forked from tangger/lerobot
199 lines
7.5 KiB
Python
199 lines
7.5 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import logging
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import time
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from functools import cached_property
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from typing import Any
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from lerobot.common.cameras.utils import make_cameras_from_configs
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from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
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from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode
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from lerobot.common.motors.feetech import (
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FeetechMotorsBus,
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OperatingMode,
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)
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from ..robot import Robot
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from .config_hope_jr import HopeJrHandConfig
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logger = logging.getLogger(__name__)
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class HopeJrHand(Robot):
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config_class = HopeJrHandConfig
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name = "hope_jr_hand"
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def __init__(self, config: HopeJrHandConfig):
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super().__init__(config)
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self.config = config
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self.bus = FeetechMotorsBus(
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port=self.config.port,
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motors={
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# Thumb
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"thumb_basel_rotation": Motor(1, "scs0009", MotorNormMode.RANGE_M100_100),
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"thumb_mcp": Motor(2, "scs0009", MotorNormMode.RANGE_M100_100),
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"thumb_pip": Motor(3, "scs0009", MotorNormMode.RANGE_M100_100),
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"thumb_dip": Motor(4, "scs0009", MotorNormMode.RANGE_M100_100),
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# Index
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"index_thumb_side": Motor(5, "scs0009", MotorNormMode.RANGE_M100_100),
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"index_pinky_side": Motor(6, "scs0009", MotorNormMode.RANGE_M100_100),
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"index_flexor": Motor(7, "scs0009", MotorNormMode.RANGE_M100_100),
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# Middle
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"middle_thumb_side": Motor(8, "scs0009", MotorNormMode.RANGE_M100_100),
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"middle_pinky_side": Motor(9, "scs0009", MotorNormMode.RANGE_M100_100),
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"middle_flexor": Motor(10, "scs0009", MotorNormMode.RANGE_M100_100),
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# Ring
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"ring_thumb_side": Motor(11, "scs0009", MotorNormMode.RANGE_M100_100),
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"ring_pinky_side": Motor(12, "scs0009", MotorNormMode.RANGE_M100_100),
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"ring_flexor": Motor(13, "scs0009", MotorNormMode.RANGE_M100_100),
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# Pinky
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"pinky_thumb_side": Motor(14, "scs0009", MotorNormMode.RANGE_M100_100),
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"pinky_pinky_side": Motor(15, "scs0009", MotorNormMode.RANGE_M100_100),
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"pinky_flexor": Motor(16, "scs0009", MotorNormMode.RANGE_M100_100),
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},
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calibration=self.calibration,
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protocol_version=1,
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)
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self.cameras = make_cameras_from_configs(config.cameras)
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@property
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def _motors_ft(self) -> dict[str, type]:
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return {f"{motor}.pos": float for motor in self.bus.motors}
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@property
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def _cameras_ft(self) -> dict[str, tuple]:
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return {
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cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
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}
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@cached_property
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def observation_features(self) -> dict[str, type | tuple]:
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return {**self._motors_ft, **self._cameras_ft}
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@cached_property
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def action_features(self) -> dict[str, type]:
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return self._motors_ft
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@property
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def is_connected(self) -> bool:
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# TODO(aliberts): add cam.is_connected for cam in self.cameras
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return self.bus.is_connected
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def connect(self) -> None:
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if self.is_connected:
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raise DeviceAlreadyConnectedError(f"{self} already connected")
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self.bus.connect()
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if not self.is_calibrated:
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self.calibrate()
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# Connect the cameras
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for cam in self.cameras.values():
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cam.connect()
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self.configure()
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logger.info(f"{self} connected.")
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@property
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def is_calibrated(self) -> bool:
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return self.bus.is_calibrated
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def calibrate(self) -> None:
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raise NotImplementedError # TODO(aliberts): adapt code below (copied from koch)
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logger.info(f"\nRunning calibration of {self}")
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self.bus.disable_torque()
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for name in self.bus.names:
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self.bus.write("Operating_Mode", name, OperatingMode.POSITION.value)
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input("Move robot to the middle of its range of motion and press ENTER....")
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homing_offsets = self.bus.set_half_turn_homings()
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full_turn_motor = "wrist_roll"
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unknown_range_motors = [name for name in self.bus.names if name != full_turn_motor]
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logger.info(
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f"Move all joints except '{full_turn_motor}' sequentially through their "
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"entire ranges of motion.\nRecording positions. Press ENTER to stop..."
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)
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range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
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range_mins[full_turn_motor] = 0
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range_maxes[full_turn_motor] = 4095
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self.calibration = {}
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for name, motor in self.bus.motors.items():
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self.calibration[name] = MotorCalibration(
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id=motor.id,
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drive_mode=0,
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homing_offset=homing_offsets[name],
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range_min=range_mins[name],
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range_max=range_maxes[name],
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)
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self.bus.write_calibration(self.calibration)
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self._save_calibration()
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print("Calibration saved to", self.calibration_fpath)
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def configure(self) -> None:
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with self.bus.torque_disabled():
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self.bus.configure_motors()
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# TODO
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def setup_motors(self) -> None:
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for motor in self.bus.motors:
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input(f"Connect the controller board to the '{motor}' motor only and press enter.")
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self.bus.setup_motor(motor)
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print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
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def get_observation(self) -> dict[str, Any]:
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if not self.is_connected:
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raise DeviceNotConnectedError(f"{self} is not connected.")
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obs_dict = {}
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# Read hand position
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start = time.perf_counter()
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for motor in self.bus.motors:
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obs_dict[f"{motor}.pos"] = self.bus.read("Present_Position", motor, normalize=False)
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dt_ms = (time.perf_counter() - start) * 1e3
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logger.debug(f"{self} read state: {dt_ms:.1f}ms")
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# Capture images from cameras
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for cam_key, cam in self.cameras.items():
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start = time.perf_counter()
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obs_dict[cam_key] = cam.async_read()
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dt_ms = (time.perf_counter() - start) * 1e3
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logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
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return obs_dict
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def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
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if not self.is_connected:
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raise DeviceNotConnectedError(f"{self} is not connected.")
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goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
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self.bus.sync_write("Goal_Position", goal_pos)
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return action
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def disconnect(self):
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if not self.is_connected:
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raise DeviceNotConnectedError(f"{self} is not connected.")
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self.bus.disconnect(self.config.disable_torque_on_disconnect)
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for cam in self.cameras.values():
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cam.disconnect()
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logger.info(f"{self} disconnected.")
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