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Remove names

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This commit is contained in:
Simon Alibert
2025-04-18 09:48:16 +02:00
parent 21b1026872
commit b6b9635be6
11 changed files with 142 additions and 146 deletions
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34
lerobot/common/teleoperators/koch/koch_leader.py
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@@ -91,34 +91,34 @@ class KochLeader(Teleoperator):
def calibrate(self) -> None:
logger.info(f"\nRunning calibration of {self}")
self.arm.disable_torque()
for name in self.arm.names:
self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
for motor in self.arm.motors:
self.arm.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
self.arm.write("Drive_Mode", "elbow_flex", DriveMode.INVERTED.value)
drive_modes = {name: 1 if name == "elbow_flex" else 0 for name in self.arm.names}
drive_modes = {motor: 1 if motor == "elbow_flex" else 0 for motor in self.arm.motors}
input(f"Move {self} to the middle of its range of motion and press ENTER....")
homing_offsets = self.arm.set_half_turn_homings()
full_turn_motors = ["shoulder_pan", "wrist_roll"]
unknown_range_motors = [name for name in self.arm.names if name not in full_turn_motors]
unknown_range_motors = [motor for motor in self.arm.motors if motor not in full_turn_motors]
print(
f"Move all joints except {full_turn_motors} sequentially through their "
"entire ranges of motion.\nRecording positions. Press ENTER to stop..."
)
range_mins, range_maxes = self.arm.record_ranges_of_motion(unknown_range_motors)
for name in full_turn_motors:
range_mins[name] = 0
range_maxes[name] = 4095
for motor in full_turn_motors:
range_mins[motor] = 0
range_maxes[motor] = 4095
self.calibration = {}
for name, motor in self.arm.motors.items():
self.calibration[name] = MotorCalibration(
id=motor.id,
drive_mode=drive_modes[name],
homing_offset=homing_offsets[name],
range_min=range_mins[name],
range_max=range_maxes[name],
for motor, m in self.arm.motors.items():
self.calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=drive_modes[motor],
homing_offset=homing_offsets[motor],
range_min=range_mins[motor],
range_max=range_maxes[motor],
)
self.arm.write_calibration(self.calibration)
@@ -128,13 +128,13 @@ class KochLeader(Teleoperator):
def configure(self) -> None:
self.arm.disable_torque()
self.arm.configure_motors()
for name in self.arm.names:
if name != "gripper":
for motor in self.arm.motors:
if motor != "gripper":
# Use 'extended position mode' for all motors except gripper, because in joint mode the servos
# can't rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while
# assembling the arm, you could end up with a servo with a position 0 or 4095 at a crucial
# point
self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
self.arm.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
# Use 'position control current based' for gripper to be limited by the limit of the current.
# For the follower gripper, it means it can grasp an object without forcing too much even tho,

22
lerobot/common/teleoperators/so100/so100_leader.py
View File

@@ -88,14 +88,14 @@ class SO100Leader(Teleoperator):
def calibrate(self) -> None:
logger.info(f"\nRunning calibration of {self}")
self.arm.disable_torque()
for name in self.arm.names:
self.arm.write("Operating_Mode", name, OperatingMode.POSITION.value)
for motor in self.arm.motors:
self.arm.write("Operating_Mode", motor, OperatingMode.POSITION.value)
input(f"Move {self} to the middle of its range of motion and press ENTER....")
homing_offsets = self.arm.set_half_turn_homings()
full_turn_motor = "wrist_roll"
unknown_range_motors = [name for name in self.arm.names if name != full_turn_motor]
unknown_range_motors = [motor for motor in self.arm.motors if motor != full_turn_motor]
print(
f"Move all joints except '{full_turn_motor}' sequentially through their "
"entire ranges of motion.\nRecording positions. Press ENTER to stop..."
@@ -105,13 +105,13 @@ class SO100Leader(Teleoperator):
range_maxes[full_turn_motor] = 4095
self.calibration = {}
for name, motor in self.arm.motors.items():
self.calibration[name] = MotorCalibration(
id=motor.id,
for motor, m in self.arm.motors.items():
self.calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=0,
homing_offset=homing_offsets[name],
range_min=range_mins[name],
range_max=range_maxes[name],
homing_offset=homing_offsets[motor],
range_min=range_mins[motor],
range_max=range_maxes[motor],
)
self.arm.write_calibration(self.calibration)
@@ -121,8 +121,8 @@ class SO100Leader(Teleoperator):
def configure(self) -> None:
self.arm.disable_torque()
self.arm.configure_motors()
for name in self.arm.names:
self.arm.write("Operating_Mode", name, OperatingMode.POSITION.value)
for motor in self.arm.motors:
self.arm.write("Operating_Mode", motor, OperatingMode.POSITION.value)
def setup_motors(self) -> None:
for motor in reversed(self.arm.motors):

28
lerobot/common/teleoperators/widowx/widowx.py
View File

@@ -88,34 +88,34 @@ class WidowX(Teleoperator):
raise NotImplementedError # TODO(aliberts): adapt code below (copied from koch)
logger.info(f"\nRunning calibration of {self}")
self.arm.disable_torque()
for name in self.arm.names:
self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
for motor in self.arm.motors:
self.arm.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
self.arm.write("Drive_Mode", "elbow_flex", DriveMode.INVERTED.value)
drive_modes = {name: 1 if name == "elbow_flex" else 0 for name in self.arm.names}
drive_modes = {motor: 1 if motor == "elbow_flex" else 0 for motor in self.arm.motors}
input("Move robot to the middle of its range of motion and press ENTER....")
homing_offsets = self.arm.set_half_turn_homings()
full_turn_motors = ["shoulder_pan", "wrist_roll"]
unknown_range_motors = [name for name in self.arm.names if name not in full_turn_motors]
unknown_range_motors = [motor for motor in self.arm.motors if motor not in full_turn_motors]
print(
f"Move all joints except {full_turn_motors} sequentially through their "
"entire ranges of motion.\nRecording positions. Press ENTER to stop..."
)
range_mins, range_maxes = self.arm.record_ranges_of_motion(unknown_range_motors)
for name in full_turn_motors:
range_mins[name] = 0
range_maxes[name] = 4095
for motor in full_turn_motors:
range_mins[motor] = 0
range_maxes[motor] = 4095
self.calibration = {}
for name, motor in self.arm.motors.items():
self.calibration[name] = MotorCalibration(
id=motor.id,
drive_mode=drive_modes[name],
homing_offset=homing_offsets[name],
range_min=range_mins[name],
range_max=range_maxes[name],
for motor, m in self.arm.motors.items():
self.calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=drive_modes[motor],
homing_offset=homing_offsets[motor],
range_min=range_mins[motor],
range_max=range_maxes[motor],
)
self.arm.write_calibration(self.calibration)