getattr(self, "is_connected", False):
-            self.disconnect()