tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Add drive_mode & norm_mode in glove calibration

Browse Source
This commit is contained in:
Simon Alibert
2025-05-22 11:19:06 +02:00
parent 1572e9b2aa
commit 0f34b4b1bd
2 changed files with 29 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
lerobot/common/robots/hope_jr/__init__.py
View File

@@ -1,3 +1,4 @@
from .config_hope_jr import HopeJrArmConfig, HopeJrHandConfig
from .hope_jr_arm import HopeJrArm
from .hope_jr_hand import HopeJrHand
from .joints_translation import homonculus_glove_to_hope_jr_hand

54
lerobot/common/teleoperators/homonculus/homonculus_glove.py
View File

@@ -24,6 +24,7 @@ import serial
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import MotorCalibration
from lerobot.common.motors.motors_bus import MotorNormMode
from lerobot.common.utils.utils import enter_pressed, move_cursor_up
from ..teleoperator import Teleoperator
@@ -55,32 +56,33 @@ class HomonculusGlove(Teleoperator):
self.config = config
self.serial = serial.Serial(config.port, config.baud_rate, timeout=1)
self.joints = [
"thumb_cmc",
"thumb_mcp",
"thumb_pip",
"thumb_dip",
"index_mcp_abduction",
"index_mcp_flexion",
"index_dip",
"middle_mcp_abduction",
"middle_mcp_flexion",
"middle_dip",
"ring_mcp_abduction",
"ring_mcp_flexion",
"ring_dip",
"pinky_mcp_abduction",
"pinky_mcp_flexion",
"pinky_dip",
]
self.joints = {
"thumb_cmc": MotorNormMode.RANGE_0_100,
"thumb_mcp": MotorNormMode.RANGE_0_100,
"thumb_pip": MotorNormMode.RANGE_0_100,
"thumb_dip": MotorNormMode.RANGE_0_100,
"index_mcp_abduction": MotorNormMode.RANGE_M100_100,
"index_mcp_flexion": MotorNormMode.RANGE_0_100,
"index_dip": MotorNormMode.RANGE_0_100,
"middle_mcp_abduction": MotorNormMode.RANGE_M100_100,
"middle_mcp_flexion": MotorNormMode.RANGE_0_100,
"middle_dip": MotorNormMode.RANGE_0_100,
"ring_mcp_abduction": MotorNormMode.RANGE_M100_100,
"ring_mcp_flexion": MotorNormMode.RANGE_0_100,
"ring_dip": MotorNormMode.RANGE_0_100,
"pinky_mcp_abduction": MotorNormMode.RANGE_M100_100,
"pinky_mcp_flexion": MotorNormMode.RANGE_0_100,
"pinky_dip": MotorNormMode.RANGE_0_100,
}
self.inverted_joints = [
"thumb_cmc",
"thumb_dip",
"index_mcp_abduction",
"index_dip",
"middle_mcp_abduction",
"middle_dip",
"ring_dip",
"pinky_mcp_abduction",
"pinky_dip",
]
# self._state = dict.fromkeys(self.joints, 100)
@@ -187,7 +189,6 @@ class HomonculusGlove(Teleoperator):
if same_min_max:
raise ValueError(f"Some joints have the same min and max values:\n{pformat(same_min_max)}")
# TODO(Steven, aliberts): add check to ensure mins and maxes are different
return mins, maxes
def configure(self) -> None:
@@ -207,11 +208,6 @@ class HomonculusGlove(Teleoperator):
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 joints is None:
# joints = self.motor_names
# # Convert from unsigned int32 original range [0, 2**32] to signed float32 range
# values = values.astype(np.float32)
if not self.calibration:
raise RuntimeError(f"{self} has no calibration registered.")
@@ -220,9 +216,15 @@ class HomonculusGlove(Teleoperator):
for joint, val in values.items():
min_ = self.calibration[joint].range_min
max_ = self.calibration[joint].range_max
drive_mode = self.calibration[joint].drive_mode
bounded_val = min(max_, max(min_, val))
normalized_values[joint] = ((bounded_val - min_) / (max_ - min_)) * 100
if self.joints[joint] is MotorNormMode.RANGE_M100_100:
norm = (((bounded_val - min_) / (max_ - min_)) * 200) - 100
normalized_values[joint] = -norm if drive_mode else norm
elif self.joints[joint] is MotorNormMode.RANGE_0_100:
norm = ((bounded_val - min_) / (max_ - min_)) * 100
normalized_values[joint] = 100 - norm if drive_mode else norm
return normalized_values