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Add calibrate

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This commit is contained in:
Simon Alibert
2025-05-08 18:27:19 +02:00
parent dd3e305164
commit 64303781c2
14 changed files with 91 additions and 20 deletions
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60
lerobot/calibrate.py Normal file
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@@ -0,0 +1,60 @@
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# 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 logging
from dataclasses import asdict, dataclass
from pprint import pformat
import draccus
from lerobot.common.cameras import intel, opencv # noqa: F401
from lerobot.common.robots import ( # noqa: F401
Robot,
RobotConfig,
koch_follower,
make_robot_from_config,
so100_follower,
)
from lerobot.common.teleoperators import ( # noqa: F401
Teleoperator,
TeleoperatorConfig,
make_teleoperator_from_config,
)
from lerobot.common.utils.utils import init_logging
from .common.teleoperators import koch_leader, so100_leader # noqa: F401
@dataclass
class CalibrateConfig:
device: RobotConfig | TeleoperatorConfig
@draccus.wrap()
def calibrate(cfg: CalibrateConfig):
init_logging()
logging.info(pformat(asdict(cfg)))
if isinstance(cfg.device, RobotConfig):
device = make_robot_from_config(cfg.device)
elif isinstance(cfg.device, TeleoperatorConfig):
device = make_teleoperator_from_config(cfg.device)
device.connect(calibrate=False)
device.calibrate()
device.disconnect()
if __name__ == "__main__":
calibrate()

4
lerobot/common/robots/koch_follower/koch_follower.py
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@@ -85,7 +85,7 @@ class KochFollower(Robot):
# TODO(aliberts): add cam.is_connected for cam in self.cameras
return self.arm.is_connected
def connect(self) -> None:
def connect(self, calibrate: bool = True) -> None:
"""
We assume that at connection time, arm is in a rest position,
and torque can be safely disabled to run calibration.
@@ -94,7 +94,7 @@ class KochFollower(Robot):
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.arm.connect()
if not self.is_calibrated:
if not self.is_calibrated and calibrate:
self.calibrate()
for cam in self.cameras.values():

4
lerobot/common/robots/lekiwi/lekiwi.py
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@@ -104,12 +104,12 @@ class LeKiwi(Robot):
# TODO(aliberts): add cam.is_connected for cam in self.cameras
return self.bus.is_connected
def connect(self) -> None:
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect()
if not self.is_calibrated:
if not self.is_calibrated and calibrate:
self.calibrate()
for cam in self.cameras.values():

4
lerobot/common/robots/moss_follower/moss_follower.py
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@@ -82,7 +82,7 @@ class MossRobot(Robot):
# TODO(aliberts): add cam.is_connected for cam in self.cameras
return self.arm.is_connected
def connect(self) -> None:
def connect(self, calibrate: bool = True) -> None:
"""
We assume that at connection time, arm is in a rest position,
and torque can be safely disabled to run calibration.
@@ -91,7 +91,7 @@ class MossRobot(Robot):
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.arm.connect()
if not self.is_calibrated:
if not self.is_calibrated and calibrate:
self.calibrate()
# Connect the cameras

2
lerobot/common/robots/robot.py
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@@ -48,7 +48,7 @@ class Robot(abc.ABC):
pass
@abc.abstractmethod
def connect(self) -> None:
def connect(self, calibrate: bool = True) -> None:
"""Connects to the robot."""
pass

4
lerobot/common/robots/so100_follower/so100_follower.py
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@@ -82,7 +82,7 @@ class SO100Follower(Robot):
# TODO(aliberts): add cam.is_connected for cam in self.cameras
return self.arm.is_connected
def connect(self) -> None:
def connect(self, calibrate: bool = True) -> None:
"""
We assume that at connection time, arm is in a rest position,
and torque can be safely disabled to run calibration.
@@ -91,7 +91,7 @@ class SO100Follower(Robot):
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.arm.connect()
if not self.is_calibrated:
if not self.is_calibrated and calibrate:
self.calibrate()
# Connect the cameras

4
lerobot/common/robots/viperx/viperx.py
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@@ -78,7 +78,7 @@ class ViperX(Robot):
# TODO(aliberts): add cam.is_connected for cam in self.cameras
return self.arm.is_connected
def connect(self) -> None:
def connect(self, calibrate: bool = True) -> None:
"""
We assume that at connection time, arm is in a rest position,
and torque can be safely disabled to run calibration.
@@ -87,7 +87,7 @@ class ViperX(Robot):
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.arm.connect()
if not self.is_calibrated:
if not self.is_calibrated and calibrate:
self.calibrate()
for cam in self.cameras.values():

4
lerobot/common/teleoperators/koch_leader/koch_leader.py
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@@ -69,12 +69,12 @@ class KochLeader(Teleoperator):
def is_connected(self) -> bool:
return self.arm.is_connected
def connect(self) -> None:
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.arm.connect()
if not self.is_calibrated:
if not self.is_calibrated and calibrate:
self.calibrate()
self.configure()

4
lerobot/common/teleoperators/so100_leader/so100_leader.py
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@@ -66,12 +66,12 @@ class SO100Leader(Teleoperator):
def is_connected(self) -> bool:
return self.arm.is_connected
def connect(self) -> None:
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.arm.connect()
if not self.is_calibrated:
if not self.is_calibrated and calibrate:
self.calibrate()
self.configure()

2
lerobot/common/teleoperators/teleoperator.py
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@@ -46,7 +46,7 @@ class Teleoperator(abc.ABC):
pass
@abc.abstractmethod
def connect(self) -> None:
def connect(self, calibrate: bool = True) -> None:
"""Connects to the teleoperator."""
pass

4
lerobot/common/teleoperators/widowx/widowx.py
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@@ -69,12 +69,12 @@ class WidowX(Teleoperator):
def is_connected(self) -> bool:
return self.arm.is_connected
def connect(self):
def connect(self, calibrate: bool = True):
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.arm.connect()
if not self.is_calibrated:
if not self.is_calibrated and calibrate:
self.calibrate()
self.configure()

4
tests/mocks/mock_robot.py
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@@ -67,11 +67,13 @@ class MockRobot(Robot):
def is_connected(self) -> bool:
return self._is_connected
def connect(self) -> None:
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self._is_connected = True
if calibrate:
self.calibrate()
@property
def is_calibrated(self) -> bool:

4
tests/mocks/mock_teleop.py
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@@ -51,11 +51,13 @@ class MockTeleop(Teleoperator):
def is_connected(self) -> bool:
return self._is_connected
def connect(self) -> None:
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self._is_connected = True
if calibrate:
self.calibrate()
@property
def is_calibrated(self) -> bool:

7
tests/test_control_robot.py
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@@ -1,5 +1,6 @@
import time
from lerobot.calibrate import CalibrateConfig, calibrate
from lerobot.record import DatasetRecordConfig, RecordConfig, record
from lerobot.replay import DatasetReplayConfig, ReplayConfig, replay
from lerobot.teleoperate import TeleoperateConfig, teleoperate
@@ -8,6 +9,12 @@ from tests.mocks.mock_robot import MockRobotConfig
from tests.mocks.mock_teleop import MockTeleopConfig
def test_calibrate():
robot_cfg = MockRobotConfig()
cfg = CalibrateConfig(device=robot_cfg)
calibrate(cfg)
def test_teleoperate():
robot_cfg = MockRobotConfig()
teleop_cfg = MockTeleopConfig()