Merge branch 'main' into user/pepijn/2025_01_27_steps_assembly_intructions

Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>

.dockerignore

@@ -73,7 +73,7 @@ pip-log.txt
 pip-delete-this-directory.txt
 
 # Unit test / coverage reports
-!tests/data
+!tests/artifacts
 htmlcov/
 .tox/
 .nox/

.gitignore

@@ -78,7 +78,7 @@ pip-log.txt
 pip-delete-this-directory.txt
 
 # Unit test / coverage reports
-!tests/data
+!tests/artifacts
 htmlcov/
 .tox/
 .nox/

.pre-commit-config.yaml

@@ -12,10 +12,17 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-exclude: ^(tests/data)
+exclude: "tests/artifacts/.*\\.safetensors$"
 default_language_version:
     python: python3.10
 repos:
+  ##### Meta #####
+  - repo: meta
+    hooks:
+      - id: check-useless-excludes
+      - id: check-hooks-apply
+
+
   ##### Style / Misc. #####
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v5.0.0
@@ -28,31 +35,37 @@ repos:
       - id: check-toml
       - id: end-of-file-fixer
       - id: trailing-whitespace
+
   - repo: https://github.com/crate-ci/typos
-    rev: v1.30.0
+    rev: v1.30.2
     hooks:
       - id: typos
         args: [--force-exclude]
+
   - repo: https://github.com/asottile/pyupgrade
     rev: v3.19.1
     hooks:
     -   id: pyupgrade
+
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.9.9
+    rev: v0.9.10
     hooks:
       - id: ruff
         args: [--fix]
       - id: ruff-format
 
+
   ##### Security #####
   - repo: https://github.com/gitleaks/gitleaks
     rev: v8.24.0
     hooks:
       - id: gitleaks
+
   - repo: https://github.com/woodruffw/zizmor-pre-commit
     rev: v1.4.1
     hooks:
       - id: zizmor
+
   - repo: https://github.com/PyCQA/bandit
     rev: 1.8.3
     hooks:

CONTRIBUTING.md

@@ -291,7 +291,7 @@ sudo apt-get install git-lfs
 git lfs install
 ```
 
-Pull artifacts if they're not in [tests/data](tests/data)
+Pull artifacts if they're not in [tests/artifacts](tests/artifacts)
 ```bash
 git lfs pull
 ```

README.md

@@ -232,8 +232,8 @@ python lerobot/scripts/eval.py \
     --env.type=pusht \
     --eval.batch_size=10 \
     --eval.n_episodes=10 \
-    --use_amp=false \
-    --device=cuda
+    --policy.use_amp=false \
+    --policy.device=cuda
 ```
 
 Note: After training your own policy, you can re-evaluate the checkpoints with:

examples/10_use_so100.md

@@ -454,8 +454,8 @@ Next, you'll need to calibrate your SO-100 robot to ensure that the leader and f
 
 You will need to move the follower arm to these positions sequentially:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                             | 2. Rotated position                                                                                                                                                   | 3. Rest position                                                                                                                                             |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------ |
 | <img src="../media/so100/follower_zero.webp?raw=true" alt="SO-100 follower arm zero position" title="SO-100 follower arm zero position" style="width:100%;"> | <img src="../media/so100/follower_rotated.webp?raw=true" alt="SO-100 follower arm rotated position" title="SO-100 follower arm rotated position" style="width:100%;"> | <img src="../media/so100/follower_rest.webp?raw=true" alt="SO-100 follower arm rest position" title="SO-100 follower arm rest position" style="width:100%;"> |
 
 Make sure both arms are connected and run this script to launch manual calibration:
@@ -470,8 +470,8 @@ python lerobot/scripts/control_robot.py \
 #### b. Manual calibration of leader arm
 Follow step 6 of the [assembly video](https://youtu.be/FioA2oeFZ5I?t=724) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                       | 2. Rotated position                                                                                                                                             | 3. Rest position                                                                                                                                       |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
 | <img src="../media/so100/leader_zero.webp?raw=true" alt="SO-100 leader arm zero position" title="SO-100 leader arm zero position" style="width:100%;"> | <img src="../media/so100/leader_rotated.webp?raw=true" alt="SO-100 leader arm rotated position" title="SO-100 leader arm rotated position" style="width:100%;"> | <img src="../media/so100/leader_rest.webp?raw=true" alt="SO-100 leader arm rest position" title="SO-100 leader arm rest position" style="width:100%;"> |
 
 Run this script to launch manual calibration:
@@ -571,14 +571,14 @@ python lerobot/scripts/train.py \
   --policy.type=act \
   --output_dir=outputs/train/act_so100_test \
   --job_name=act_so100_test \
-  --device=cuda \
+  --policy.device=cuda \
   --wandb.enable=true
 ```
 
 Let's explain it:
 1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/so100_test`.
 2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor sates, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `device=cuda` since we are training on a Nvidia GPU, but you could use `device=mps` to train on Apple silicon.
+4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
 5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
 
 Training should take several hours. You will find checkpoints in `outputs/train/act_so100_test/checkpoints`.

examples/11_use_lekiwi.md

@@ -366,8 +366,8 @@ Now we have to calibrate the leader arm and the follower arm. The wheel motors d
 
 You will need to move the follower arm to these positions sequentially:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                                  | 2. Rotated position                                                                                                                                                        | 3. Rest position                                                                                                                                                  |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <img src="../media/lekiwi/mobile_calib_zero.webp?raw=true" alt="SO-100 follower arm zero position" title="SO-100 follower arm zero position" style="width:100%;"> | <img src="../media/lekiwi/mobile_calib_rotated.webp?raw=true" alt="SO-100 follower arm rotated position" title="SO-100 follower arm rotated position" style="width:100%;"> | <img src="../media/lekiwi/mobile_calib_rest.webp?raw=true" alt="SO-100 follower arm rest position" title="SO-100 follower arm rest position" style="width:100%;"> |
 
 Make sure the arm is connected to the Raspberry Pi and run this script (on the Raspberry Pi) to launch manual calibration:
@@ -385,8 +385,8 @@ If you have the **wired** LeKiwi version please run all commands including this
 ### Calibrate leader arm
 Then to calibrate the leader arm (which is attached to the laptop/pc). You will need to move the leader arm to these positions sequentially:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                       | 2. Rotated position                                                                                                                                             | 3. Rest position                                                                                                                                       |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
 | <img src="../media/so100/leader_zero.webp?raw=true" alt="SO-100 leader arm zero position" title="SO-100 leader arm zero position" style="width:100%;"> | <img src="../media/so100/leader_rotated.webp?raw=true" alt="SO-100 leader arm rotated position" title="SO-100 leader arm rotated position" style="width:100%;"> | <img src="../media/so100/leader_rest.webp?raw=true" alt="SO-100 leader arm rest position" title="SO-100 leader arm rest position" style="width:100%;"> |
 
 Run this script (on your laptop/pc) to launch manual calibration:
@@ -416,22 +416,22 @@ python lerobot/scripts/control_robot.py \
 
 You should see on your laptop something like this: ```[INFO] Connected to remote robot at tcp://172.17.133.91:5555 and video stream at tcp://172.17.133.91:5556.``` Now you can move the leader arm and use the keyboard (w,a,s,d) to drive forward, left, backwards, right. And use (z,x) to turn left or turn right. You can use (r,f) to increase and decrease the speed of the mobile robot. There are three speed modes, see the table below:
 | Speed Mode | Linear Speed (m/s) | Rotation Speed (deg/s) |
-|------------|-------------------|-----------------------|
-| Fast      | 0.4               | 90                    |
-| Medium    | 0.25              | 60                    |
-| Slow      | 0.1               | 30                    |
+| ---------- | ------------------ | ---------------------- |
+| Fast       | 0.4                | 90                     |
+| Medium     | 0.25               | 60                     |
+| Slow       | 0.1                | 30                     |
 
 
-| Key  | Action                         |
-|------|--------------------------------|
-| W    | Move forward                   |
-| A    | Move left                       |
-| S    | Move backward                   |
-| D    | Move right                      |
-| Z    | Turn left                       |
-| X    | Turn right                      |
-| R    | Increase speed                  |
-| F    | Decrease speed                  |
+| Key | Action         |
+| --- | -------------- |
+| W   | Move forward   |
+| A   | Move left      |
+| S   | Move backward  |
+| D   | Move right     |
+| Z   | Turn left      |
+| X   | Turn right     |
+| R   | Increase speed |
+| F   | Decrease speed |
 
 > [!TIP]
 >  If you use a different keyboard you can change the keys for each command in the [`LeKiwiRobotConfig`](../lerobot/common/robot_devices/robots/configs.py).
@@ -549,14 +549,14 @@ python lerobot/scripts/train.py \
   --policy.type=act \
   --output_dir=outputs/train/act_lekiwi_test \
   --job_name=act_lekiwi_test \
-  --device=cuda \
+  --policy.device=cuda \
   --wandb.enable=true
 ```
 
 Let's explain it:
 1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/lekiwi_test`.
 2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor sates, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `device=cuda` since we are training on a Nvidia GPU, but you could use `device=mps` to train on Apple silicon.
+4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
 5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
 
 Training should take several hours. You will find checkpoints in `outputs/train/act_lekiwi_test/checkpoints`.

examples/11_use_moss.md

@@ -176,8 +176,8 @@ Next, you'll need to calibrate your Moss v1 robot to ensure that the leader and
 
 You will need to move the follower arm to these positions sequentially:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                              | 2. Rotated position                                                                                                                                                    | 3. Rest position                                                                                                                                              |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <img src="../media/moss/follower_zero.webp?raw=true" alt="Moss v1 follower arm zero position" title="Moss v1 follower arm zero position" style="width:100%;"> | <img src="../media/moss/follower_rotated.webp?raw=true" alt="Moss v1 follower arm rotated position" title="Moss v1 follower arm rotated position" style="width:100%;"> | <img src="../media/moss/follower_rest.webp?raw=true" alt="Moss v1 follower arm rest position" title="Moss v1 follower arm rest position" style="width:100%;"> |
 
 Make sure both arms are connected and run this script to launch manual calibration:
@@ -192,8 +192,8 @@ python lerobot/scripts/control_robot.py \
 **Manual calibration of leader arm**
 Follow step 6 of the [assembly video](https://www.youtube.com/watch?v=DA91NJOtMic) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                        | 2. Rotated position                                                                                                                                              | 3. Rest position                                                                                                                                        |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <img src="../media/moss/leader_zero.webp?raw=true" alt="Moss v1 leader arm zero position" title="Moss v1 leader arm zero position" style="width:100%;"> | <img src="../media/moss/leader_rotated.webp?raw=true" alt="Moss v1 leader arm rotated position" title="Moss v1 leader arm rotated position" style="width:100%;"> | <img src="../media/moss/leader_rest.webp?raw=true" alt="Moss v1 leader arm rest position" title="Moss v1 leader arm rest position" style="width:100%;"> |
 
 Run this script to launch manual calibration:
@@ -293,14 +293,14 @@ python lerobot/scripts/train.py \
   --policy.type=act \
   --output_dir=outputs/train/act_moss_test \
   --job_name=act_moss_test \
-  --device=cuda \
+  --policy.device=cuda \
   --wandb.enable=true
 ```
 
 Let's explain it:
 1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/moss_test`.
 2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor sates, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `device=cuda` since we are training on a Nvidia GPU, but you could use `device=mps` to train on Apple silicon.
+4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
 5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
 
 Training should take several hours. You will find checkpoints in `outputs/train/act_moss_test/checkpoints`.

examples/4_train_policy_with_script.md

@@ -1,5 +1,5 @@
 This tutorial will explain the training script, how to use it, and particularly how to configure everything needed for the training run.
-> **Note:** The following assume you're running these commands on a machine equipped with a cuda GPU. If you don't have one (or if you're using a Mac), you can add `--device=cpu` (`--device=mps` respectively). However, be advised that the code executes much slower on cpu.
+> **Note:** The following assume you're running these commands on a machine equipped with a cuda GPU. If you don't have one (or if you're using a Mac), you can add `--policy.device=cpu` (`--policy.device=mps` respectively). However, be advised that the code executes much slower on cpu.
 
 
 ## The training script

examples/7_get_started_with_real_robot.md

@@ -386,14 +386,14 @@ When you connect your robot for the first time, the [`ManipulatorRobot`](../lero
 
 Here are the positions you'll move the follower arm to:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                                  | 2. Rotated position                                                                                                                                                        | 3. Rest position                                                                                                                                                  |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <img src="../media/koch/follower_zero.webp?raw=true" alt="Koch v1.1 follower arm zero position" title="Koch v1.1 follower arm zero position" style="width:100%;"> | <img src="../media/koch/follower_rotated.webp?raw=true" alt="Koch v1.1 follower arm rotated position" title="Koch v1.1 follower arm rotated position" style="width:100%;"> | <img src="../media/koch/follower_rest.webp?raw=true" alt="Koch v1.1 follower arm rest position" title="Koch v1.1 follower arm rest position" style="width:100%;"> |
 
 And here are the corresponding positions for the leader arm:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                            | 2. Rotated position                                                                                                                                                  | 3. Rest position                                                                                                                                            |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <img src="../media/koch/leader_zero.webp?raw=true" alt="Koch v1.1 leader arm zero position" title="Koch v1.1 leader arm zero position" style="width:100%;"> | <img src="../media/koch/leader_rotated.webp?raw=true" alt="Koch v1.1 leader arm rotated position" title="Koch v1.1 leader arm rotated position" style="width:100%;"> | <img src="../media/koch/leader_rest.webp?raw=true" alt="Koch v1.1 leader arm rest position" title="Koch v1.1 leader arm rest position" style="width:100%;"> |
 
 You can watch a [video tutorial of the calibration procedure](https://youtu.be/8drnU9uRY24) for more details.
@@ -898,14 +898,14 @@ python lerobot/scripts/train.py \
   --policy.type=act \
   --output_dir=outputs/train/act_koch_test \
   --job_name=act_koch_test \
-  --device=cuda \
+  --policy.device=cuda \
   --wandb.enable=true
 ```
 
 Let's explain it:
 1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/koch_test`.
 2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor sates, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `device=cuda` since we are training on a Nvidia GPU, but you could use `device=mps` to train on Apple silicon.
+4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
 5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
 
 For more information on the `train` script see the previous tutorial: [`examples/4_train_policy_with_script.md`](../examples/4_train_policy_with_script.md)

examples/9_use_aloha.md

@@ -135,14 +135,14 @@ python lerobot/scripts/train.py \
   --policy.type=act \
   --output_dir=outputs/train/act_aloha_test \
   --job_name=act_aloha_test \
-  --device=cuda \
+  --policy.device=cuda \
   --wandb.enable=true
 ```
 
 Let's explain it:
 1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/aloha_test`.
 2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor sates, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `device=cuda` since we are training on a Nvidia GPU, but you could use `device=mps` to train on Apple silicon.
+4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
 5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
 
 For more information on the `train` script see the previous tutorial: [`examples/4_train_policy_with_script.md`](../examples/4_train_policy_with_script.md)

lerobot/common/robot_devices/cameras/intelrealsense.py

@@ -48,7 +48,7 @@ def find_cameras(raise_when_empty=True, mock=False) -> list[dict]:
     connected to the computer.
     """
     if mock:
-        import tests.mock_pyrealsense2 as rs
+        import tests.cameras.mock_pyrealsense2 as rs
     else:
         import pyrealsense2 as rs
 
@@ -100,7 +100,7 @@ def save_images_from_cameras(
         serial_numbers = [cam["serial_number"] for cam in camera_infos]
 
     if mock:
-        import tests.mock_cv2 as cv2
+        import tests.cameras.mock_cv2 as cv2
     else:
         import cv2
 
@@ -114,7 +114,7 @@ def save_images_from_cameras(
         camera = IntelRealSenseCamera(config)
         camera.connect()
         print(
-            f"IntelRealSenseCamera({camera.serial_number}, fps={camera.fps}, width={camera.width}, height={camera.height}, color_mode={camera.color_mode})"
+            f"IntelRealSenseCamera({camera.serial_number}, fps={camera.fps}, width={camera.capture_width}, height={camera.capture_height}, color_mode={camera.color_mode})"
         )
         cameras.append(camera)
 
@@ -224,9 +224,20 @@ class IntelRealSenseCamera:
             self.serial_number = self.find_serial_number_from_name(config.name)
         else:
             self.serial_number = config.serial_number
+
+        # Store the raw (capture) resolution from the config.
+        self.capture_width = config.width
+        self.capture_height = config.height
+
+        # If rotated by ±90, swap width and height.
+        if config.rotation in [-90, 90]:
+            self.width = config.height
+            self.height = config.width
+        else:
+            self.width = config.width
+            self.height = config.height
+
         self.fps = config.fps
-        self.width = config.width
-        self.height = config.height
         self.channels = config.channels
         self.color_mode = config.color_mode
         self.use_depth = config.use_depth
@@ -242,11 +253,10 @@ class IntelRealSenseCamera:
         self.logs = {}
 
         if self.mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 
-        # TODO(alibets): Do we keep original width/height or do we define them after rotation?
         self.rotation = None
         if config.rotation == -90:
             self.rotation = cv2.ROTATE_90_COUNTERCLOCKWISE
@@ -277,22 +287,26 @@ class IntelRealSenseCamera:
             )
 
         if self.mock:
-            import tests.mock_pyrealsense2 as rs
+            import tests.cameras.mock_pyrealsense2 as rs
         else:
             import pyrealsense2 as rs
 
         config = rs.config()
         config.enable_device(str(self.serial_number))
 
-        if self.fps and self.width and self.height:
+        if self.fps and self.capture_width and self.capture_height:
             # TODO(rcadene): can we set rgb8 directly?
-            config.enable_stream(rs.stream.color, self.width, self.height, rs.format.rgb8, self.fps)
+            config.enable_stream(
+                rs.stream.color, self.capture_width, self.capture_height, rs.format.rgb8, self.fps
+            )
         else:
             config.enable_stream(rs.stream.color)
 
         if self.use_depth:
-            if self.fps and self.width and self.height:
-                config.enable_stream(rs.stream.depth, self.width, self.height, rs.format.z16, self.fps)
+            if self.fps and self.capture_width and self.capture_height:
+                config.enable_stream(
+                    rs.stream.depth, self.capture_width, self.capture_height, rs.format.z16, self.fps
+                )
             else:
                 config.enable_stream(rs.stream.depth)
 
@@ -330,18 +344,18 @@ class IntelRealSenseCamera:
             raise OSError(
                 f"Can't set {self.fps=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_fps}."
             )
-        if self.width is not None and self.width != actual_width:
+        if self.capture_width is not None and self.capture_width != actual_width:
             raise OSError(
-                f"Can't set {self.width=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_width}."
+                f"Can't set {self.capture_width=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_width}."
             )
-        if self.height is not None and self.height != actual_height:
+        if self.capture_height is not None and self.capture_height != actual_height:
             raise OSError(
-                f"Can't set {self.height=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_height}."
+                f"Can't set {self.capture_height=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_height}."
             )
 
         self.fps = round(actual_fps)
-        self.width = round(actual_width)
-        self.height = round(actual_height)
+        self.capture_width = round(actual_width)
+        self.capture_height = round(actual_height)
 
         self.is_connected = True
 
@@ -361,7 +375,7 @@ class IntelRealSenseCamera:
             )
 
         if self.mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 
@@ -387,7 +401,7 @@ class IntelRealSenseCamera:
             color_image = cv2.cvtColor(color_image, cv2.COLOR_RGB2BGR)
 
         h, w, _ = color_image.shape
-        if h != self.height or w != self.width:
+        if h != self.capture_height or w != self.capture_width:
             raise OSError(
                 f"Can't capture color image with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead."
             )
@@ -409,7 +423,7 @@ class IntelRealSenseCamera:
             depth_map = np.asanyarray(depth_frame.get_data())
 
             h, w = depth_map.shape
-            if h != self.height or w != self.width:
+            if h != self.capture_height or w != self.capture_width:
                 raise OSError(
                     f"Can't capture depth map with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead."
                 )

lerobot/common/robot_devices/cameras/opencv.py

@@ -80,7 +80,7 @@ def _find_cameras(
     possible_camera_ids: list[int | str], raise_when_empty=False, mock=False
 ) -> list[int | str]:
     if mock:
-        import tests.mock_cv2 as cv2
+        import tests.cameras.mock_cv2 as cv2
     else:
         import cv2
 
@@ -144,8 +144,8 @@ def save_images_from_cameras(
         camera = OpenCVCamera(config)
         camera.connect()
         print(
-            f"OpenCVCamera({camera.camera_index}, fps={camera.fps}, width={camera.width}, "
-            f"height={camera.height}, color_mode={camera.color_mode})"
+            f"OpenCVCamera({camera.camera_index}, fps={camera.fps}, width={camera.capture_width}, "
+            f"height={camera.capture_height}, color_mode={camera.color_mode})"
         )
         cameras.append(camera)
 
@@ -244,9 +244,19 @@ class OpenCVCamera:
             else:
                 raise ValueError(f"Please check the provided camera_index: {self.camera_index}")
 
+        # Store the raw (capture) resolution from the config.
+        self.capture_width = config.width
+        self.capture_height = config.height
+
+        # If rotated by ±90, swap width and height.
+        if config.rotation in [-90, 90]:
+            self.width = config.height
+            self.height = config.width
+        else:
+            self.width = config.width
+            self.height = config.height
+
         self.fps = config.fps
-        self.width = config.width
-        self.height = config.height
         self.channels = config.channels
         self.color_mode = config.color_mode
         self.mock = config.mock
@@ -259,11 +269,10 @@ class OpenCVCamera:
         self.logs = {}
 
         if self.mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 
-        # TODO(aliberts): Do we keep original width/height or do we define them after rotation?
         self.rotation = None
         if config.rotation == -90:
             self.rotation = cv2.ROTATE_90_COUNTERCLOCKWISE
@@ -277,7 +286,7 @@ class OpenCVCamera:
             raise RobotDeviceAlreadyConnectedError(f"OpenCVCamera({self.camera_index}) is already connected.")
 
         if self.mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 
@@ -325,10 +334,10 @@ class OpenCVCamera:
 
         if self.fps is not None:
             self.camera.set(cv2.CAP_PROP_FPS, self.fps)
-        if self.width is not None:
-            self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.width)
-        if self.height is not None:
-            self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height)
+        if self.capture_width is not None:
+            self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.capture_width)
+        if self.capture_height is not None:
+            self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.capture_height)
 
         actual_fps = self.camera.get(cv2.CAP_PROP_FPS)
         actual_width = self.camera.get(cv2.CAP_PROP_FRAME_WIDTH)
@@ -340,19 +349,22 @@ class OpenCVCamera:
             raise OSError(
                 f"Can't set {self.fps=} for OpenCVCamera({self.camera_index}). Actual value is {actual_fps}."
             )
-        if self.width is not None and not math.isclose(self.width, actual_width, rel_tol=1e-3):
+        if self.capture_width is not None and not math.isclose(
+            self.capture_width, actual_width, rel_tol=1e-3
+        ):
             raise OSError(
-                f"Can't set {self.width=} for OpenCVCamera({self.camera_index}). Actual value is {actual_width}."
+                f"Can't set {self.capture_width=} for OpenCVCamera({self.camera_index}). Actual value is {actual_width}."
             )
-        if self.height is not None and not math.isclose(self.height, actual_height, rel_tol=1e-3):
+        if self.capture_height is not None and not math.isclose(
+            self.capture_height, actual_height, rel_tol=1e-3
+        ):
             raise OSError(
-                f"Can't set {self.height=} for OpenCVCamera({self.camera_index}). Actual value is {actual_height}."
+                f"Can't set {self.capture_height=} for OpenCVCamera({self.camera_index}). Actual value is {actual_height}."
             )
 
         self.fps = round(actual_fps)
-        self.width = round(actual_width)
-        self.height = round(actual_height)
-
+        self.capture_width = round(actual_width)
+        self.capture_height = round(actual_height)
         self.is_connected = True
 
     def read(self, temporary_color_mode: str | None = None) -> np.ndarray:
@@ -386,14 +398,14 @@ class OpenCVCamera:
         # so we convert the image color from BGR to RGB.
         if requested_color_mode == "rgb":
             if self.mock:
-                import tests.mock_cv2 as cv2
+                import tests.cameras.mock_cv2 as cv2
             else:
                 import cv2
 
             color_image = cv2.cvtColor(color_image, cv2.COLOR_BGR2RGB)
 
         h, w, _ = color_image.shape
-        if h != self.height or w != self.width:
+        if h != self.capture_height or w != self.capture_width:
             raise OSError(
                 f"Can't capture color image with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead."
             )

lerobot/common/robot_devices/motors/dynamixel.py

@@ -332,7 +332,7 @@ class DynamixelMotorsBus:
             )
 
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -356,7 +356,7 @@ class DynamixelMotorsBus:
 
     def reconnect(self):
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -646,7 +646,7 @@ class DynamixelMotorsBus:
 
     def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -691,7 +691,7 @@ class DynamixelMotorsBus:
         start_time = time.perf_counter()
 
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -757,7 +757,7 @@ class DynamixelMotorsBus:
 
     def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY):
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -793,7 +793,7 @@ class DynamixelMotorsBus:
         start_time = time.perf_counter()
 
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 

lerobot/common/robot_devices/motors/feetech.py

@@ -13,8 +13,6 @@
 # limitations under the License.
 
 import enum
-import logging
-import math
 import time
 import traceback
 from copy import deepcopy
@@ -32,13 +30,6 @@ TIMEOUT_MS = 1000
 
 MAX_ID_RANGE = 252
 
-# The following bounds define the lower and upper joints range (after calibration).
-# For joints in degree (i.e. revolute joints), their nominal range is [-180, 180] degrees
-# which corresponds to a half rotation on the left and half rotation on the right.
-# Some joints might require higher range, so we allow up to [-270, 270] degrees until
-# an error is raised.
-LOWER_BOUND_DEGREE = -270
-UPPER_BOUND_DEGREE = 270
 # For joints in percentage (i.e. joints that move linearly like the prismatic joint of a gripper),
 # their nominal range is [0, 100] %. For instance, for Aloha gripper, 0% is fully
 # closed, and 100% is fully open. To account for slight calibration issue, we allow up to
@@ -48,7 +39,6 @@ UPPER_BOUND_LINEAR = 110
 
 HALF_TURN_DEGREE = 180
 
-
 # See this link for STS3215 Memory Table:
 # https://docs.google.com/spreadsheets/d/1GVs7W1VS1PqdhA1nW-abeyAHhTUxKUdR/edit?usp=sharing&ouid=116566590112741600240&rtpof=true&sd=true
 # data_name: (address, size_byte)
@@ -114,8 +104,6 @@ SCS_SERIES_BAUDRATE_TABLE = {
 }
 
 CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]
-CONVERT_UINT32_TO_INT32_REQUIRED = ["Goal_Position", "Present_Position"]
-
 
 MODEL_CONTROL_TABLE = {
     "scs_series": SCS_SERIES_CONTROL_TABLE,
@@ -137,15 +125,63 @@ NUM_READ_RETRY = 20
 NUM_WRITE_RETRY = 20
 
 
-def convert_degrees_to_steps(degrees: float | np.ndarray, models: str | list[str]) -> np.ndarray:
-    """This function converts the degree range to the step range for indicating motors rotation.
-    It assumes a motor achieves a full rotation by going from -180 degree position to +180.
-    The motor resolution (e.g. 4096) corresponds to the number of steps needed to achieve a full rotation.
+def convert_ticks_to_degrees(ticks, model):
+    resolutions = MODEL_RESOLUTION[model]
+    # Convert the ticks to degrees
+    return ticks * (360.0 / resolutions)
+
+
+def convert_degrees_to_ticks(degrees, model):
+    resolutions = MODEL_RESOLUTION[model]
+    # Convert degrees to motor ticks
+    return int(degrees * (resolutions / 360.0))
+
+
+def adjusted_to_homing_ticks(raw_motor_ticks: int, model: str, motorbus, motor_id: int) -> int:
     """
-    resolutions = [MODEL_RESOLUTION[model] for model in models]
-    steps = degrees / 180 * np.array(resolutions) / 2
-    steps = steps.astype(int)
-    return steps
+    Takes a raw reading [0..(res-1)] (e.g. 0..4095) and shifts it so that '2048'
+    becomes 0 in the homed coordinate system ([-2048..+2047] for 4096 resolution).
+    """
+    resolutions = MODEL_RESOLUTION[model]
+
+    # Shift raw ticks by half-resolution so 2048 -> 0, then wrap [0..res-1].
+    ticks = (raw_motor_ticks - (resolutions // 2)) % resolutions
+
+    # If above halfway, fold it into negative territory => [-2048..+2047].
+    if ticks > (resolutions // 2):
+        ticks -= resolutions
+
+    # Flip sign if drive_mode is set.
+    drive_mode = 0
+    if motorbus.calibration is not None:
+        drive_mode = motorbus.calibration["drive_mode"][motor_id - 1]
+
+    if drive_mode:
+        ticks *= -1
+
+    return ticks
+
+
+def adjusted_to_motor_ticks(adjusted_pos: int, model: str, motorbus, motor_id: int) -> int:
+    """
+    Inverse of adjusted_to_homing_ticks(). Takes a 'homed' position in [-2048..+2047]
+    and recovers the raw [0..(res-1)] ticks with 2048 as midpoint.
+    """
+    # Flip sign if drive_mode was set.
+    drive_mode = 0
+    if motorbus.calibration is not None:
+        drive_mode = motorbus.calibration["drive_mode"][motor_id - 1]
+
+    if drive_mode:
+        adjusted_pos *= -1
+
+    resolutions = MODEL_RESOLUTION[model]
+
+    # Shift by +half-resolution and wrap into [0..res-1].
+    # This undoes the earlier shift by -half-resolution.
+    ticks = (adjusted_pos + (resolutions // 2)) % resolutions
+
+    return ticks
 
 
 def convert_to_bytes(value, bytes, mock=False):
@@ -304,8 +340,6 @@ class FeetechMotorsBus:
         self.group_writers = {}
         self.logs = {}
 
-        self.track_positions = {}
-
     def connect(self):
         if self.is_connected:
             raise RobotDeviceAlreadyConnectedError(
@@ -313,7 +347,7 @@ class FeetechMotorsBus:
             )
 
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -337,7 +371,7 @@ class FeetechMotorsBus:
 
     def reconnect(self):
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -402,33 +436,7 @@ class FeetechMotorsBus:
     def set_calibration(self, calibration: dict[str, list]):
         self.calibration = calibration
 
-    def apply_calibration_autocorrect(self, values: np.ndarray | list, motor_names: list[str] | None):
-        """This function apply the calibration, automatically detects out of range errors for motors values and attempt to correct.
-
-        For more info, see docstring of `apply_calibration` and `autocorrect_calibration`.
-        """
-        try:
-            values = self.apply_calibration(values, motor_names)
-        except JointOutOfRangeError as e:
-            print(e)
-            self.autocorrect_calibration(values, motor_names)
-            values = self.apply_calibration(values, motor_names)
-        return values
-
     def apply_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
-        """Convert from unsigned int32 joint position range [0, 2**32[ to the universal float32 nominal degree range ]-180.0, 180.0[ with
-        a "zero position" at 0 degree.
-
-        Note: We say "nominal degree range" since the motors can take values outside this range. For instance, 190 degrees, if the motor
-        rotate more than a half a turn from the zero position. However, most motors can't rotate more than 180 degrees and will stay in this range.
-
-        Joints values are original in [0, 2**32[ (unsigned int32). Each motor are expected to complete a full rotation
-        when given a goal position that is + or - their resolution. For instance, feetech xl330-m077 have a resolution of 4096, and
-        at any position in their original range, let's say the position 56734, they complete a full rotation clockwise by moving to 60830,
-        or anticlockwise by moving to 52638. The position in the original range is arbitrary and might change a lot between each motor.
-        To harmonize between motors of the same model, different robots, or even models of different brands, we propose to work
-        in the centered nominal degree range ]-180, 180[.
-        """
         if motor_names is None:
             motor_names = self.motor_names
 
@@ -440,34 +448,11 @@ class FeetechMotorsBus:
             calib_mode = self.calibration["calib_mode"][calib_idx]
 
             if CalibrationMode[calib_mode] == CalibrationMode.DEGREE:
-                drive_mode = self.calibration["drive_mode"][calib_idx]
-                homing_offset = self.calibration["homing_offset"][calib_idx]
-                _, model = self.motors[name]
-                resolution = self.model_resolution[model]
+                motor_idx, model = self.motors[name]
 
-                # Update direction of rotation of the motor to match between leader and follower.
-                # In fact, the motor of the leader for a given joint can be assembled in an
-                # opposite direction in term of rotation than the motor of the follower on the same joint.
-                if drive_mode:
-                    values[i] *= -1
-
-                # Convert from range [-2**31, 2**31[ to
-                # nominal range ]-resolution, resolution[ (e.g. ]-2048, 2048[)
-                values[i] += homing_offset
-
-                # Convert from range ]-resolution, resolution[ to
-                # universal float32 centered degree range ]-180, 180[
-                values[i] = values[i] / (resolution // 2) * HALF_TURN_DEGREE
-
-                if (values[i] < LOWER_BOUND_DEGREE) or (values[i] > UPPER_BOUND_DEGREE):
-                    raise JointOutOfRangeError(
-                        f"Wrong motor position range detected for {name}. "
-                        f"Expected to be in nominal range of [-{HALF_TURN_DEGREE}, {HALF_TURN_DEGREE}] degrees (a full rotation), "
-                        f"with a maximum range of [{LOWER_BOUND_DEGREE}, {UPPER_BOUND_DEGREE}] degrees to account for joints that can rotate a bit more, "
-                        f"but present value is {values[i]} degree. "
-                        "This might be due to a cable connection issue creating an artificial 360 degrees jump in motor values. "
-                        "You need to recalibrate by running: `python lerobot/scripts/control_robot.py calibrate`"
-                    )
+                # Convert raw motor ticks to homed ticks, then convert the homed ticks to degrees
+                values[i] = adjusted_to_homing_ticks(values[i], model, self, motor_idx)
+                values[i] = convert_ticks_to_degrees(values[i], model)
 
             elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
                 start_pos = self.calibration["start_pos"][calib_idx]
@@ -489,103 +474,6 @@ class FeetechMotorsBus:
 
         return values
 
-    def autocorrect_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
-        """This function automatically detects issues with values of motors after calibration, and correct for these issues.
-
-        Some motors might have values outside of expected maximum bounds after calibration.
-        For instance, for a joint in degree, its value can be outside [-270, 270] degrees, which is totally unexpected given
-        a nominal range of [-180, 180] degrees, which represents half a turn to the left or right starting from zero position.
-
-        Known issues:
-        #1: Motor value randomly shifts of a full turn, caused by hardware/connection errors.
-        #2: Motor internal homing offset is shifted of a full turn, caused by using default calibration (e.g Aloha).
-        #3: motor internal homing offset is shifted of less or more than a full turn, caused by using default calibration
-            or by human error during manual calibration.
-
-        Issues #1 and #2 can be solved by shifting the calibration homing offset by a full turn.
-        Issue #3 will be visually detected by user and potentially captured by the safety feature `max_relative_target`,
-        that will slow down the motor, raise an error asking to recalibrate. Manual recalibrating will solve the issue.
-
-        Note: A full turn corresponds to 360 degrees but also to 4096 steps for a motor resolution of 4096.
-        """
-        if motor_names is None:
-            motor_names = self.motor_names
-
-        # Convert from unsigned int32 original range [0, 2**32] to signed float32 range
-        values = values.astype(np.float32)
-
-        for i, name in enumerate(motor_names):
-            calib_idx = self.calibration["motor_names"].index(name)
-            calib_mode = self.calibration["calib_mode"][calib_idx]
-
-            if CalibrationMode[calib_mode] == CalibrationMode.DEGREE:
-                drive_mode = self.calibration["drive_mode"][calib_idx]
-                homing_offset = self.calibration["homing_offset"][calib_idx]
-                _, model = self.motors[name]
-                resolution = self.model_resolution[model]
-
-                if drive_mode:
-                    values[i] *= -1
-
-                # Convert from initial range to range [-180, 180] degrees
-                calib_val = (values[i] + homing_offset) / (resolution // 2) * HALF_TURN_DEGREE
-                in_range = (calib_val > LOWER_BOUND_DEGREE) and (calib_val < UPPER_BOUND_DEGREE)
-
-                # Solve this inequality to find the factor to shift the range into [-180, 180] degrees
-                # values[i] = (values[i] + homing_offset + resolution * factor) / (resolution // 2) * HALF_TURN_DEGREE
-                # - HALF_TURN_DEGREE <= (values[i] + homing_offset + resolution * factor) / (resolution // 2) * HALF_TURN_DEGREE <= HALF_TURN_DEGREE
-                # (- HALF_TURN_DEGREE / HALF_TURN_DEGREE * (resolution // 2) - values[i] - homing_offset) / resolution <= factor <= (HALF_TURN_DEGREE / 180 * (resolution // 2) - values[i] - homing_offset) / resolution
-                low_factor = (
-                    -HALF_TURN_DEGREE / HALF_TURN_DEGREE * (resolution // 2) - values[i] - homing_offset
-                ) / resolution
-                upp_factor = (
-                    HALF_TURN_DEGREE / HALF_TURN_DEGREE * (resolution // 2) - values[i] - homing_offset
-                ) / resolution
-
-            elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
-                start_pos = self.calibration["start_pos"][calib_idx]
-                end_pos = self.calibration["end_pos"][calib_idx]
-
-                # Convert from initial range to range [0, 100] in %
-                calib_val = (values[i] - start_pos) / (end_pos - start_pos) * 100
-                in_range = (calib_val > LOWER_BOUND_LINEAR) and (calib_val < UPPER_BOUND_LINEAR)
-
-                # Solve this inequality to find the factor to shift the range into [0, 100] %
-                # values[i] = (values[i] - start_pos + resolution * factor) / (end_pos + resolution * factor - start_pos - resolution * factor) * 100
-                # values[i] = (values[i] - start_pos + resolution * factor) / (end_pos - start_pos) * 100
-                # 0 <= (values[i] - start_pos + resolution * factor) / (end_pos - start_pos) * 100 <= 100
-                # (start_pos - values[i]) / resolution <= factor <= (end_pos - values[i]) / resolution
-                low_factor = (start_pos - values[i]) / resolution
-                upp_factor = (end_pos - values[i]) / resolution
-
-            if not in_range:
-                # Get first integer between the two bounds
-                if low_factor < upp_factor:
-                    factor = math.ceil(low_factor)
-
-                    if factor > upp_factor:
-                        raise ValueError(f"No integer found between bounds [{low_factor=}, {upp_factor=}]")
-                else:
-                    factor = math.ceil(upp_factor)
-
-                    if factor > low_factor:
-                        raise ValueError(f"No integer found between bounds [{low_factor=}, {upp_factor=}]")
-
-                if CalibrationMode[calib_mode] == CalibrationMode.DEGREE:
-                    out_of_range_str = f"{LOWER_BOUND_DEGREE} < {calib_val} < {UPPER_BOUND_DEGREE} degrees"
-                    in_range_str = f"{LOWER_BOUND_DEGREE} < {calib_val} < {UPPER_BOUND_DEGREE} degrees"
-                elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
-                    out_of_range_str = f"{LOWER_BOUND_LINEAR} < {calib_val} < {UPPER_BOUND_LINEAR} %"
-                    in_range_str = f"{LOWER_BOUND_LINEAR} < {calib_val} < {UPPER_BOUND_LINEAR} %"
-
-                logging.warning(
-                    f"Auto-correct calibration of motor '{name}' by shifting value by {abs(factor)} full turns, "
-                    f"from '{out_of_range_str}' to '{in_range_str}'."
-                )
-
-                # A full turn corresponds to 360 degrees but also to 4096 steps for a motor resolution of 4096.
-                self.calibration["homing_offset"][calib_idx] += resolution * factor
-
     def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
         """Inverse of `apply_calibration`."""
         if motor_names is None:
@@ -596,23 +484,11 @@ class FeetechMotorsBus:
             calib_mode = self.calibration["calib_mode"][calib_idx]
 
             if CalibrationMode[calib_mode] == CalibrationMode.DEGREE:
-                drive_mode = self.calibration["drive_mode"][calib_idx]
-                homing_offset = self.calibration["homing_offset"][calib_idx]
-                _, model = self.motors[name]
-                resolution = self.model_resolution[model]
+                motor_idx, model = self.motors[name]
 
-                # Convert from nominal 0-centered degree range [-180, 180] to
-                # 0-centered resolution range (e.g. [-2048, 2048] for resolution=4096)
-                values[i] = values[i] / HALF_TURN_DEGREE * (resolution // 2)
-
-                # Subtract the homing offsets to come back to actual motor range of values
-                # which can be arbitrary.
-                values[i] -= homing_offset
-
-                # Remove drive mode, which is the rotation direction of the motor, to come back to
-                # actual motor rotation direction which can be arbitrary.
-                if drive_mode:
-                    values[i] *= -1
+                # Convert degrees to homed ticks, then convert the homed ticks to raw ticks
+                values[i] = convert_degrees_to_ticks(values[i], model)
+                values[i] = adjusted_to_motor_ticks(values[i], model, self, motor_idx)
 
             elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
                 start_pos = self.calibration["start_pos"][calib_idx]
@@ -625,46 +501,9 @@ class FeetechMotorsBus:
         values = np.round(values).astype(np.int32)
         return values
 
-    def avoid_rotation_reset(self, values, motor_names, data_name):
-        if data_name not in self.track_positions:
-            self.track_positions[data_name] = {
-                "prev": [None] * len(self.motor_names),
-                # Assume False at initialization
-                "below_zero": [False] * len(self.motor_names),
-                "above_max": [False] * len(self.motor_names),
-            }
-
-        track = self.track_positions[data_name]
-
-        if motor_names is None:
-            motor_names = self.motor_names
-
-        for i, name in enumerate(motor_names):
-            idx = self.motor_names.index(name)
-
-            if track["prev"][idx] is None:
-                track["prev"][idx] = values[i]
-                continue
-
-            # Detect a full rotation occurred
-            if abs(track["prev"][idx] - values[i]) > 2048:
-                # Position went below 0 and got reset to 4095
-                if track["prev"][idx] < values[i]:
-                    # So we set negative value by adding a full rotation
-                    values[i] -= 4096
-
-                # Position went above 4095 and got reset to 0
-                elif track["prev"][idx] > values[i]:
-                    # So we add a full rotation
-                    values[i] += 4096
-
-            track["prev"][idx] = values[i]
-
-        return values
-
     def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -702,7 +541,7 @@ class FeetechMotorsBus:
 
     def read(self, data_name, motor_names: str | list[str] | None = None):
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -735,7 +574,7 @@ class FeetechMotorsBus:
             self.port_handler.ser.reset_output_buffer()
             self.port_handler.ser.reset_input_buffer()
 
-            # create new group reader
+            # Create new group reader
             self.group_readers[group_key] = scs.GroupSyncRead(
                 self.port_handler, self.packet_handler, addr, bytes
             )
@@ -760,15 +599,8 @@ class FeetechMotorsBus:
 
         values = np.array(values)
 
-        # Convert to signed int to use range [-2048, 2048] for our motor positions.
-        if data_name in CONVERT_UINT32_TO_INT32_REQUIRED:
-            values = values.astype(np.int32)
-
-        if data_name in CALIBRATION_REQUIRED:
-            values = self.avoid_rotation_reset(values, motor_names, data_name)
-
         if data_name in CALIBRATION_REQUIRED and self.calibration is not None:
-            values = self.apply_calibration_autocorrect(values, motor_names)
+            values = self.apply_calibration(values, motor_names)
 
         # log the number of seconds it took to read the data from the motors
         delta_ts_name = get_log_name("delta_timestamp_s", "read", data_name, motor_names)
@@ -782,7 +614,7 @@ class FeetechMotorsBus:
 
     def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY):
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -818,7 +650,7 @@ class FeetechMotorsBus:
         start_time = time.perf_counter()
 
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 

lerobot/common/robot_devices/robots/feetech_calibration.py

@@ -11,18 +11,11 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-
-"""Logic to calibrate a robot arm built with feetech motors"""
-# TODO(rcadene, aliberts): move this logic into the robot code when refactoring
-
-import time
-
 import numpy as np
 
 from lerobot.common.robot_devices.motors.feetech import (
     CalibrationMode,
     TorqueMode,
-    convert_degrees_to_steps,
 )
 from lerobot.common.robot_devices.motors.utils import MotorsBus
 
@@ -30,469 +23,164 @@ URL_TEMPLATE = (
     "https://raw.githubusercontent.com/huggingface/lerobot/main/media/{robot}/{arm}_{position}.webp"
 )
 
-# The following positions are provided in nominal degree range ]-180, +180[
-# For more info on these constants, see comments in the code where they get used.
-ZERO_POSITION_DEGREE = 0
-ROTATED_POSITION_DEGREE = 90
 
-
-def assert_drive_mode(drive_mode):
-    # `drive_mode` is in [0,1] with 0 means original rotation direction for the motor, and 1 means inverted.
-    if not np.all(np.isin(drive_mode, [0, 1])):
-        raise ValueError(f"`drive_mode` contains values other than 0 or 1: ({drive_mode})")
-
-
-def apply_drive_mode(position, drive_mode):
-    assert_drive_mode(drive_mode)
-    # Convert `drive_mode` from [0, 1] with 0 indicates original rotation direction and 1 inverted,
-    # to [-1, 1] with 1 indicates original rotation direction and -1 inverted.
-    signed_drive_mode = -(drive_mode * 2 - 1)
-    position *= signed_drive_mode
-    return position
-
-
-def move_until_block(arm, motor_name, positive_direction=True, while_move_hook=None):
-    count = 0
-    while True:
-        present_pos = arm.read("Present_Position", motor_name)
-        if positive_direction:
-            # Move +100 steps every time. Lower the steps to lower the speed at which the arm moves.
-            arm.write("Goal_Position", present_pos + 100, motor_name)
-        else:
-            arm.write("Goal_Position", present_pos - 100, motor_name)
-
-        if while_move_hook is not None:
-            while_move_hook()
-
-        present_pos = arm.read("Present_Position", motor_name).item()
-        present_speed = arm.read("Present_Speed", motor_name).item()
-        present_current = arm.read("Present_Current", motor_name).item()
-        # present_load = arm.read("Present_Load", motor_name).item()
-        # present_voltage = arm.read("Present_Voltage", motor_name).item()
-        # present_temperature = arm.read("Present_Temperature", motor_name).item()
-
-        # print(f"{present_pos=}")
-        # print(f"{present_speed=}")
-        # print(f"{present_current=}")
-        # print(f"{present_load=}")
-        # print(f"{present_voltage=}")
-        # print(f"{present_temperature=}")
-
-        if present_speed == 0 and present_current > 40:
-            count += 1
-            if count > 100 or present_current > 300:
-                return present_pos
-        else:
-            count = 0
-
-
-def move_to_calibrate(
-    arm,
-    motor_name,
-    invert_drive_mode=False,
-    positive_first=True,
-    in_between_move_hook=None,
-    while_move_hook=None,
-):
-    initial_pos = arm.read("Present_Position", motor_name)
-
-    if positive_first:
-        p_present_pos = move_until_block(
-            arm, motor_name, positive_direction=True, while_move_hook=while_move_hook
-        )
-    else:
-        n_present_pos = move_until_block(
-            arm, motor_name, positive_direction=False, while_move_hook=while_move_hook
-        )
-
-    if in_between_move_hook is not None:
-        in_between_move_hook()
-
-    if positive_first:
-        n_present_pos = move_until_block(
-            arm, motor_name, positive_direction=False, while_move_hook=while_move_hook
-        )
-    else:
-        p_present_pos = move_until_block(
-            arm, motor_name, positive_direction=True, while_move_hook=while_move_hook
-        )
-
-    zero_pos = (n_present_pos + p_present_pos) / 2
-
-    calib_data = {
-        "initial_pos": initial_pos,
-        "homing_offset": zero_pos if invert_drive_mode else -zero_pos,
-        "invert_drive_mode": invert_drive_mode,
-        "drive_mode": -1 if invert_drive_mode else 0,
-        "zero_pos": zero_pos,
-        "start_pos": n_present_pos if invert_drive_mode else p_present_pos,
-        "end_pos": p_present_pos if invert_drive_mode else n_present_pos,
-    }
-    return calib_data
-
-
-def apply_offset(calib, offset):
-    calib["zero_pos"] += offset
-    if calib["drive_mode"]:
-        calib["homing_offset"] += offset
-    else:
-        calib["homing_offset"] -= offset
-    return calib
-
-
-def run_arm_auto_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
-    if robot_type == "so100":
-        return run_arm_auto_calibration_so100(arm, robot_type, arm_name, arm_type)
-    elif robot_type == "moss":
-        return run_arm_auto_calibration_moss(arm, robot_type, arm_name, arm_type)
-    else:
-        raise ValueError(robot_type)
-
-
-def run_arm_auto_calibration_so100(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
-    """All the offsets and magic numbers are hand tuned, and are unique to SO-100 follower arms"""
+def disable_torque(arm: MotorsBus):
     if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
         raise ValueError("To run calibration, the torque must be disabled on all motors.")
 
-    if not (robot_type == "so100" and arm_type == "follower"):
-        raise NotImplementedError("Auto calibration only supports the follower of so100 arms for now.")
 
-    print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
+def get_calibration_modes(arm: MotorsBus):
+    """Returns calibration modes for each motor (DEGREE for rotational, LINEAR for gripper)."""
+    return [
+        CalibrationMode.LINEAR.name if name == "gripper" else CalibrationMode.DEGREE.name
+        for name in arm.motor_names
+    ]
 
-    print("\nMove arm to initial position")
-    print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="initial"))
-    input("Press Enter to continue...")
 
-    # Lower the acceleration of the motors (in [0,254])
-    initial_acceleration = arm.read("Acceleration")
-    arm.write("Lock", 0)
-    arm.write("Acceleration", 10)
-    time.sleep(1)
+def reset_offset(motor_id, motor_bus):
+    # Open the write lock, changes to EEPROM do NOT persist yet
+    motor_bus.write("Lock", 1)
 
-    arm.write("Torque_Enable", TorqueMode.ENABLED.value)
+    # Set offset to 0
+    motor_name = motor_bus.motor_names[motor_id - 1]
+    motor_bus.write("Offset", 0, motor_names=[motor_name])
 
-    print(f'{arm.read("Present_Position", "elbow_flex")=}')
+    # Close the write lock, changes to EEPROM do persist
+    motor_bus.write("Lock", 0)
 
-    calib = {}
+    # Confirm that the offset is zero by reading it back
+    confirmed_offset = motor_bus.read("Offset")[motor_id - 1]
+    print(f"Offset for motor {motor_id} reset to: {confirmed_offset}")
+    return confirmed_offset
 
-    init_wf_pos = arm.read("Present_Position", "wrist_flex")
-    init_sl_pos = arm.read("Present_Position", "shoulder_lift")
-    init_ef_pos = arm.read("Present_Position", "elbow_flex")
-    arm.write("Goal_Position", init_wf_pos - 800, "wrist_flex")
-    arm.write("Goal_Position", init_sl_pos + 150 + 1024, "shoulder_lift")
-    arm.write("Goal_Position", init_ef_pos - 2048, "elbow_flex")
-    time.sleep(2)
 
-    print("Calibrate shoulder_pan")
-    calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan")
-    arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan")
-    time.sleep(1)
+def calibrate_homing_motor(motor_id, motor_bus):
+    reset_offset(motor_id, motor_bus)
 
-    print("Calibrate gripper")
-    calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True)
-    time.sleep(1)
+    home_ticks = motor_bus.read("Present_Position")[motor_id - 1]  # Read index starts at 0
+    print(f"Encoder offset (present position in homing position): {home_ticks}")
 
-    print("Calibrate wrist_flex")
-    calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex")
-    calib["wrist_flex"] = apply_offset(calib["wrist_flex"], offset=80)
+    return home_ticks
 
-    def in_between_move_hook():
-        nonlocal arm, calib
-        time.sleep(2)
-        ef_pos = arm.read("Present_Position", "elbow_flex")
-        sl_pos = arm.read("Present_Position", "shoulder_lift")
-        arm.write("Goal_Position", ef_pos + 1024, "elbow_flex")
-        arm.write("Goal_Position", sl_pos - 1024, "shoulder_lift")
-        time.sleep(2)
 
-    print("Calibrate elbow_flex")
-    calib["elbow_flex"] = move_to_calibrate(
-        arm, "elbow_flex", positive_first=False, in_between_move_hook=in_between_move_hook
-    )
-    calib["elbow_flex"] = apply_offset(calib["elbow_flex"], offset=80 - 1024)
+def calibrate_linear_motor(motor_id, motor_bus):
+    motor_names = motor_bus.motor_names
+    motor_name = motor_names[motor_id - 1]
 
-    arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] + 1024 + 512, "elbow_flex")
-    time.sleep(1)
+    reset_offset(motor_id, motor_bus)
 
-    def in_between_move_hook():
-        nonlocal arm, calib
-        arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"], "elbow_flex")
+    input(f"Close the {motor_name}, then press Enter...")
+    start_pos = motor_bus.read("Present_Position")[motor_id - 1]  # Read index starts ar 0
+    print(f"  [Motor {motor_id}] start position recorded: {start_pos}")
 
-    print("Calibrate shoulder_lift")
-    calib["shoulder_lift"] = move_to_calibrate(
-        arm,
-        "shoulder_lift",
-        invert_drive_mode=True,
-        positive_first=False,
-        in_between_move_hook=in_between_move_hook,
-    )
-    # add an 30 steps as offset to align with body
-    calib["shoulder_lift"] = apply_offset(calib["shoulder_lift"], offset=1024 - 50)
+    input(f"Open the {motor_name} fully, then press Enter...")
+    end_pos = motor_bus.read("Present_Position")[motor_id - 1]  # Read index starts ar 0
+    print(f"  [Motor {motor_id}] end position recorded: {end_pos}")
 
-    def while_move_hook():
-        nonlocal arm, calib
-        positions = {
-            "shoulder_lift": round(calib["shoulder_lift"]["zero_pos"] - 1600),
-            "elbow_flex": round(calib["elbow_flex"]["zero_pos"] + 1700),
-            "wrist_flex": round(calib["wrist_flex"]["zero_pos"] + 800),
-            "gripper": round(calib["gripper"]["end_pos"]),
-        }
-        arm.write("Goal_Position", list(positions.values()), list(positions.keys()))
+    return start_pos, end_pos
 
-    arm.write("Goal_Position", round(calib["shoulder_lift"]["zero_pos"] - 1600), "shoulder_lift")
-    time.sleep(2)
-    arm.write("Goal_Position", round(calib["elbow_flex"]["zero_pos"] + 1700), "elbow_flex")
-    time.sleep(2)
-    arm.write("Goal_Position", round(calib["wrist_flex"]["zero_pos"] + 800), "wrist_flex")
-    time.sleep(2)
-    arm.write("Goal_Position", round(calib["gripper"]["end_pos"]), "gripper")
-    time.sleep(2)
 
-    print("Calibrate wrist_roll")
-    calib["wrist_roll"] = move_to_calibrate(
-        arm, "wrist_roll", invert_drive_mode=True, positive_first=False, while_move_hook=while_move_hook
-    )
+def single_motor_calibration(arm: MotorsBus, motor_id: int):
+    """Calibrates a single motor and returns its calibration data for updating the calibration file."""
 
-    arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"], "wrist_roll")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["gripper"]["start_pos"], "gripper")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"], "wrist_flex")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] + 2048, "elbow_flex")
-    arm.write("Goal_Position", calib["shoulder_lift"]["zero_pos"] - 2048, "shoulder_lift")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan")
-    time.sleep(1)
+    disable_torque(arm)
+    print(f"\n--- Calibrating Motor {motor_id} ---")
 
-    calib_modes = []
-    for name in arm.motor_names:
-        if name == "gripper":
-            calib_modes.append(CalibrationMode.LINEAR.name)
-        else:
-            calib_modes.append(CalibrationMode.DEGREE.name)
+    start_pos = 0
+    end_pos = 0
+    encoder_offset = 0
 
+    if motor_id == 6:
+        start_pos, end_pos = calibrate_linear_motor(motor_id, arm)
+    else:
+        input("Move the motor to (zero) position, then press Enter...")
+        encoder_offset = calibrate_homing_motor(motor_id, arm)
+
+    print(f"Calibration for motor ID:{motor_id} done.")
+
+    # Create a calibration dictionary for the single motor
     calib_dict = {
-        "homing_offset": [calib[name]["homing_offset"] for name in arm.motor_names],
-        "drive_mode": [calib[name]["drive_mode"] for name in arm.motor_names],
-        "start_pos": [calib[name]["start_pos"] for name in arm.motor_names],
-        "end_pos": [calib[name]["end_pos"] for name in arm.motor_names],
-        "calib_mode": calib_modes,
-        "motor_names": arm.motor_names,
+        "homing_offset": int(encoder_offset),
+        "drive_mode": 0,
+        "start_pos": int(start_pos),
+        "end_pos": int(end_pos),
+        "calib_mode": get_calibration_modes(arm)[motor_id - 1],
+        "motor_name": arm.motor_names[motor_id - 1],
     }
 
-    # Re-enable original accerlation
-    arm.write("Lock", 0)
-    arm.write("Acceleration", initial_acceleration)
-    time.sleep(1)
-
     return calib_dict
 
 
-def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
-    """All the offsets and magic numbers are hand tuned, and are unique to SO-100 follower arms"""
-    if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
-        raise ValueError("To run calibration, the torque must be disabled on all motors.")
+def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
+    """
+    Runs a full calibration process for all motors in a robotic arm.
 
-    if not (robot_type == "moss" and arm_type == "follower"):
-        raise NotImplementedError("Auto calibration only supports the follower of moss arms for now.")
+    This function calibrates each motor in the arm, determining encoder offsets and
+    start/end positions for linear and rotational motors. The calibration data is then
+    stored in a dictionary for later use.
 
-    print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
+    **Calibration Process:**
+    - The user is prompted to move the arm to its homing position before starting.
+    - Motors with rotational motion are calibrated using a homing method.
+    - Linear actuators (e.g., grippers) are calibrated separately.
+    - Encoder offsets, start positions, and end positions are recorded.
 
-    print("\nMove arm to initial position")
-    print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="initial"))
-    input("Press Enter to continue...")
-
-    # Lower the acceleration of the motors (in [0,254])
-    initial_acceleration = arm.read("Acceleration")
-    arm.write("Lock", 0)
-    arm.write("Acceleration", 10)
-    time.sleep(1)
-
-    arm.write("Torque_Enable", TorqueMode.ENABLED.value)
-
-    sl_pos = arm.read("Present_Position", "shoulder_lift")
-    arm.write("Goal_Position", sl_pos - 1024 - 450, "shoulder_lift")
-    ef_pos = arm.read("Present_Position", "elbow_flex")
-    arm.write("Goal_Position", ef_pos + 1024 + 450, "elbow_flex")
-    time.sleep(2)
-
-    calib = {}
-
-    print("Calibrate shoulder_pan")
-    calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan")
-    arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan")
-    time.sleep(1)
-
-    print("Calibrate gripper")
-    calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True)
-    time.sleep(1)
-
-    print("Calibrate wrist_flex")
-    calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex", invert_drive_mode=True)
-    calib["wrist_flex"] = apply_offset(calib["wrist_flex"], offset=-210 + 1024)
-
-    wr_pos = arm.read("Present_Position", "wrist_roll")
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
-    time.sleep(1)
-    arm.write("Goal_Position", wr_pos - 1024, "wrist_roll")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 2048, "wrist_flex")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["gripper"]["end_pos"], "gripper")
-    time.sleep(1)
-
-    print("Calibrate wrist_roll")
-    calib["wrist_roll"] = move_to_calibrate(arm, "wrist_roll", invert_drive_mode=True)
-    calib["wrist_roll"] = apply_offset(calib["wrist_roll"], offset=790)
-
-    arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"] - 1024, "wrist_roll")
-    arm.write("Goal_Position", calib["gripper"]["start_pos"], "gripper")
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"], "wrist_roll")
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 2048, "wrist_flex")
-
-    def in_between_move_elbow_flex_hook():
-        nonlocal arm, calib
-        arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"], "wrist_flex")
-
-    print("Calibrate elbow_flex")
-    calib["elbow_flex"] = move_to_calibrate(
-        arm,
-        "elbow_flex",
-        invert_drive_mode=True,
-        in_between_move_hook=in_between_move_elbow_flex_hook,
-    )
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
-
-    def in_between_move_shoulder_lift_hook():
-        nonlocal arm, calib
-        sl = arm.read("Present_Position", "shoulder_lift")
-        arm.write("Goal_Position", sl - 1500, "shoulder_lift")
-        time.sleep(1)
-        arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] + 1536, "elbow_flex")
-        time.sleep(1)
-        arm.write("Goal_Position", calib["wrist_flex"]["start_pos"], "wrist_flex")
-        time.sleep(1)
-
-    print("Calibrate shoulder_lift")
-    calib["shoulder_lift"] = move_to_calibrate(
-        arm, "shoulder_lift", in_between_move_hook=in_between_move_shoulder_lift_hook
-    )
-    calib["shoulder_lift"] = apply_offset(calib["shoulder_lift"], offset=-1024)
-
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["shoulder_lift"]["zero_pos"] + 2048, "shoulder_lift")
-    arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] - 1024 - 400, "elbow_flex")
-    time.sleep(2)
-
-    calib_modes = []
-    for name in arm.motor_names:
-        if name == "gripper":
-            calib_modes.append(CalibrationMode.LINEAR.name)
-        else:
-            calib_modes.append(CalibrationMode.DEGREE.name)
-
-    calib_dict = {
-        "homing_offset": [calib[name]["homing_offset"] for name in arm.motor_names],
-        "drive_mode": [calib[name]["drive_mode"] for name in arm.motor_names],
-        "start_pos": [calib[name]["start_pos"] for name in arm.motor_names],
-        "end_pos": [calib[name]["end_pos"] for name in arm.motor_names],
-        "calib_mode": calib_modes,
-        "motor_names": arm.motor_names,
-    }
-
-    # Re-enable original accerlation
-    arm.write("Lock", 0)
-    arm.write("Acceleration", initial_acceleration)
-    time.sleep(1)
-
-    return calib_dict
-
-
-def run_arm_manual_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
-    """This function ensures that a neural network trained on data collected on a given robot
-    can work on another robot. For instance before calibration, setting a same goal position
-    for each motor of two different robots will get two very different positions. But after calibration,
-    the two robots will move to the same position.To this end, this function computes the homing offset
-    and the drive mode for each motor of a given robot.
-
-    Homing offset is used to shift the motor position to a ]-2048, +2048[ nominal range (when the motor uses 2048 steps
-    to complete a half a turn). This range is set around an arbitrary "zero position" corresponding to all motor positions
-    being 0. During the calibration process, you will need to manually move the robot to this "zero position".
-
-    Drive mode is used to invert the rotation direction of the motor. This is useful when some motors have been assembled
-    in the opposite orientation for some robots. During the calibration process, you will need to manually move the robot
-    to the "rotated position".
-
-    After calibration, the homing offsets and drive modes are stored in a cache.
-
-    Example of usage:
+    **Example Usage:**
     ```python
-    run_arm_calibration(arm, "so100", "left", "follower")
+    run_full_arm_calibration(arm, "so100", "left", "follower")
     ```
     """
-    if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
-        raise ValueError("To run calibration, the torque must be disabled on all motors.")
+    disable_torque(arm)
 
     print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
 
-    print("\nMove arm to zero position")
-    print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero"))
+    print("\nMove arm to homing position (middle)")
+    print(
+        "See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero")
+    )  # TODO(pepijn): replace with new instruction homing pos (all motors in middle) in tutorial
     input("Press Enter to continue...")
 
-    # We arbitrarily chose our zero target position to be a straight horizontal position with gripper upwards and closed.
-    # It is easy to identify and all motors are in a "quarter turn" position. Once calibration is done, this position will
-    # correspond to every motor angle being 0. If you set all 0 as Goal Position, the arm will move in this position.
-    zero_target_pos = convert_degrees_to_steps(ZERO_POSITION_DEGREE, arm.motor_models)
+    start_positions = np.zeros(len(arm.motor_indices))
+    end_positions = np.zeros(len(arm.motor_indices))
+    encoder_offsets = np.zeros(len(arm.motor_indices))
 
-    # Compute homing offset so that `present_position + homing_offset ~= target_position`.
-    zero_pos = arm.read("Present_Position")
-    homing_offset = zero_target_pos - zero_pos
+    modes = get_calibration_modes(arm)
 
-    # The rotated target position corresponds to a rotation of a quarter turn from the zero position.
-    # This allows to identify the rotation direction of each motor.
-    # For instance, if the motor rotates 90 degree, and its value is -90 after applying the homing offset, then we know its rotation direction
-    # is inverted. However, for the calibration being successful, we need everyone to follow the same target position.
-    # Sometimes, there is only one possible rotation direction. For instance, if the gripper is closed, there is only one direction which
-    # corresponds to opening the gripper. When the rotation direction is ambiguous, we arbitrarily rotate clockwise from the point of view
-    # of the previous motor in the kinetic chain.
-    print("\nMove arm to rotated target position")
-    print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="rotated"))
-    input("Press Enter to continue...")
+    for i, motor_id in enumerate(arm.motor_indices):
+        if modes[i] == CalibrationMode.DEGREE.name:
+            encoder_offsets[i] = calibrate_homing_motor(motor_id, arm)
+            start_positions[i] = 0
+            end_positions[i] = 0
 
-    rotated_target_pos = convert_degrees_to_steps(ROTATED_POSITION_DEGREE, arm.motor_models)
-
-    # Find drive mode by rotating each motor by a quarter of a turn.
-    # Drive mode indicates if the motor rotation direction should be inverted (=1) or not (=0).
-    rotated_pos = arm.read("Present_Position")
-    drive_mode = (rotated_pos < zero_pos).astype(np.int32)
-
-    # Re-compute homing offset to take into account drive mode
-    rotated_drived_pos = apply_drive_mode(rotated_pos, drive_mode)
-    homing_offset = rotated_target_pos - rotated_drived_pos
+    for i, motor_id in enumerate(arm.motor_indices):
+        if modes[i] == CalibrationMode.LINEAR.name:
+            start_positions[i], end_positions[i] = calibrate_linear_motor(motor_id, arm)
+            encoder_offsets[i] = 0
 
     print("\nMove arm to rest position")
-    print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="rest"))
     input("Press Enter to continue...")
-    print()
 
-    # Joints with rotational motions are expressed in degrees in nominal range of [-180, 180]
-    calib_modes = []
-    for name in arm.motor_names:
-        if name == "gripper":
-            calib_modes.append(CalibrationMode.LINEAR.name)
-        else:
-            calib_modes.append(CalibrationMode.DEGREE.name)
+    print(f"\n calibration of {robot_type} {arm_name} {arm_type} done!")
+
+    # Force drive_mode values (can be static)
+    drive_modes = [0, 1, 0, 0, 1, 0]
 
     calib_dict = {
-        "homing_offset": homing_offset.tolist(),
-        "drive_mode": drive_mode.tolist(),
-        "start_pos": zero_pos.tolist(),
-        "end_pos": rotated_pos.tolist(),
-        "calib_mode": calib_modes,
+        "homing_offset": encoder_offsets.astype(int).tolist(),
+        "drive_mode": drive_modes,
+        "start_pos": start_positions.astype(int).tolist(),
+        "end_pos": end_positions.astype(int).tolist(),
+        "calib_mode": get_calibration_modes(arm),
         "motor_names": arm.motor_names,
     }
     return calib_dict
+
+
+def run_full_auto_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
+    """TODO(pepijn): Add this method later as extra
+    Example of usage:
+    ```python
+    run_full_auto_arm_calibration(arm, "so100", "left", "follower")
+    ```
+    """
+    print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")

lerobot/common/robot_devices/robots/manipulator.py

@@ -54,6 +54,73 @@ def ensure_safe_goal_position(
     return safe_goal_pos
 
 
+def apply_feetech_offsets_from_calibration(motorsbus, calibration_dict: dict):
+    """
+    Reads 'calibration_dict' containing 'homing_offset' and 'motor_names',
+    then writes each motor's offset to the servo's internal Offset (0x1F) in EPROM.
+
+    This version is modified so each homed position (originally 0) will now read
+    2047, i.e. 180° away from 0 in the 4096-count circle. Offsets are permanently
+    stored in EEPROM, so the servo's Present_Position is hardware-shifted even
+    after power cycling.
+
+    Steps:
+      1) Subtract 2047 from the old offset (so 0 -> 2047).
+      2) Clamp to [-2047..+2047].
+      3) Encode sign bit and magnitude into a 12-bit number.
+    """
+
+    homing_offsets = calibration_dict["homing_offset"]
+    motor_names = calibration_dict["motor_names"]
+    start_pos = calibration_dict["start_pos"]
+
+    # Open the write lock, changes to EEPROM do NOT persist yet
+    motorsbus.write("Lock", 1)
+
+    # For each motor, set the 'Offset' parameter
+    for m_name, old_offset in zip(motor_names, homing_offsets, strict=False):
+        # If bus doesn’t have a motor named m_name, skip
+        if m_name not in motorsbus.motors:
+            print(f"Warning: '{m_name}' not found in motorsbus.motors; skipping offset.")
+            continue
+
+        if m_name == "gripper":
+            old_offset = start_pos  # If gripper set the offset to the start position of the gripper
+            continue
+
+        # Shift the offset so the homed position reads 2047
+        new_offset = old_offset - 2047
+
+        # Clamp to [-2047..+2047]
+        if new_offset > 2047:
+            new_offset = 2047
+            print(
+                f"Warning: '{new_offset}' is getting clamped because its larger then 2047; This should not happen!"
+            )
+        elif new_offset < -2047:
+            new_offset = -2047
+            print(
+                f"Warning: '{new_offset}' is getting clamped because its smaller then -2047; This should not happen!"
+            )
+
+        # Determine the direction (sign) bit and magnitude
+        direction_bit = 1 if new_offset < 0 else 0
+        magnitude = abs(new_offset)
+
+        # Combine sign bit (bit 11) with the magnitude (bits 0..10)
+        servo_offset = (direction_bit << 11) | magnitude
+
+        # Write offset to servo
+        motorsbus.write("Offset", servo_offset, motor_names=m_name)
+        print(
+            f"Set offset for {m_name}: "
+            f"old_offset={old_offset}, new_offset={new_offset}, servo_encoded={magnitude} + direction={direction_bit}"
+        )
+
+    motorsbus.write("Lock", 0)
+    print("Offsets have been saved to EEPROM successfully.")
+
+
 class ManipulatorRobot:
     # TODO(rcadene): Implement force feedback
     """This class allows to control any manipulator robot of various number of motors.
@@ -315,10 +382,10 @@ class ManipulatorRobot:
 
                 elif self.robot_type in ["so100", "moss", "lekiwi"]:
                     from lerobot.common.robot_devices.robots.feetech_calibration import (
-                        run_arm_manual_calibration,
+                        run_full_arm_calibration,
                     )
 
-                    calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
+                    calibration = run_full_arm_calibration(arm, self.robot_type, name, arm_type)
 
                 print(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
                 arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
@@ -327,12 +394,24 @@ class ManipulatorRobot:
 
             return calibration
 
-        for name, arm in self.follower_arms.items():
-            calibration = load_or_run_calibration_(name, arm, "follower")
-            arm.set_calibration(calibration)
-        for name, arm in self.leader_arms.items():
-            calibration = load_or_run_calibration_(name, arm, "leader")
-            arm.set_calibration(calibration)
+            # For each follower arm
+
+        for name, arm_bus in self.follower_arms.items():
+            calibration = load_or_run_calibration_(name, arm_bus, "follower")
+            arm_bus.set_calibration(calibration)
+
+            # If this is a Feetech robot, also set the servo offset into EEPROM
+            if self.robot_type in ["so100", "lekiwi"]:
+                apply_feetech_offsets_from_calibration(arm_bus, calibration)
+
+        # For each leader arm
+        for name, arm_bus in self.leader_arms.items():
+            calibration = load_or_run_calibration_(name, arm_bus, "leader")
+            arm_bus.set_calibration(calibration)
+
+            # Optionally also set offset for leader if you want the servo offsets as well
+            if self.robot_type in ["so100", "lekiwi"]:
+                apply_feetech_offsets_from_calibration(arm_bus, calibration)
 
     def set_koch_robot_preset(self):
         def set_operating_mode_(arm):

lerobot/configs/parser.py

@@ -11,7 +11,9 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+import importlib
 import inspect
+import pkgutil
 import sys
 from argparse import ArgumentError
 from functools import wraps
@@ -23,6 +25,7 @@ import draccus
 from lerobot.common.utils.utils import has_method
 
 PATH_KEY = "path"
+PLUGIN_DISCOVERY_SUFFIX = "discover_packages_path"
 draccus.set_config_type("json")
 
 
@@ -58,6 +61,86 @@ def parse_arg(arg_name: str, args: Sequence[str] | None = None) -> str | None:
     return None
 
 
+def parse_plugin_args(plugin_arg_suffix: str, args: Sequence[str]) -> dict:
+    """Parse plugin-related arguments from command-line arguments.
+
+    This function extracts arguments from command-line arguments that match a specified suffix pattern.
+    It processes arguments in the format '--key=value' and returns them as a dictionary.
+
+    Args:
+        plugin_arg_suffix (str): The suffix to identify plugin-related arguments.
+        cli_args (Sequence[str]): A sequence of command-line arguments to parse.
+
+    Returns:
+        dict: A dictionary containing the parsed plugin arguments where:
+            - Keys are the argument names (with '--' prefix removed if present)
+            - Values are the corresponding argument values
+
+    Example:
+        >>> args = ['--env.discover_packages_path=my_package',
+        ...         '--other_arg=value']
+        >>> parse_plugin_args('discover_packages_path', args)
+        {'env.discover_packages_path': 'my_package'}
+    """
+    plugin_args = {}
+    for arg in args:
+        if "=" in arg and plugin_arg_suffix in arg:
+            key, value = arg.split("=", 1)
+            # Remove leading '--' if present
+            if key.startswith("--"):
+                key = key[2:]
+            plugin_args[key] = value
+    return plugin_args
+
+
+class PluginLoadError(Exception):
+    """Raised when a plugin fails to load."""
+
+
+def load_plugin(plugin_path: str) -> None:
+    """Load and initialize a plugin from a given Python package path.
+
+    This function attempts to load a plugin by importing its package and any submodules.
+    Plugin registration is expected to happen during package initialization, i.e. when
+    the package is imported the gym environment should be registered and the config classes
+    registered with their parents using the `register_subclass` decorator.
+
+    Args:
+        plugin_path (str): The Python package path to the plugin (e.g. "mypackage.plugins.myplugin")
+
+    Raises:
+        PluginLoadError: If the plugin cannot be loaded due to import errors or if the package path is invalid.
+
+    Examples:
+        >>> load_plugin("external_plugin.core")       # Loads plugin from external package
+
+    Notes:
+        - The plugin package should handle its own registration during import
+        - All submodules in the plugin package will be imported
+        - Implementation follows the plugin discovery pattern from Python packaging guidelines
+
+    See Also:
+        https://packaging.python.org/en/latest/guides/creating-and-discovering-plugins/
+    """
+    try:
+        package_module = importlib.import_module(plugin_path, __package__)
+    except (ImportError, ModuleNotFoundError) as e:
+        raise PluginLoadError(
+            f"Failed to load plugin '{plugin_path}'. Verify the path and installation: {str(e)}"
+        ) from e
+
+    def iter_namespace(ns_pkg):
+        return pkgutil.iter_modules(ns_pkg.__path__, ns_pkg.__name__ + ".")
+
+    try:
+        for _finder, pkg_name, _ispkg in iter_namespace(package_module):
+            importlib.import_module(pkg_name)
+    except ImportError as e:
+        raise PluginLoadError(
+            f"Failed to load plugin '{plugin_path}'. Verify the path and installation: {str(e)}"
+        ) from e
+
+
 def get_path_arg(field_name: str, args: Sequence[str] | None = None) -> str | None:
     return parse_arg(f"{field_name}.{PATH_KEY}", args)
 
@@ -105,10 +188,13 @@ def filter_path_args(fields_to_filter: str | list[str], args: Sequence[str] | No
 
 def wrap(config_path: Path | None = None):
     """
-    HACK: Similar to draccus.wrap but does two additional things:
+    HACK: Similar to draccus.wrap but does three additional things:
         - Will remove '.path' arguments from CLI in order to process them later on.
         - If a 'config_path' is passed and the main config class has a 'from_pretrained' method, will
           initialize it from there to allow to fetch configs from the hub directly
+        - Will load plugins specified in the CLI arguments. These plugins will typically register
+            their own subclasses of config classes, so that draccus can find the right class to instantiate
+            from the CLI '.type' arguments
     """
 
     def wrapper_outer(fn):
@@ -121,6 +207,14 @@ def wrap(config_path: Path | None = None):
                 args = args[1:]
             else:
                 cli_args = sys.argv[1:]
+                plugin_args = parse_plugin_args(PLUGIN_DISCOVERY_SUFFIX, cli_args)
+                for plugin_cli_arg, plugin_path in plugin_args.items():
+                    try:
+                        load_plugin(plugin_path)
+                    except PluginLoadError as e:
+                        # add the relevant CLI arg to the error message
+                        raise PluginLoadError(f"{e}\nFailed plugin CLI Arg: {plugin_cli_arg}") from e
+                    cli_args = filter_arg(plugin_cli_arg, cli_args)
                 config_path_cli = parse_arg("config_path", cli_args)
                 if has_method(argtype, "__get_path_fields__"):
                     path_fields = argtype.__get_path_fields__()

lerobot/scripts/calibration_visualization_so100.py

@@ -0,0 +1,176 @@
+import argparse
+import json
+import time
+from pathlib import Path
+
+from lerobot.common.robot_devices.motors.feetech import (
+    FeetechMotorsBus,
+    adjusted_to_homing_ticks,
+    adjusted_to_motor_ticks,
+    convert_degrees_to_ticks,
+    convert_ticks_to_degrees,
+)
+from lerobot.common.robot_devices.robots.configs import So100RobotConfig
+from lerobot.common.robot_devices.robots.utils import make_robot_from_config
+
+
+def apply_feetech_offsets_from_calibration(motorsbus: FeetechMotorsBus, calibration_dict: dict):
+    """
+    Reads 'calibration_dict' containing 'homing_offset' and 'motor_names',
+    then writes each motor's offset to the servo's internal Offset (0x1F) in EPROM.
+
+    This version is modified so each homed position (originally 0) will now read
+    2047, i.e. 180° away from 0 in the 4096-count circle. Offsets are permanently
+    stored in EEPROM, so the servo's Present_Position is hardware-shifted even
+    after power cycling.
+
+    Steps:
+      1) Subtract 2047 from the old offset (so 0 -> 2047).
+      2) Clamp to [-2047..+2047].
+      3) Encode sign bit and magnitude into a 12-bit number.
+    """
+
+    homing_offsets = calibration_dict["homing_offset"]
+    motor_names = calibration_dict["motor_names"]
+    start_pos = calibration_dict["start_pos"]
+
+    # Open the write lock, changes to EEPROM do NOT persist yet
+    motorsbus.write("Lock", 1)
+
+    # For each motor, set the 'Offset' parameter
+    for m_name, old_offset in zip(motor_names, homing_offsets, strict=False):
+        # If bus doesn’t have a motor named m_name, skip
+        if m_name not in motorsbus.motors:
+            print(f"Warning: '{m_name}' not found in motorsbus.motors; skipping offset.")
+            continue
+
+        if m_name == "gripper":
+            old_offset = start_pos  # If gripper set the offset to the start position of the gripper
+            continue
+
+        # Shift the offset so the homed position reads 2047
+        new_offset = old_offset - 2047
+
+        # Clamp to [-2047..+2047]
+        if new_offset > 2047:
+            new_offset = 2047
+            print(
+                f"Warning: '{new_offset}' is getting clamped because its larger then 2047; This should not happen!"
+            )
+        elif new_offset < -2047:
+            new_offset = -2047
+            print(
+                f"Warning: '{new_offset}' is getting clamped because its smaller then -2047; This should not happen!"
+            )
+
+        # Determine the direction (sign) bit and magnitude
+        direction_bit = 1 if new_offset < 0 else 0
+        magnitude = abs(new_offset)
+
+        # Combine sign bit (bit 11) with the magnitude (bits 0..10)
+        servo_offset = (direction_bit << 11) | magnitude
+
+        # Write offset to servo
+        motorsbus.write("Offset", servo_offset, motor_names=m_name)
+        print(
+            f"Set offset for {m_name}: "
+            f"old_offset={old_offset}, new_offset={new_offset}, servo_encoded={magnitude} + direction={direction_bit}"
+        )
+
+    motorsbus.write("Lock", 0)
+    print("Offsets have been saved to EEPROM successfully.")
+
+
+def debug_feetech_positions(cfg, arm_arg: str):
+    """
+    Reads each joint’s (1) raw ticks, (2) homed ticks, (3) degrees, and (4) invert-adjusted ticks.
+    :param arm_arg: One of "main_leader" or "main_follower".
+    """
+    robot = make_robot_from_config(cfg)
+
+    # Parse which arm we want: 'main_leader' or 'main_follower'
+    if arm_arg not in ("main_leader", "main_follower"):
+        raise ValueError("Please specify --arm=main_leader or --arm=main_follower")
+
+    bus_config = robot.leader_arms["main"] if arm_arg == "main_leader" else robot.follower_arms["main"]
+    bus = FeetechMotorsBus(bus_config)
+
+    # Load calibration if it exists
+    calib_file = Path(robot.calibration_dir) / f"{arm_arg}.json"
+    if calib_file.exists():
+        with open(calib_file) as f:
+            calibration_dict = json.load(f)
+        bus.set_calibration(calibration_dict)
+        print(f"Loaded calibration from {calib_file}")
+    else:
+        print(f"No calibration file found at {calib_file}, skipping calibration set.")
+
+    bus.connect()
+    print(f"Connected to Feetech bus on port: {bus.port}")
+
+    # Apply offset to servo EEPROM so the servo’s Present_Position is hardware-shifted
+    if calibration_dict is not None:
+        print("Applying offsets from calibration object to servo EEPROM. Be careful—this is permanent!")
+        apply_feetech_offsets_from_calibration(bus, calibration_dict)
+
+    # Disable torque on all motors so you can move them freely by hand
+    bus.write("Torque_Enable", 0, motor_names=bus.motor_names)
+    print("Torque disabled on all joints.")
+
+    try:
+        print("\nPress Ctrl+C to quit.\n")
+        while True:
+            # Read *raw* positions (no calibration).
+            raw_positions = bus.read_with_motor_ids(
+                bus.motor_models, bus.motor_indices, data_name="Present_Position"
+            )
+
+            # Read *already-homed* positions
+            homed_positions = bus.read("Present_Position")
+
+            for i, name in enumerate(bus.motor_names):
+                motor_idx, model = bus.motors[name]
+
+                raw_ticks = raw_positions[i]  # 0..4095
+                homed_val = homed_positions[i]  # degrees or % if linear
+
+                # Manually compute "adjusted ticks" from raw ticks
+                manual_adjusted = adjusted_to_homing_ticks(raw_ticks, model, bus, motor_idx)
+                # Convert to degrees
+                manual_degs = convert_ticks_to_degrees(manual_adjusted, model)
+
+                # Convert that deg back to ticks
+                manual_ticks = convert_degrees_to_ticks(manual_degs, model)
+                # Then invert them using offset & bus drive mode
+                inv_ticks = adjusted_to_motor_ticks(manual_ticks, model, bus, motor_idx)
+
+                print(
+                    f"{name:15s} | "
+                    f"RAW={raw_ticks:4d} | "
+                    f"HOMED_FROM_READ={homed_val:7.2f} | "
+                    f"HOMED_TICKS={manual_adjusted:6d} | "
+                    f"MANUAL_ADJ_DEG={manual_degs:7.2f} | "
+                    f"MANUAL_ADJ_TICKS={manual_ticks:6d} | "
+                    f"INV_TICKS={inv_ticks:4d} "
+                )
+            print("----------------------------------------------------")
+            time.sleep(0.25)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        print("\nExiting. Disconnecting bus...")
+        bus.disconnect()
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Debug Feetech positions.")
+    parser.add_argument(
+        "--arm",
+        type=str,
+        choices=["main_leader", "main_follower"],
+        default="main_leader",
+        help="Which arm to debug: 'main_leader' or 'main_follower'.",
+    )
+    args = parser.parse_args()
+    cfg = So100RobotConfig()
+    debug_feetech_positions(cfg, arm_arg=args.arm)

lerobot/scripts/configure_motor.py

@@ -145,13 +145,12 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
             # the motors. Note: this configuration is not in the official STS3215 Memory Table
             motor_bus.write("Lock", 0)
             motor_bus.write("Maximum_Acceleration", 254)
-
-            motor_bus.write("Goal_Position", 2048)
-            time.sleep(4)
-            print("Present Position", motor_bus.read("Present_Position"))
-
+            motor_bus.write("Max_Angle_Limit", 4095)  # default 4095
+            motor_bus.write("Min_Angle_Limit", 0)  # default 0
             motor_bus.write("Offset", 0)
-            time.sleep(4)
+            motor_bus.write("Mode", 0)
+            motor_bus.write("Goal_Position", 2048)
+            motor_bus.write("Lock", 1)
             print("Offset", motor_bus.read("Offset"))
 
     except Exception as e:

lerobot/scripts/visualize_dataset.py

@@ -265,13 +265,25 @@ def main():
         ),
     )
 
+    parser.add_argument(
+        "--tolerance-s",
+        type=float,
+        default=1e-4,
+        help=(
+            "Tolerance in seconds used to ensure data timestamps respect the dataset fps value"
+            "This is argument passed to the constructor of LeRobotDataset and maps to its tolerance_s constructor argument"
+            "If not given, defaults to 1e-4."
+        ),
+    )
+
     args = parser.parse_args()
     kwargs = vars(args)
     repo_id = kwargs.pop("repo_id")
     root = kwargs.pop("root")
+    tolerance_s = kwargs.pop("tolerance_s")
 
     logging.info("Loading dataset")
-    dataset = LeRobotDataset(repo_id, root=root)
+    dataset = LeRobotDataset(repo_id, root=root, tolerance_s=tolerance_s)
 
     visualize_dataset(dataset, **vars(args))
 

lerobot/scripts/visualize_dataset_html.py

@@ -446,15 +446,31 @@ def main():
         help="Delete the output directory if it exists already.",
     )
 
+    parser.add_argument(
+        "--tolerance-s",
+        type=float,
+        default=1e-4,
+        help=(
+            "Tolerance in seconds used to ensure data timestamps respect the dataset fps value"
+            "This is argument passed to the constructor of LeRobotDataset and maps to its tolerance_s constructor argument"
+            "If not given, defaults to 1e-4."
+        ),
+    )
+
     args = parser.parse_args()
     kwargs = vars(args)
     repo_id = kwargs.pop("repo_id")
     load_from_hf_hub = kwargs.pop("load_from_hf_hub")
     root = kwargs.pop("root")
+    tolerance_s = kwargs.pop("tolerance_s")
 
     dataset = None
     if repo_id:
-        dataset = LeRobotDataset(repo_id, root=root) if not load_from_hf_hub else get_dataset_info(repo_id)
+        dataset = (
+            LeRobotDataset(repo_id, root=root, tolerance_s=tolerance_s)
+            if not load_from_hf_hub
+            else get_dataset_info(repo_id)
+        )
 
     visualize_dataset_html(dataset, **vars(args))
 

pyproject.toml

@@ -56,7 +56,6 @@ dependencies = [
     "gymnasium==0.29.1",                                                 # TODO(rcadene, aliberts): Make gym 1.0.0 work
     "h5py>=3.10.0",
     "huggingface-hub[hf-transfer,cli]>=0.27.1 ; python_version < '4.0'",
-    "hydra-core>=1.3.2",
     "imageio[ffmpeg]>=2.34.0",
     "jsonlines>=4.0.0",
     "numba>=0.59.0",
@@ -103,30 +102,7 @@ requires-poetry = ">=2.1"
 [tool.ruff]
 line-length = 110
 target-version = "py310"
-exclude = [
-    "tests/data",
-    ".bzr",
-    ".direnv",
-    ".eggs",
-    ".git",
-    ".git-rewrite",
-    ".hg",
-    ".mypy_cache",
-    ".nox",
-    ".pants.d",
-    ".pytype",
-    ".ruff_cache",
-    ".svn",
-    ".tox",
-    ".venv",
-    "__pypackages__",
-    "_build",
-    "buck-out",
-    "build",
-    "dist",
-    "node_modules",
-    "venv",
-]
+exclude = ["tests/artifacts/**/*.safetensors"]
 
 [tool.ruff.lint]
 select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]

tests/artifacts/datasets/save_dataset_to_safetensors.py

@@ -23,7 +23,7 @@ If you know that your change will break backward compatibility, you should write
 doesnt need to be merged into the `main` branch. Then you need to run this script and update the tests artifacts.
 
 Example usage:
-    `python tests/scripts/save_dataset_to_safetensors.py`
+    `python tests/artifacts/datasets/save_dataset_to_safetensors.py`
 """
 
 import shutil
@@ -88,4 +88,4 @@ if __name__ == "__main__":
         "lerobot/nyu_franka_play_dataset",
         "lerobot/cmu_stretch",
     ]:
-        save_dataset_to_safetensors("tests/data/save_dataset_to_safetensors", repo_id=dataset)
+        save_dataset_to_safetensors("tests/artifacts/datasets", repo_id=dataset)

tests/artifacts/image_transforms/save_image_transforms_to_safetensors.py

@@ -27,7 +27,7 @@ from lerobot.common.datasets.transforms import (
 )
 from lerobot.common.utils.random_utils import seeded_context
 
-ARTIFACT_DIR = Path("tests/data/save_image_transforms_to_safetensors")
+ARTIFACT_DIR = Path("tests/artifacts/image_transforms")
 DATASET_REPO_ID = "lerobot/aloha_mobile_shrimp"
 
 

tests/artifacts/policies/save_policy_to_safetensors.py

@@ -141,5 +141,5 @@ if __name__ == "__main__":
         raise RuntimeError("No policies were provided!")
     for ds_repo_id, policy, policy_kwargs, file_name_extra in artifacts_cfg:
         ds_name = ds_repo_id.split("/")[-1]
-        output_dir = Path("tests/data/save_policy_to_safetensors") / f"{ds_name}_{policy}_{file_name_extra}"
+        output_dir = Path("tests/artifacts/policies") / f"{ds_name}_{policy}_{file_name_extra}"
         save_policy_to_safetensors(output_dir, ds_repo_id, policy, policy_kwargs)

tests/cameras/test_cameras.py

@@ -85,8 +85,8 @@ def test_camera(request, camera_type, mock):
     camera.connect()
     assert camera.is_connected
     assert camera.fps is not None
-    assert camera.width is not None
-    assert camera.height is not None
+    assert camera.capture_width is not None
+    assert camera.capture_height is not None
 
     # Test connecting twice raises an error
     with pytest.raises(RobotDeviceAlreadyConnectedError):
@@ -146,7 +146,7 @@ def test_camera(request, camera_type, mock):
         camera.connect()
 
         if mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 
@@ -204,3 +204,49 @@ def test_save_images_from_cameras(tmp_path, request, camera_type, mock):
 
     # Small `record_time_s` to speedup unit tests
     save_images_from_cameras(tmp_path, record_time_s=0.02, mock=mock)
+
+
+@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
+@require_camera
+def test_camera_rotation(request, camera_type, mock):
+    config_kwargs = {"camera_type": camera_type, "mock": mock, "width": 640, "height": 480, "fps": 30}
+
+    # No rotation.
+    camera = make_camera(**config_kwargs, rotation=None)
+    camera.connect()
+    assert camera.capture_width == 640
+    assert camera.capture_height == 480
+    assert camera.width == 640
+    assert camera.height == 480
+    no_rot_img = camera.read()
+    h, w, c = no_rot_img.shape
+    assert h == 480 and w == 640 and c == 3
+    camera.disconnect()
+
+    # Rotation = 90 (clockwise).
+    camera = make_camera(**config_kwargs, rotation=90)
+    camera.connect()
+    # With a 90° rotation, we expect the metadata dimensions to be swapped.
+    assert camera.capture_width == 640
+    assert camera.capture_height == 480
+    assert camera.width == 480
+    assert camera.height == 640
+    import cv2
+
+    assert camera.rotation == cv2.ROTATE_90_CLOCKWISE
+    rot_img = camera.read()
+    h, w, c = rot_img.shape
+    assert h == 640 and w == 480 and c == 3
+    camera.disconnect()
+
+    # Rotation = 180.
+    camera = make_camera(**config_kwargs, rotation=None)
+    camera.connect()
+    assert camera.capture_width == 640
+    assert camera.capture_height == 480
+    assert camera.width == 640
+    assert camera.height == 480
+    no_rot_img = camera.read()
+    h, w, c = no_rot_img.shape
+    assert h == 480 and w == 640 and c == 3
+    camera.disconnect()

tests/configs/test_plugin_loading.py

@@ -0,0 +1,89 @@
+import sys
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Generator
+
+import pytest
+
+from lerobot.common.envs.configs import EnvConfig
+from lerobot.configs.parser import PluginLoadError, load_plugin, parse_plugin_args, wrap
+
+
+def create_plugin_code(*, base_class: str = "EnvConfig", plugin_name: str = "test_env") -> str:
+    """Creates a dummy plugin module that implements its own EnvConfig subclass."""
+    return f"""
+from dataclasses import dataclass
+from lerobot.common.envs.configs import {base_class}
+
+@{base_class}.register_subclass("{plugin_name}")
+@dataclass
+class TestPluginConfig:
+    value: int = 42
+    """
+
+
+@pytest.fixture
+def plugin_dir(tmp_path: Path) -> Generator[Path, None, None]:
+    """Creates a temporary plugin package structure."""
+    plugin_pkg = tmp_path / "test_plugin"
+    plugin_pkg.mkdir()
+    (plugin_pkg / "__init__.py").touch()
+
+    with open(plugin_pkg / "my_plugin.py", "w") as f:
+        f.write(create_plugin_code())
+
+    # Add tmp_path to Python path so we can import from it
+    sys.path.insert(0, str(tmp_path))
+    yield plugin_pkg
+    sys.path.pop(0)
+
+
+def test_parse_plugin_args():
+    cli_args = [
+        "--env.type=test",
+        "--model.discover_packages_path=some.package",
+        "--env.discover_packages_path=other.package",
+    ]
+    plugin_args = parse_plugin_args("discover_packages_path", cli_args)
+    assert plugin_args == {
+        "model.discover_packages_path": "some.package",
+        "env.discover_packages_path": "other.package",
+    }
+
+
+def test_load_plugin_success(plugin_dir: Path):
+    # Import should work and register the plugin with the real EnvConfig
+    load_plugin("test_plugin")
+
+    assert "test_env" in EnvConfig.get_known_choices()
+    plugin_cls = EnvConfig.get_choice_class("test_env")
+    plugin_instance = plugin_cls()
+    assert plugin_instance.value == 42
+
+
+def test_load_plugin_failure():
+    with pytest.raises(PluginLoadError) as exc_info:
+        load_plugin("nonexistent_plugin")
+    assert "Failed to load plugin 'nonexistent_plugin'" in str(exc_info.value)
+
+
+def test_wrap_with_plugin(plugin_dir: Path):
+    @dataclass
+    class Config:
+        env: EnvConfig
+
+    @wrap()
+    def dummy_func(cfg: Config):
+        return cfg
+
+    # Test loading plugin via CLI args
+    sys.argv = [
+        "dummy_script.py",
+        "--env.discover_packages_path=test_plugin",
+        "--env.type=test_env",
+    ]
+
+    cfg = dummy_func()
+    assert isinstance(cfg, Config)
+    assert isinstance(cfg.env, EnvConfig.get_choice_class("test_env"))
+    assert cfg.env.value == 42

tests/datasets/test_datasets.py

@@ -473,12 +473,12 @@ def test_flatten_unflatten_dict():
 )
 @require_x86_64_kernel
 def test_backward_compatibility(repo_id):
-    """The artifacts for this test have been generated by `tests/scripts/save_dataset_to_safetensors.py`."""
+    """The artifacts for this test have been generated by `tests/artifacts/datasets/save_dataset_to_safetensors.py`."""
 
     # TODO(rcadene, aliberts): remove dataset download
     dataset = LeRobotDataset(repo_id, episodes=[0])
 
-    test_dir = Path("tests/data/save_dataset_to_safetensors") / repo_id
+    test_dir = Path("tests/artifacts/datasets") / repo_id
 
     def load_and_compare(i):
         new_frame = dataset[i]  # noqa: B023

tests/datasets/test_image_transforms.py

@@ -33,7 +33,7 @@ from lerobot.scripts.visualize_image_transforms import (
     save_all_transforms,
     save_each_transform,
 )
-from tests.scripts.save_image_transforms_to_safetensors import ARTIFACT_DIR
+from tests.artifacts.image_transforms.save_image_transforms_to_safetensors import ARTIFACT_DIR
 from tests.utils import require_x86_64_kernel
 
 

tests/datasets/test_utils.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python
+
 # Copyright 2024 The HuggingFace Inc. team. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -11,13 +13,32 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+
 import torch
 from datasets import Dataset
+from huggingface_hub import DatasetCard
 
 from lerobot.common.datasets.push_dataset_to_hub.utils import calculate_episode_data_index
-from lerobot.common.datasets.utils import (
-    hf_transform_to_torch,
-)
+from lerobot.common.datasets.utils import create_lerobot_dataset_card, hf_transform_to_torch
+
+
+def test_default_parameters():
+    card = create_lerobot_dataset_card()
+    assert isinstance(card, DatasetCard)
+    assert card.data.tags == ["LeRobot"]
+    assert card.data.task_categories == ["robotics"]
+    assert card.data.configs == [
+        {
+            "config_name": "default",
+            "data_files": "data/*/*.parquet",
+        }
+    ]
+
+
+def test_with_tags():
+    tags = ["tag1", "tag2"]
+    card = create_lerobot_dataset_card(tags=tags)
+    assert card.data.tags == ["LeRobot", "tag1", "tag2"]
 
 
 def test_calculate_episode_data_index():

tests/envs/test_envs.py

@@ -23,8 +23,7 @@ from gymnasium.utils.env_checker import check_env
 import lerobot
 from lerobot.common.envs.factory import make_env, make_env_config
 from lerobot.common.envs.utils import preprocess_observation
-
-from .utils import require_env
+from tests.utils import require_env
 
 OBS_TYPES = ["state", "pixels", "pixels_agent_pos"]
 

tests/lerobot/common/datasets/test_utils.py

@@ -1,38 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from huggingface_hub import DatasetCard
-
-from lerobot.common.datasets.utils import create_lerobot_dataset_card
-
-
-def test_default_parameters():
-    card = create_lerobot_dataset_card()
-    assert isinstance(card, DatasetCard)
-    assert card.data.tags == ["LeRobot"]
-    assert card.data.task_categories == ["robotics"]
-    assert card.data.configs == [
-        {
-            "config_name": "default",
-            "data_files": "data/*/*.parquet",
-        }
-    ]
-
-
-def test_with_tags():
-    tags = ["tag1", "tag2"]
-    card = create_lerobot_dataset_card(tags=tags)
-    assert card.data.tags == ["LeRobot", "tag1", "tag2"]

tests/policies/test_policies.py

@@ -40,7 +40,7 @@ from lerobot.common.utils.random_utils import seeded_context
 from lerobot.configs.default import DatasetConfig
 from lerobot.configs.train import TrainPipelineConfig
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from tests.scripts.save_policy_to_safetensors import get_policy_stats
+from tests.artifacts.policies.save_policy_to_safetensors import get_policy_stats
 from tests.utils import DEVICE, require_cpu, require_env, require_x86_64_kernel
 
 
@@ -368,7 +368,7 @@ def test_normalize(insert_temporal_dim):
         # was changed to true. For some reason, tests would pass locally, but not in CI. So here we override
         # to test with `policy.use_mpc=false`.
         ("lerobot/xarm_lift_medium", "tdmpc", {"use_mpc": False}, "use_policy"),
-        ("lerobot/xarm_lift_medium", "tdmpc", {"use_mpc": True}, "use_mpc"),
+        # ("lerobot/xarm_lift_medium", "tdmpc", {"use_mpc": True}, "use_mpc"),
         # TODO(rcadene): the diffusion model was normalizing the image in mean=0.5 std=0.5 which is a hack supposed to
         # to normalize the image at all. In our current codebase we dont normalize at all. But there is still a minor difference
         # that fails the test. However, by testing to normalize the image with 0.5 0.5 in the current codebase, the test pass.
@@ -407,12 +407,10 @@ def test_backward_compatibility(ds_repo_id: str, policy_name: str, policy_kwargs
            should be updated.
         4. Check that this test now passes.
         5. Remember to restore `tests/scripts/save_policy_to_safetensors.py` to its original state.
-        6. Remember to stage and commit the resulting changes to `tests/data`.
+        6. Remember to stage and commit the resulting changes to `tests/artifacts`.
     """
     ds_name = ds_repo_id.split("/")[-1]
-    artifact_dir = (
-        Path("tests/data/save_policy_to_safetensors") / f"{ds_name}_{policy_name}_{file_name_extra}"
-    )
+    artifact_dir = Path("tests/artifacts/policies") / f"{ds_name}_{policy_name}_{file_name_extra}"
     saved_output_dict = load_file(artifact_dir / "output_dict.safetensors")
     saved_grad_stats = load_file(artifact_dir / "grad_stats.safetensors")
     saved_param_stats = load_file(artifact_dir / "param_stats.safetensors")

tests/robots/test_control_robot.py

@@ -51,7 +51,7 @@ from lerobot.common.robot_devices.control_configs import (
 )
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.scripts.control_robot import calibrate, record, replay, teleoperate
-from tests.test_robots import make_robot
+from tests.robots.test_robots import make_robot
 from tests.utils import TEST_ROBOT_TYPES, mock_calibration_dir, require_robot