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Add FeetechMotorsBus, SO-100, Moss-v1 (#419)

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Co-authored-by: jess-moss <jess.moss@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Remi
2024-10-25 11:23:55 +02:00
committed by GitHub
parent 114870d703
commit 07e8716315
42 changed files with 2911 additions and 340 deletions
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49
tests/utils.py
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@@ -13,10 +13,12 @@
# 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 json
import os
import platform
from copy import copy
from functools import wraps
from pathlib import Path
import pytest
import torch
@@ -52,7 +54,7 @@ for motor_type in available_motors:
OPENCV_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_OPENCV_CAMERA_INDEX", 0))
INTELREALSENSE_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_INTELREALSENSE_CAMERA_INDEX", 128422271614))
DYNAMIXEL_PORT = "/dev/tty.usbmodem575E0032081"
DYNAMIXEL_PORT = os.environ.get("LEROBOT_TEST_DYNAMIXEL_PORT", "/dev/tty.usbmodem575E0032081")
DYNAMIXEL_MOTORS = {
"shoulder_pan": [1, "xl430-w250"],
"shoulder_lift": [2, "xl430-w250"],
@@ -62,6 +64,16 @@ DYNAMIXEL_MOTORS = {
"gripper": [6, "xl330-m288"],
}
FEETECH_PORT = os.environ.get("LEROBOT_TEST_FEETECH_PORT", "/dev/tty.usbmodem585A0080971")
FEETECH_MOTORS = {
"shoulder_pan": [1, "sts3215"],
"shoulder_lift": [2, "sts3215"],
"elbow_flex": [3, "sts3215"],
"wrist_flex": [4, "sts3215"],
"wrist_roll": [5, "sts3215"],
"gripper": [6, "sts3215"],
}
def require_x86_64_kernel(func):
"""
@@ -271,13 +283,39 @@ def require_motor(func):
return wrapper
def mock_calibration_dir(calibration_dir):
# TODO(rcadene): remove this hack
# calibration file produced with Moss v1, but works with Koch, Koch bimanual and SO-100
example_calib = {
"homing_offset": [-1416, -845, 2130, 2872, 1950, -2211],
"drive_mode": [0, 0, 1, 1, 1, 0],
"start_pos": [1442, 843, 2166, 2849, 1988, 1835],
"end_pos": [2440, 1869, -1106, -1848, -926, 3235],
"calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"],
"motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
}
Path(str(calibration_dir)).mkdir(parents=True, exist_ok=True)
with open(calibration_dir / "main_follower.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "main_leader.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "left_follower.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "left_leader.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "right_follower.json", "w") as f:
json.dump(example_calib, f)
with open(calibration_dir / "right_leader.json", "w") as f:
json.dump(example_calib, f)
def make_robot(robot_type: str, overrides: list[str] | None = None, mock=False) -> Robot:
if mock:
overrides = [] if overrides is None else copy(overrides)
# Explicitely add mock argument to the cameras and set it to true
# TODO(rcadene, aliberts): redesign when we drop hydra
if robot_type == "koch":
if robot_type in ["koch", "so100", "moss"]:
overrides.append("+leader_arms.main.mock=true")
overrides.append("+follower_arms.main.mock=true")
if "~cameras" not in overrides:
@@ -338,5 +376,12 @@ def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
motors = kwargs.pop("motors", DYNAMIXEL_MOTORS)
return DynamixelMotorsBus(port, motors, **kwargs)
elif motor_type == "feetech":
from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus
port = kwargs.pop("port", FEETECH_PORT)
motors = kwargs.pop("motors", FEETECH_MOTORS)
return FeetechMotorsBus(port, motors, **kwargs)
else:
raise ValueError(f"The motor type '{motor_type}' is not valid.")