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

.cache/calibration/aloha_default/left_follower.json

@@ -1,68 +0,0 @@
-{
-    "homing_offset": [
-        2048,
-        3072,
-        3072,
-        -1024,
-        -1024,
-        2048,
-        -2048,
-        2048,
-        -2048
-    ],
-    "drive_mode": [
-        1,
-        1,
-        1,
-        0,
-        0,
-        1,
-        0,
-        1,
-        0
-    ],
-    "start_pos": [
-        2015,
-        3058,
-        3061,
-        1071,
-        1071,
-        2035,
-        2152,
-        2029,
-        2499
-    ],
-    "end_pos": [
-        -1008,
-        -1963,
-        -1966,
-        2141,
-        2143,
-        -971,
-        3043,
-        -1077,
-        3144
-    ],
-    "calib_mode": [
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "LINEAR"
-    ],
-    "motor_names": [
-        "waist",
-        "shoulder",
-        "shoulder_shadow",
-        "elbow",
-        "elbow_shadow",
-        "forearm_roll",
-        "wrist_angle",
-        "wrist_rotate",
-        "gripper"
-    ]
-}

.cache/calibration/aloha_default/left_leader.json

@@ -1,68 +0,0 @@
-{
-    "homing_offset": [
-        2048,
-        3072,
-        3072,
-        -1024,
-        -1024,
-        2048,
-        -2048,
-        2048,
-        -1024
-    ],
-    "drive_mode": [
-        1,
-        1,
-        1,
-        0,
-        0,
-        1,
-        0,
-        1,
-        0
-    ],
-    "start_pos": [
-        2035,
-        3024,
-        3019,
-        979,
-        981,
-        1982,
-        2166,
-        2124,
-        1968
-    ],
-    "end_pos": [
-        -990,
-        -2017,
-        -2015,
-        2078,
-        2076,
-        -1030,
-        3117,
-        -1016,
-        2556
-    ],
-    "calib_mode": [
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "LINEAR"
-    ],
-    "motor_names": [
-        "waist",
-        "shoulder",
-        "shoulder_shadow",
-        "elbow",
-        "elbow_shadow",
-        "forearm_roll",
-        "wrist_angle",
-        "wrist_rotate",
-        "gripper"
-    ]
-}

.cache/calibration/aloha_default/right_follower.json

@@ -1,68 +0,0 @@
-{
-    "homing_offset": [
-        2048,
-        3072,
-        3072,
-        -1024,
-        -1024,
-        2048,
-        -2048,
-        2048,
-        -2048
-    ],
-    "drive_mode": [
-        1,
-        1,
-        1,
-        0,
-        0,
-        1,
-        0,
-        1,
-        0
-    ],
-    "start_pos": [
-        2056,
-        2895,
-        2896,
-        1191,
-        1190,
-        2018,
-        2051,
-        2056,
-        2509
-    ],
-    "end_pos": [
-        -1040,
-        -2004,
-        -2006,
-        2126,
-        2127,
-        -1010,
-        3050,
-        -1117,
-        3143
-    ],
-    "calib_mode": [
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "LINEAR"
-    ],
-    "motor_names": [
-        "waist",
-        "shoulder",
-        "shoulder_shadow",
-        "elbow",
-        "elbow_shadow",
-        "forearm_roll",
-        "wrist_angle",
-        "wrist_rotate",
-        "gripper"
-    ]
-}

.cache/calibration/aloha_default/right_leader.json

@@ -1,68 +0,0 @@
-{
-    "homing_offset": [
-        2048,
-        3072,
-        3072,
-        -1024,
-        -1024,
-        2048,
-        -2048,
-        2048,
-        -2048
-    ],
-    "drive_mode": [
-        1,
-        1,
-        1,
-        0,
-        0,
-        1,
-        0,
-        1,
-        0
-    ],
-    "start_pos": [
-        2068,
-        3034,
-        3030,
-        1038,
-        1041,
-        1991,
-        1948,
-        2090,
-        1985
-    ],
-    "end_pos": [
-        -1025,
-        -2014,
-        -2015,
-        2058,
-        2060,
-        -955,
-        3091,
-        -940,
-        2576
-    ],
-    "calib_mode": [
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "DEGREE",
-        "LINEAR"
-    ],
-    "motor_names": [
-        "waist",
-        "shoulder",
-        "shoulder_shadow",
-        "elbow",
-        "elbow_shadow",
-        "forearm_roll",
-        "wrist_angle",
-        "wrist_rotate",
-        "gripper"
-    ]
-}

.gitignore

@@ -11,7 +11,10 @@
 # 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.
+
+# Dev scripts
 .dev
+
 # Logging
 logs
 tmp
@@ -91,10 +94,8 @@ coverage.xml
 .hypothesis/
 .pytest_cache/
 
-# Ignore .cache except calibration
+# Ignore .cache
 .cache/*
-!.cache/calibration/
-!.cache/calibration/**
 
 # Translations
 *.mo

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
 

lerobot/configs/policies.py

@@ -78,15 +78,18 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
     def type(self) -> str:
         return self.get_choice_name(self.__class__)
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def observation_delta_indices(self) -> list | None:
         raise NotImplementedError
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def action_delta_indices(self) -> list | None:
         raise NotImplementedError
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def reward_delta_indices(self) -> list | None:
         raise NotImplementedError
 

tests/mocks/mock_motors_bus.py

@@ -0,0 +1,137 @@
+# ruff: noqa: N802
+
+from lerobot.common.motors.motors_bus import (
+    Motor,
+    MotorsBus,
+)
+
+DUMMY_CTRL_TABLE_1 = {
+    "Firmware_Version": (0, 1),
+    "Model_Number": (1, 2),
+    "Present_Position": (3, 4),
+    "Goal_Position": (11, 2),
+}
+
+DUMMY_CTRL_TABLE_2 = {
+    "Model_Number": (0, 2),
+    "Firmware_Version": (2, 1),
+    "Present_Position": (3, 4),
+    "Present_Velocity": (7, 4),
+    "Goal_Position": (11, 4),
+    "Goal_Velocity": (15, 4),
+    "Lock": (19, 1),
+}
+
+DUMMY_MODEL_CTRL_TABLE = {
+    "model_1": DUMMY_CTRL_TABLE_1,
+    "model_2": DUMMY_CTRL_TABLE_2,
+    "model_3": DUMMY_CTRL_TABLE_2,
+}
+
+DUMMY_BAUDRATE_TABLE = {
+    0: 1_000_000,
+    1: 500_000,
+    2: 250_000,
+}
+
+DUMMY_MODEL_BAUDRATE_TABLE = {
+    "model_1": DUMMY_BAUDRATE_TABLE,
+    "model_2": DUMMY_BAUDRATE_TABLE,
+    "model_3": DUMMY_BAUDRATE_TABLE,
+}
+
+DUMMY_ENCODING_TABLE = {
+    "Present_Position": 8,
+    "Goal_Position": 10,
+}
+
+DUMMY_MODEL_ENCODING_TABLE = {
+    "model_1": DUMMY_ENCODING_TABLE,
+    "model_2": DUMMY_ENCODING_TABLE,
+    "model_3": DUMMY_ENCODING_TABLE,
+}
+
+DUMMY_MODEL_NUMBER_TABLE = {
+    "model_1": 1234,
+    "model_2": 5678,
+    "model_3": 5799,
+}
+
+DUMMY_MODEL_RESOLUTION_TABLE = {
+    "model_1": 4096,
+    "model_2": 1024,
+    "model_3": 4096,
+}
+
+
+class MockPortHandler:
+    def __init__(self, port_name):
+        self.is_open: bool = False
+        self.baudrate: int
+        self.packet_start_time: float
+        self.packet_timeout: float
+        self.tx_time_per_byte: float
+        self.is_using: bool = False
+        self.port_name: str = port_name
+        self.ser = None
+
+    def openPort(self):
+        self.is_open = True
+        return self.is_open
+
+    def closePort(self):
+        self.is_open = False
+
+    def clearPort(self): ...
+    def setPortName(self, port_name):
+        self.port_name = port_name
+
+    def getPortName(self):
+        return self.port_name
+
+    def setBaudRate(self, baudrate):
+        self.baudrate: baudrate
+
+    def getBaudRate(self):
+        return self.baudrate
+
+    def getBytesAvailable(self): ...
+    def readPort(self, length): ...
+    def writePort(self, packet): ...
+    def setPacketTimeout(self, packet_length): ...
+    def setPacketTimeoutMillis(self, msec): ...
+    def isPacketTimeout(self): ...
+    def getCurrentTime(self): ...
+    def getTimeSinceStart(self): ...
+    def setupPort(self, cflag_baud): ...
+    def getCFlagBaud(self, baudrate): ...
+
+
+class MockMotorsBus(MotorsBus):
+    available_baudrates = [500_000, 1_000_000]
+    default_timeout = 1000
+    model_baudrate_table = DUMMY_MODEL_BAUDRATE_TABLE
+    model_ctrl_table = DUMMY_MODEL_CTRL_TABLE
+    model_encoding_table = DUMMY_MODEL_ENCODING_TABLE
+    model_number_table = DUMMY_MODEL_NUMBER_TABLE
+    model_resolution_table = DUMMY_MODEL_RESOLUTION_TABLE
+    normalized_data = ["Present_Position", "Goal_Position"]
+
+    def __init__(self, port: str, motors: dict[str, Motor]):
+        super().__init__(port, motors)
+        self.port_handler = MockPortHandler(port)
+
+    def _assert_protocol_is_compatible(self, instruction_name): ...
+    def _handshake(self): ...
+    def _find_single_motor(self, motor, initial_baudrate): ...
+    def configure_motors(self): ...
+    def read_calibration(self): ...
+    def write_calibration(self, calibration_dict): ...
+    def disable_torque(self, motors, num_retry): ...
+    def _disable_torque(self, motor, model, num_retry): ...
+    def enable_torque(self, motors, num_retry): ...
+    def _get_half_turn_homings(self, positions): ...
+    def _encode_sign(self, data_name, ids_values): ...
+    def _decode_sign(self, data_name, ids_values): ...
+    def _split_into_byte_chunks(self, value, length): ...
+    def broadcast_ping(self, num_retry, raise_on_error): ...

tests/motors/test_motors_bus.py

@@ -1,5 +1,3 @@
-# ruff: noqa: N802
-
 import re
 from unittest.mock import patch
 
@@ -8,142 +6,16 @@ import pytest
 from lerobot.common.motors.motors_bus import (
     Motor,
     MotorNormMode,
-    MotorsBus,
     assert_same_address,
     get_address,
     get_ctrl_table,
 )
-
+from tests.mocks.mock_motors_bus import (
-DUMMY_CTRL_TABLE_1 = {
+    DUMMY_CTRL_TABLE_1,
-    "Firmware_Version": (0, 1),
+    DUMMY_CTRL_TABLE_2,
-    "Model_Number": (1, 2),
+    DUMMY_MODEL_CTRL_TABLE,
-    "Present_Position": (3, 4),
+    MockMotorsBus,
-    "Goal_Position": (11, 2),
+)
-}
-
-DUMMY_CTRL_TABLE_2 = {
-    "Model_Number": (0, 2),
-    "Firmware_Version": (2, 1),
-    "Present_Position": (3, 4),
-    "Present_Velocity": (7, 4),
-    "Goal_Position": (11, 4),
-    "Goal_Velocity": (15, 4),
-    "Lock": (19, 1),
-}
-
-DUMMY_MODEL_CTRL_TABLE = {
-    "model_1": DUMMY_CTRL_TABLE_1,
-    "model_2": DUMMY_CTRL_TABLE_2,
-    "model_3": DUMMY_CTRL_TABLE_2,
-}
-
-DUMMY_BAUDRATE_TABLE = {
-    0: 1_000_000,
-    1: 500_000,
-    2: 250_000,
-}
-
-DUMMY_MODEL_BAUDRATE_TABLE = {
-    "model_1": DUMMY_BAUDRATE_TABLE,
-    "model_2": DUMMY_BAUDRATE_TABLE,
-    "model_3": DUMMY_BAUDRATE_TABLE,
-}
-
-DUMMY_ENCODING_TABLE = {
-    "Present_Position": 8,
-    "Goal_Position": 10,
-}
-
-DUMMY_MODEL_ENCODING_TABLE = {
-    "model_1": DUMMY_ENCODING_TABLE,
-    "model_2": DUMMY_ENCODING_TABLE,
-    "model_3": DUMMY_ENCODING_TABLE,
-}
-
-DUMMY_MODEL_NUMBER_TABLE = {
-    "model_1": 1234,
-    "model_2": 5678,
-    "model_3": 5799,
-}
-
-DUMMY_MODEL_RESOLUTION_TABLE = {
-    "model_1": 4096,
-    "model_2": 1024,
-    "model_3": 4096,
-}
-
-
-class MockPortHandler:
-    def __init__(self, port_name):
-        self.is_open: bool = False
-        self.baudrate: int
-        self.packet_start_time: float
-        self.packet_timeout: float
-        self.tx_time_per_byte: float
-        self.is_using: bool = False
-        self.port_name: str = port_name
-        self.ser = None
-
-    def openPort(self):
-        self.is_open = True
-        return self.is_open
-
-    def closePort(self):
-        self.is_open = False
-
-    def clearPort(self): ...
-    def setPortName(self, port_name):
-        self.port_name = port_name
-
-    def getPortName(self):
-        return self.port_name
-
-    def setBaudRate(self, baudrate):
-        self.baudrate: baudrate
-
-    def getBaudRate(self):
-        return self.baudrate
-
-    def getBytesAvailable(self): ...
-    def readPort(self, length): ...
-    def writePort(self, packet): ...
-    def setPacketTimeout(self, packet_length): ...
-    def setPacketTimeoutMillis(self, msec): ...
-    def isPacketTimeout(self): ...
-    def getCurrentTime(self): ...
-    def getTimeSinceStart(self): ...
-    def setupPort(self, cflag_baud): ...
-    def getCFlagBaud(self, baudrate): ...
-
-
-class MockMotorsBus(MotorsBus):
-    available_baudrates = [500_000, 1_000_000]
-    default_timeout = 1000
-    model_baudrate_table = DUMMY_MODEL_BAUDRATE_TABLE
-    model_ctrl_table = DUMMY_MODEL_CTRL_TABLE
-    model_encoding_table = DUMMY_MODEL_ENCODING_TABLE
-    model_number_table = DUMMY_MODEL_NUMBER_TABLE
-    model_resolution_table = DUMMY_MODEL_RESOLUTION_TABLE
-    normalized_data = ["Present_Position", "Goal_Position"]
-
-    def __init__(self, port: str, motors: dict[str, Motor]):
-        super().__init__(port, motors)
-        self.port_handler = MockPortHandler(port)
-
-    def _assert_protocol_is_compatible(self, instruction_name): ...
-    def _handshake(self): ...
-    def _find_single_motor(self, motor, initial_baudrate): ...
-    def configure_motors(self): ...
-    def read_calibration(self): ...
-    def write_calibration(self, calibration_dict): ...
-    def disable_torque(self, motors, num_retry): ...
-    def _disable_torque(self, motor, model, num_retry): ...
-    def enable_torque(self, motors, num_retry): ...
-    def _get_half_turn_homings(self, positions): ...
-    def _encode_sign(self, data_name, ids_values): ...
-    def _decode_sign(self, data_name, ids_values): ...
-    def _split_into_byte_chunks(self, value, length): ...
-    def broadcast_ping(self, num_retry, raise_on_error): ...
 
 
 @pytest.fixture

tests/robots/test_so100_follower.py

@@ -0,0 +1,95 @@
+from contextlib import contextmanager
+from unittest.mock import MagicMock, patch
+
+import pytest
+
+from lerobot.common.robots.so100_follower import (
+    SO100Follower,
+    SO100FollowerConfig,
+)
+
+
+def _make_bus_mock() -> MagicMock:
+    """Return a bus mock with just the attributes used by the robot."""
+    bus = MagicMock(name="FeetechBusMock")
+    bus.is_connected = False
+
+    def _connect():
+        bus.is_connected = True
+
+    def _disconnect(_disable=True):
+        bus.is_connected = False
+
+    bus.connect.side_effect = _connect
+    bus.disconnect.side_effect = _disconnect
+
+    @contextmanager
+    def _dummy_cm():
+        yield
+
+    bus.torque_disabled.side_effect = _dummy_cm
+
+    return bus
+
+
+@pytest.fixture
+def follower():
+    bus_mock = _make_bus_mock()
+
+    def _bus_side_effect(*_args, **kwargs):
+        bus_mock.motors = kwargs["motors"]
+        motors_order: list[str] = list(bus_mock.motors)
+
+        bus_mock.sync_read.return_value = {motor: idx for idx, motor in enumerate(motors_order, 1)}
+        bus_mock.sync_write.return_value = None
+        bus_mock.write.return_value = None
+        bus_mock.disable_torque.return_value = None
+        bus_mock.enable_torque.return_value = None
+        bus_mock.is_calibrated = True
+        return bus_mock
+
+    with (
+        patch(
+            "lerobot.common.robots.so100_follower.so100_follower.FeetechMotorsBus",
+            side_effect=_bus_side_effect,
+        ),
+        patch.object(SO100Follower, "configure", lambda self: None),
+    ):
+        cfg = SO100FollowerConfig(port="/dev/null")
+        robot = SO100Follower(cfg)
+        yield robot
+        if robot.is_connected:
+            robot.disconnect()
+
+
+def test_connect_disconnect(follower):
+    assert not follower.is_connected
+
+    follower.connect()
+    assert follower.is_connected
+
+    follower.disconnect()
+    assert not follower.is_connected
+
+
+def test_get_observation(follower):
+    follower.connect()
+    obs = follower.get_observation()
+
+    expected_keys = {f"{m}.pos" for m in follower.bus.motors}
+    assert set(obs.keys()) == expected_keys
+
+    for idx, motor in enumerate(follower.bus.motors, 1):
+        assert obs[f"{motor}.pos"] == idx
+
+
+def test_send_action(follower):
+    follower.connect()
+
+    action = {f"{m}.pos": i * 10 for i, m in enumerate(follower.bus.motors, 1)}
+    returned = follower.send_action(action)
+
+    assert returned == action
+
+    goal_pos = {m: (i + 1) * 10 for i, m in enumerate(follower.bus.motors)}
+    follower.bus.sync_write.assert_called_once_with("Goal_Position", goal_pos)