Merge branch 'user/aliberts/2025_02_25_refactor_robots' into refactor/camera_implementations_and_tests_improvements

lerobot/common/envs/configs.py

@@ -32,7 +32,8 @@ class EnvConfig(draccus.ChoiceRegistry, abc.ABC):
     def type(self) -> str:
         return self.get_choice_name(self.__class__)
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def gym_kwargs(self) -> dict:
         raise NotImplementedError()
 

lerobot/common/motors/motors_bus.py

@@ -749,7 +749,10 @@ class MotorsBus(abc.ABC):
                 # Move cursor up to overwrite the previous output
                 move_cursor_up(len(motors) + 3)
 
-        # TODO(Steven, aliberts): add check to ensure mins and maxes are different
+        same_min_max = [motor for motor in motors if mins[motor] == maxes[motor]]
+        if same_min_max:
+            raise ValueError(f"Some motors have the same min and max values:\n{pformat(same_min_max)}")
+
         return mins, maxes
 
     def _normalize(self, data_name: str, ids_values: dict[int, int]) -> dict[int, float]:

lerobot/common/robots/lekiwi/lekiwi.py

@@ -16,6 +16,7 @@
 
 import logging
 import time
+from itertools import chain
 from typing import Any
 
 from lerobot.common.cameras.utils import make_cameras_from_configs
@@ -183,6 +184,12 @@ class LeKiwi(Robot):
 
         self.bus.enable_torque()
 
+    def setup_motors(self) -> None:
+        for motor in chain(reversed(self.arm_motors), reversed(self.base_motors)):
+            input(f"Connect the controller board to the '{motor}' motor only and press enter.")
+            self.bus.setup_motor(motor)
+            print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
+
     def get_observation(self) -> dict[str, Any]:
         if not self.is_connected:
             raise DeviceNotConnectedError(f"{self} is not connected.")

lerobot/common/robots/robot.py

@@ -49,15 +49,18 @@ class Robot(abc.ABC):
         return f"{self.id} {self.__class__.__name__}"
 
     # TODO(aliberts): create a proper Feature class for this that links with datasets
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def observation_features(self) -> dict:
         pass
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def action_features(self) -> dict:
         pass
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def is_connected(self) -> bool:
         pass
 
@@ -66,7 +69,8 @@ class Robot(abc.ABC):
         """Connects to the robot."""
         pass
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def is_calibrated(self) -> bool:
         pass
 

lerobot/common/teleoperators/teleoperator.py

@@ -47,15 +47,18 @@ class Teleoperator(abc.ABC):
     def __str__(self) -> str:
         return f"{self.id} {self.__class__.__name__}"
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def action_features(self) -> dict:
         pass
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def feedback_features(self) -> dict:
         pass
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def is_connected(self) -> bool:
         pass
 
@@ -64,7 +67,8 @@ class Teleoperator(abc.ABC):
         """Connects to the teleoperator."""
         pass
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def is_calibrated(self) -> bool:
         pass