Update teleop features & naming

lerobot/common/teleoperators/__init__.py

@@ -1,4 +1,3 @@
 from .config import TeleoperatorConfig
 from .teleoperator import Teleoperator
-
-__all__ = ["TeleoperatorConfig", "Teleoperator"]
+from .utils import make_teleoperator_from_config

lerobot/common/teleoperators/keyboard/teleop_keyboard.py

@@ -61,12 +61,15 @@ class KeyboardTeleop(Teleoperator):
         self.logs = {}
 
     @property
-    def action_feature(self) -> dict:
-        # TODO(Steven): Change this when we agree what should this return
-        ...
+    def action_features(self) -> dict:
+        return {
+            "dtype": "float32",
+            "shape": (len(self.arm),),
+            "names": {"motors": list(self.arm.motors)},
+        }
 
     @property
-    def feedback_feature(self) -> dict:
+    def feedback_features(self) -> dict:
         return {}
 
     @property

lerobot/common/teleoperators/koch_leader/koch_leader.py

@@ -58,15 +58,11 @@ class KochLeader(Teleoperator):
         )
 
     @property
-    def action_feature(self) -> dict:
-        return {
-            "dtype": "float32",
-            "shape": (len(self.arm),),
-            "names": {"motors": list(self.arm.motors)},
-        }
+    def action_features(self) -> dict[str, type]:
+        return {f"{motor}.pos": float for motor in self.arm.motors}
 
     @property
-    def feedback_feature(self) -> dict:
+    def feedback_features(self) -> dict[str, type]:
         return {}
 
     @property
@@ -158,6 +154,7 @@ class KochLeader(Teleoperator):
 
         start = time.perf_counter()
         action = self.arm.sync_read("Present_Position")
+        action = {f"{motor}.pos": val for motor, val in action.items()}
         dt_ms = (time.perf_counter() - start) * 1e3
         logger.debug(f"{self} read action: {dt_ms:.1f}ms")
         return action

lerobot/common/teleoperators/so100_leader/so100_leader.py

@@ -55,15 +55,11 @@ class SO100Leader(Teleoperator):
         )
 
     @property
-    def action_feature(self) -> dict:
-        return {
-            "dtype": "float32",
-            "shape": (len(self.arm),),
-            "names": {"motors": list(self.arm.motors)},
-        }
+    def action_features(self) -> dict[str, type]:
+        return {f"{motor}.pos": float for motor in self.arm.motors}
 
     @property
-    def feedback_feature(self) -> dict:
+    def feedback_features(self) -> dict[str, type]:
         return {}
 
     @property
@@ -133,6 +129,7 @@ class SO100Leader(Teleoperator):
     def get_action(self) -> dict[str, float]:
         start = time.perf_counter()
         action = self.arm.sync_read("Present_Position")
+        action = {f"{motor}.pos": val for motor, val in action.items()}
         dt_ms = (time.perf_counter() - start) * 1e3
         logger.debug(f"{self} read action: {dt_ms:.1f}ms")
         return action

lerobot/common/teleoperators/stretch3/__init__.py

@@ -1,4 +0,0 @@
-from .configuration_stretch3 import Stretch3GamePadConfig
-from .teleop_stretch3 import Stretch3GamePad
-
-__all__ = ["Stretch3GamePadConfig", "Stretch3GamePad"]

lerobot/common/teleoperators/stretch3_gamepad/__init__.py

@@ -0,0 +1,2 @@
+from .configuration_stretch3 import Stretch3GamePadConfig
+from .stretch3_gamepad import Stretch3GamePad

lerobot/common/teleoperators/stretch3_gamepad/stretch3_gamepad.py

@@ -73,7 +73,7 @@ class Stretch3GamePad(Teleoperator):
         RobotParams.set_logging_formatter("brief_console_formatter")
 
     @property
-    def action_feature(self) -> dict:
+    def action_features(self) -> dict:
         return {
             "dtype": "float32",
             "shape": (len(GAMEPAD_BUTTONS),),
@@ -81,7 +81,7 @@ class Stretch3GamePad(Teleoperator):
         }
 
     @property
-    def feedback_feature(self) -> dict:
+    def feedback_features(self) -> dict:
         return {}
 
     def connect(self) -> None:

lerobot/common/teleoperators/teleoperator.py

@@ -34,11 +34,11 @@ class Teleoperator(abc.ABC):
         return f"{self.id} {self.__class__.__name__}"
 
     @abc.abstractproperty
-    def action_feature(self) -> dict:
+    def action_features(self) -> dict:
         pass
 
     @abc.abstractproperty
-    def feedback_feature(self) -> dict:
+    def feedback_features(self) -> dict:
         pass
 
     @abc.abstractproperty

lerobot/common/teleoperators/widowx/widowx.py

@@ -58,15 +58,11 @@ class WidowX(Teleoperator):
         )
 
     @property
-    def action_feature(self) -> dict:
-        return {
-            "dtype": "float32",
-            "shape": (len(self.arm),),
-            "names": {"motors": list(self.arm.motors)},
-        }
+    def action_features(self) -> dict[str, type]:
+        return {f"{motor}.pos": float for motor in self.arm.motors}
 
     @property
-    def feedback_feature(self) -> dict:
+    def feedback_features(self) -> dict[str, type]:
         return {}
 
     @property
@@ -84,6 +80,10 @@ class WidowX(Teleoperator):
         self.configure()
         logger.info(f"{self} connected.")
 
+    @property
+    def is_calibrated(self) -> bool:
+        return self.arm.is_calibrated
+
     def calibrate(self) -> None:
         raise NotImplementedError  # TODO(aliberts): adapt code below (copied from koch)
         logger.info(f"\nRunning calibration of {self}")
@@ -137,7 +137,8 @@ class WidowX(Teleoperator):
             raise DeviceNotConnectedError(f"{self} is not connected.")
 
         start = time.perf_counter()
-        action = self.arm.read("Present_Position")
+        action = self.arm.sync_read("Present_Position")
+        action = {f"{motor}.pos": val for motor, val in action.items()}
         dt_ms = (time.perf_counter() - start) * 1e3
         logger.debug(f"{self} read action: {dt_ms:.1f}ms")
         return action