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Add Motor in dxl robots

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This commit is contained in:
Simon Alibert
2025-03-23 11:08:20 +01:00
parent e047074825
commit 1f1e1bcfe8
8 changed files with 38 additions and 61 deletions
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14
lerobot/common/teleoperators/koch/teleop_koch.py
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@@ -21,7 +21,7 @@ import time
import numpy as np
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import TorqueMode
from lerobot.common.motors import CalibrationMode, Motor, TorqueMode
from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus,
run_arm_calibration,
@@ -49,12 +49,12 @@ class KochTeleop(Teleoperator):
self.arm = DynamixelMotorsBus(
port=self.config.port,
motors={
"shoulder_pan": (1, "xl330-m077"),
"shoulder_lift": (2, "xl330-m077"),
"elbow_flex": (3, "xl330-m077"),
"wrist_flex": (4, "xl330-m077"),
"wrist_roll": (5, "xl330-m077"),
"gripper": (6, "xl330-m077"),
"shoulder_pan": Motor(1, "xl330-m077", CalibrationMode.RANGE_M100_100),
"shoulder_lift": Motor(2, "xl330-m077", CalibrationMode.RANGE_M100_100),
"elbow_flex": Motor(3, "xl330-m077", CalibrationMode.RANGE_M100_100),
"wrist_flex": Motor(4, "xl330-m077", CalibrationMode.RANGE_M100_100),
"wrist_roll": Motor(5, "xl330-m077", CalibrationMode.RANGE_M100_100),
"gripper": Motor(6, "xl330-m077", CalibrationMode.RANGE_0_100),
},
)

11
lerobot/common/teleoperators/widowx/configuration_widowx.py
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@@ -36,14 +36,3 @@ class WidowXTeleopConfig(TeleoperatorConfig):
# first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml),
# then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
max_relative_target: int | None = 5
# motors
waist: tuple = (1, "xm430-w350")
shoulder: tuple = (2, "xm430-w350")
shoulder_shadow: tuple = (3, "xm430-w350")
elbow: tuple = (4, "xm430-w350")
elbow_shadow: tuple = (5, "xm430-w350")
forearm_roll: tuple = (6, "xm430-w350")
wrist_angle: tuple = (7, "xm430-w350")
wrist_rotate: tuple = (8, "xl430-w250")
gripper: tuple = (9, "xc430-w150")

20
lerobot/common/teleoperators/widowx/teleop_widowx.py
View File

@@ -21,7 +21,7 @@ import time
import numpy as np
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import TorqueMode
from lerobot.common.motors import CalibrationMode, Motor, TorqueMode
from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus,
run_arm_calibration,
@@ -47,15 +47,15 @@ class WidowXTeleop(Teleoperator):
self.arm = DynamixelMotorsBus(
port=self.config.port,
motors={
"waist": config.waist,
"shoulder": config.shoulder,
"shoulder_shadow": config.shoulder_shadow,
"elbow": config.elbow,
"elbow_shadow": config.elbow_shadow,
"forearm_roll": config.forearm_roll,
"wrist_angle": config.wrist_angle,
"wrist_rotate": config.wrist_rotate,
"gripper": config.gripper,
"waist": Motor(1, "xm430-w350", CalibrationMode.RANGE_M100_100),
"shoulder": Motor(2, "xm430-w350", CalibrationMode.RANGE_M100_100),
"shoulder_shadow": Motor(3, "xm430-w350", CalibrationMode.RANGE_M100_100),
"elbow": Motor(4, "xm430-w350", CalibrationMode.RANGE_M100_100),
"elbow_shadow": Motor(5, "xm430-w350", CalibrationMode.RANGE_M100_100),
"forearm_roll": Motor(6, "xm430-w350", CalibrationMode.RANGE_M100_100),
"wrist_angle": Motor(7, "xm430-w350", CalibrationMode.RANGE_M100_100),
"wrist_rotate": Motor(8, "xl430-w250", CalibrationMode.RANGE_M100_100),
"gripper": Motor(9, "xc430-w150", CalibrationMode.RANGE_0_100),
},
)