Rename Koch classes

lerobot/common/robots/koch/__init__.py

@@ -1,4 +1,2 @@
-from .configuration_koch import KochRobotConfig
+from .config_koch_follower import KochFollowerConfig
-from .robot_koch import KochRobot
+from .koch_follower import KochFollower
-
-__all__ = ["KochRobotConfig", "KochRobot"]

lerobot/common/robots/koch/config_koch_follower.py

@@ -5,10 +5,10 @@ from lerobot.common.cameras import CameraConfig
 from ..config import RobotConfig
 
 
-@RobotConfig.register_subclass("koch")
+@RobotConfig.register_subclass("koch_follower")
 @dataclass
-class KochRobotConfig(RobotConfig):
+class KochFollowerConfig(RobotConfig):
-    # Port to connect to the robot
+    # Port to connect to the arm
     port: str
 
     disable_torque_on_disconnect: bool = True

lerobot/common/robots/koch/koch_follower.py

@@ -29,22 +29,22 @@ from lerobot.common.motors.dynamixel import (
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position
-from .configuration_koch import KochRobotConfig
+from .config_koch_follower import KochFollowerConfig
 
 logger = logging.getLogger(__name__)
 
 
-class KochRobot(Robot):
+class KochFollower(Robot):
     """
     - [Koch v1.0](https://github.com/AlexanderKoch-Koch/low_cost_robot), with and without the wrist-to-elbow
         expansion, developed by Alexander Koch from [Tau Robotics](https://tau-robotics.com)
     - [Koch v1.1](https://github.com/jess-moss/koch-v1-1) developed by Jess Moss
     """
 
-    config_class = KochRobotConfig
+    config_class = KochFollowerConfig
-    name = "koch"
+    name = "koch_follower"
 
-    def __init__(self, config: KochRobotConfig):
+    def __init__(self, config: KochFollowerConfig):
         super().__init__(config)
         self.config = config
         self.arm = DynamixelMotorsBus(
@@ -222,9 +222,7 @@ class KochRobot(Robot):
 
     def disconnect(self):
         if not self.is_connected:
-            raise DeviceNotConnectedError(
+            raise DeviceNotConnectedError(f"{self} is not connected.")
-                "ManipulatorRobot is not connected. You need to run `robot.connect()` before disconnecting."
-            )
 
         self.arm.disconnect(self.config.disable_torque_on_disconnect)
         for cam in self.cameras.values():

lerobot/common/robots/utils.py

@@ -30,10 +30,10 @@ def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
         from .aloha.configuration_aloha import AlohaRobotConfig
 
         return AlohaRobotConfig(**kwargs)
-    elif robot_type == "koch":
+    elif robot_type == "koch_follower":
-        from .koch.configuration_koch import KochRobotConfig
+        from .koch.config_koch_follower import KochFollowerConfig
 
-        return KochRobotConfig(**kwargs)
+        return KochFollowerConfig(**kwargs)
     # elif robot_type == "koch_bimanual":
     #     return KochBimanualRobotConfig(**kwargs)
     elif robot_type == "moss":

lerobot/common/teleoperators/koch/__init__.py

@@ -1,4 +1,2 @@
-from .configuration_koch import KochTeleopConfig
+from .config_koch_leader import KochLeaderConfig
-from .teleop_koch import KochTeleop
+from .koch_leader import KochLeader
-
-__all__ = ["KochTeleopConfig", "KochTeleop"]

lerobot/common/teleoperators/koch/config_koch_leader.py

@@ -19,10 +19,10 @@ from dataclasses import dataclass
 from ..config import TeleoperatorConfig
 
 
-@TeleoperatorConfig.register_subclass("koch")
+@TeleoperatorConfig.register_subclass("koch_leader")
 @dataclass
-class KochTeleopConfig(TeleoperatorConfig):
+class KochLeaderConfig(TeleoperatorConfig):
-    # Port to connect to the teloperator
+    # Port to connect to the arm
     port: str
 
     # Sets the arm in torque mode with the gripper motor set to this value. This makes it possible to squeeze

lerobot/common/teleoperators/koch/koch_leader.py

@@ -26,22 +26,22 @@ from lerobot.common.motors.dynamixel import (
 )
 
 from ..teleoperator import Teleoperator
-from .configuration_koch import KochTeleopConfig
+from .config_koch_leader import KochLeaderConfig
 
 logger = logging.getLogger(__name__)
 
 
-class KochTeleop(Teleoperator):
+class KochLeader(Teleoperator):
     """
     - [Koch v1.0](https://github.com/AlexanderKoch-Koch/low_cost_robot), with and without the wrist-to-elbow
         expansion, developed by Alexander Koch from [Tau Robotics](https://tau-robotics.com)
     - [Koch v1.1](https://github.com/jess-moss/koch-v1-1) developed by Jess Moss
     """
 
-    config_class = KochTeleopConfig
+    config_class = KochLeaderConfig
-    name = "koch"
+    name = "koch_leader"
 
-    def __init__(self, config: KochTeleopConfig):
+    def __init__(self, config: KochLeaderConfig):
         super().__init__(config)
         self.config = config
         self.arm = DynamixelMotorsBus(
@@ -147,6 +147,9 @@ class KochTeleop(Teleoperator):
         self.arm.write("Goal_Position", "gripper", self.config.gripper_open_pos)
 
     def get_action(self) -> dict[str, float]:
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
         start = time.perf_counter()
         action = self.arm.sync_read("Present_Position")
         dt_ms = (time.perf_counter() - start) * 1e3
@@ -159,9 +162,7 @@ class KochTeleop(Teleoperator):
 
     def disconnect(self) -> None:
         if not self.is_connected:
-            raise DeviceNotConnectedError(
+            raise DeviceNotConnectedError(f"{self} is not connected.")
-                "ManipulatorRobot is not connected. You need to run `robot.connect()` before disconnecting."
-            )
 
         self.arm.disconnect()
         logger.info(f"{self} disconnected.")