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This commit is contained in:
Simon Alibert
2025-03-10 18:34:01 +01:00
parent 1ae62c28f7
commit 9bd0788131
2 changed files with 59 additions and 32 deletions
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2
lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py
View File

@@ -141,7 +141,7 @@ from lerobot.common.datasets.video_utils import (
get_image_pixel_channels,
get_video_info,
)
from lerobot.common.robots.config_abc import RobotConfig
from lerobot.common.robots import RobotConfig
from lerobot.common.robots.utils import make_robot_config
V16 = "v1.6"

89
lerobot/common/robots/manipulator.py
View File

@@ -5,39 +5,66 @@ and send orders to its motors.
# calibration procedure, to make it easy for people to add their own robot.
import json
import logging
import time
import warnings
from dataclasses import dataclass, field
from pathlib import Path
from typing import Sequence
import numpy as np
import torch
from lerobot.common.cameras.configs import CameraConfig
from lerobot.common.cameras.utils import make_cameras_from_configs
from lerobot.common.motors.utils import MotorsBus, make_motors_buses_from_configs
from lerobot.common.robots.config_abc import ManipulatorRobotConfig
from lerobot.common.robots.utils import get_arm_id
from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors.configs import MotorsBusConfig
from lerobot.common.motors.motors_bus import MotorsBus
from lerobot.common.motors.utils import make_motors_buses_from_configs
from lerobot.common.robots.config import RobotConfig
from lerobot.common.robots.utils import ensure_safe_goal_position, get_arm_id
def ensure_safe_goal_position(
goal_pos: torch.Tensor, present_pos: torch.Tensor, max_relative_target: float | list[float]
):
# Cap relative action target magnitude for safety.
diff = goal_pos - present_pos
max_relative_target = torch.tensor(max_relative_target)
safe_diff = torch.minimum(diff, max_relative_target)
safe_diff = torch.maximum(safe_diff, -max_relative_target)
safe_goal_pos = present_pos + safe_diff
@dataclass
class ManipulatorRobotConfig(RobotConfig):
leader_arms: dict[str, MotorsBusConfig] = field(default_factory=lambda: {})
follower_arms: dict[str, MotorsBusConfig] = field(default_factory=lambda: {})
cameras: dict[str, CameraConfig] = field(default_factory=lambda: {})
if not torch.allclose(goal_pos, safe_goal_pos):
logging.warning(
"Relative goal position magnitude had to be clamped to be safe.\n"
f" requested relative goal position target: {diff}\n"
f" clamped relative goal position target: {safe_diff}"
)
# Optionally limit the magnitude of the relative positional target vector for safety purposes.
# Set this to a positive scalar to have the same value for all motors, or a list that is the same length
# as the number of motors in your follower arms (assumes all follower arms have the same number of
# motors).
max_relative_target: list[float] | float | None = None
return safe_goal_pos
# Optionally set the leader arm in torque mode with the gripper motor set to this angle. This makes it
# possible to squeeze the gripper and have it spring back to an open position on its own. If None, the
# gripper is not put in torque mode.
gripper_open_degree: float | None = None
mock: bool = False
def __post_init__(self):
if self.mock:
for arm in self.leader_arms.values():
if not arm.mock:
arm.mock = True
for arm in self.follower_arms.values():
if not arm.mock:
arm.mock = True
for cam in self.cameras.values():
if not cam.mock:
cam.mock = True
if self.max_relative_target is not None and isinstance(self.max_relative_target, Sequence):
for name in self.follower_arms:
if len(self.follower_arms[name].motors) != len(self.max_relative_target):
raise ValueError(
f"len(max_relative_target)={len(self.max_relative_target)} but the follower arm with name {name} has "
f"{len(self.follower_arms[name].motors)} motors. Please make sure that the "
f"`max_relative_target` list has as many parameters as there are motors per arm. "
"Note: This feature does not yet work with robots where different follower arms have "
"different numbers of motors."
)
class ManipulatorRobot:
@@ -210,7 +237,7 @@ class ManipulatorRobot:
def connect(self):
if self.is_connected:
raise RobotDeviceAlreadyConnectedError(
raise DeviceAlreadyConnectedError(
"ManipulatorRobot is already connected. Do not run `robot.connect()` twice."
)
@@ -228,9 +255,9 @@ class ManipulatorRobot:
self.leader_arms[name].connect()
if self.robot_type in ["koch", "koch_bimanual", "aloha"]:
from lerobot.common.motors.dynamixel import TorqueMode
from lerobot.common.motors.dynamixel.dynamixel import TorqueMode
elif self.robot_type in ["so100", "moss", "lekiwi"]:
from lerobot.common.motors.feetech import TorqueMode
from lerobot.common.motors.feetech.feetech import TorqueMode
# We assume that at connection time, arms are in a rest position, and torque can
# be safely disabled to run calibration and/or set robot preset configurations.
@@ -295,12 +322,12 @@ class ManipulatorRobot:
print(f"Missing calibration file '{arm_calib_path}'")
if self.robot_type in ["koch", "koch_bimanual", "aloha"]:
from lerobot.common.motors.dynamixel_calibration import run_arm_calibration
from lerobot.common.motors.dynamixel.dynamixel_calibration import run_arm_calibration
calibration = run_arm_calibration(arm, self.robot_type, name, arm_type)
elif self.robot_type in ["so100", "moss", "lekiwi"]:
from lerobot.common.motors.feetech_calibration import (
from lerobot.common.motors.feetech.feetech_calibration import (
run_arm_manual_calibration,
)
@@ -322,7 +349,7 @@ class ManipulatorRobot:
def set_koch_robot_preset(self):
def set_operating_mode_(arm):
from lerobot.common.motors.dynamixel import TorqueMode
from lerobot.common.motors.dynamixel.dynamixel import TorqueMode
if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
raise ValueError("To run set robot preset, the torque must be disabled on all motors.")
@@ -432,7 +459,7 @@ class ManipulatorRobot:
self, record_data=False
) -> None | tuple[dict[str, torch.Tensor], dict[str, torch.Tensor]]:
if not self.is_connected:
raise RobotDeviceNotConnectedError(
raise DeviceNotConnectedError(
"ManipulatorRobot is not connected. You need to run `robot.connect()`."
)
@@ -512,7 +539,7 @@ class ManipulatorRobot:
def capture_observation(self):
"""The returned observations do not have a batch dimension."""
if not self.is_connected:
raise RobotDeviceNotConnectedError(
raise DeviceNotConnectedError(
"ManipulatorRobot is not connected. You need to run `robot.connect()`."
)
@@ -558,7 +585,7 @@ class ManipulatorRobot:
action: tensor containing the concatenated goal positions for the follower arms.
"""
if not self.is_connected:
raise RobotDeviceNotConnectedError(
raise DeviceNotConnectedError(
"ManipulatorRobot is not connected. You need to run `robot.connect()`."
)
@@ -593,7 +620,7 @@ class ManipulatorRobot:
def disconnect(self):
if not self.is_connected:
raise RobotDeviceNotConnectedError(
raise DeviceNotConnectedError(
"ManipulatorRobot is not connected. You need to run `robot.connect()` before disconnecting."
)