Update paths

This commit is contained in:
Simon Alibert
2025-03-04 11:38:31 +01:00
parent f6c1049474
commit e2d13ba7e4
9 changed files with 82 additions and 59 deletions

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@@ -19,20 +19,3 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[s
raise ValueError(f"The motor type '{cfg.type}' is not valid.")
return cameras
def make_camera(camera_type, **kwargs) -> Camera:
if camera_type == "opencv":
from .opencv import OpenCVCamera, OpenCVCameraConfig
config = OpenCVCameraConfig(**kwargs)
return OpenCVCamera(config)
elif camera_type == "intelrealsense":
from .intel import RealSenseCamera, RealSenseCameraConfig
config = RealSenseCameraConfig(**kwargs)
return RealSenseCamera(config)
else:
raise ValueError(f"The camera type '{camera_type}' is not valid.")

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@@ -0,0 +1,4 @@
from .config import RobotConfig
from .robot import Robot
__all__ = ["RobotConfig", "Robot"]

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@@ -1,15 +1,9 @@
import logging
from typing import Protocol
from lerobot.common.robots.aloha.configuration_aloha import AlohaRobotConfig
from lerobot.common.robots.config_abc import (
ManipulatorRobotConfig,
RobotConfig,
)
from lerobot.common.robots.koch.configuration_koch import KochBimanualRobotConfig, KochRobotConfig
from lerobot.common.robots.lekiwi.configuration_lekiwi import LeKiwiRobotConfig
from lerobot.common.robots.moss.configuration_moss import MossRobotConfig
from lerobot.common.robots.so_100.configuration_so_100 import So100RobotConfig
from lerobot.common.robots.stretch3.configuration_stretch3 import StretchRobotConfig
import numpy as np
from lerobot.common.robots import RobotConfig
def get_arm_id(name, arm_type):
@@ -19,8 +13,8 @@ def get_arm_id(name, arm_type):
return f"{name}_{arm_type}"
# TODO(aliberts): Remove and point to lerobot.common.robots.Robot
class Robot(Protocol):
# TODO(rcadene, aliberts): Add unit test checking the protocol is implemented in the corresponding classes
robot_type: str
features: dict
@@ -34,24 +28,39 @@ class Robot(Protocol):
def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
if robot_type == "aloha":
from .aloha.configuration_aloha import AlohaRobotConfig
return AlohaRobotConfig(**kwargs)
elif robot_type == "koch":
from .koch.configuration_koch import KochRobotConfig
return KochRobotConfig(**kwargs)
elif robot_type == "koch_bimanual":
return KochBimanualRobotConfig(**kwargs)
# elif robot_type == "koch_bimanual":
# return KochBimanualRobotConfig(**kwargs)
elif robot_type == "moss":
from .moss.configuration_moss import MossRobotConfig
return MossRobotConfig(**kwargs)
elif robot_type == "so100":
from .so100.configuration_so100 import So100RobotConfig
return So100RobotConfig(**kwargs)
elif robot_type == "stretch":
from .stretch3.configuration_stretch3 import StretchRobotConfig
return StretchRobotConfig(**kwargs)
elif robot_type == "lekiwi":
from .lekiwi.configuration_lekiwi import LeKiwiRobotConfig
return LeKiwiRobotConfig(**kwargs)
else:
raise ValueError(f"Robot type '{robot_type}' is not available.")
def make_robot_from_config(config: RobotConfig):
from .lekiwi.configuration_lekiwi import LeKiwiRobotConfig
from .manipulator import ManipulatorRobotConfig
if isinstance(config, ManipulatorRobotConfig):
from lerobot.common.robots.manipulator import ManipulatorRobot
@@ -61,11 +70,31 @@ def make_robot_from_config(config: RobotConfig):
return MobileManipulator(config)
else:
from lerobot.common.robots.stretch3.robot_stretch3 import StretchRobot
from lerobot.common.robots.stretch3.robot_stretch3 import Stretch3Robot
return StretchRobot(config)
return Stretch3Robot(config)
def make_robot(robot_type: str, **kwargs) -> Robot:
config = make_robot_config(robot_type, **kwargs)
return make_robot_from_config(config)
def ensure_safe_goal_position(
goal_pos: np.ndarray, present_pos: np.ndarray, max_relative_target: float | list[float]
):
# Cap relative action target magnitude for safety.
diff = goal_pos - present_pos
max_relative_target = np.array(max_relative_target)
safe_diff = np.min(diff, max_relative_target)
safe_diff = np.max(safe_diff, -max_relative_target)
safe_goal_pos = present_pos + safe_diff
if not np.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}"
)
return safe_goal_pos

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@@ -4,7 +4,7 @@ from pathlib import Path
import draccus
from lerobot.common.robots.config_abc import RobotConfig
from lerobot.common.robots import RobotConfig
from lerobot.common.utils.utils import auto_select_torch_device, is_amp_available, is_torch_device_available
from lerobot.configs import parser
from lerobot.configs.policies import PreTrainedConfig

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@@ -19,7 +19,7 @@ import time
def get_motor_bus_cls(brand: str) -> tuple:
if brand == "feetech":
from lerobot.common.motors.configs import FeetechMotorsBusConfig
from lerobot.common.motors.feetech import (
from lerobot.common.motors.feetech.feetech import (
MODEL_BAUDRATE_TABLE,
SCS_SERIES_BAUDRATE_TABLE,
FeetechMotorsBus,
@@ -29,7 +29,7 @@ def get_motor_bus_cls(brand: str) -> tuple:
elif brand == "dynamixel":
from lerobot.common.motors.configs import DynamixelMotorsBusConfig
from lerobot.common.motors.dynamixel import (
from lerobot.common.motors.dynamixel.dynamixel import (
MODEL_BAUDRATE_TABLE,
X_SERIES_BAUDRATE_TABLE,
DynamixelMotorsBus,

View File

@@ -24,7 +24,7 @@ pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-True]'
import numpy as np
import pytest
from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from tests.utils import TEST_CAMERA_TYPES, make_camera, require_camera
# Maximum absolute difference between two consecutive images recorded by a camera.
@@ -57,11 +57,11 @@ def test_camera(request, camera_type, mock):
camera = make_camera(**camera_kwargs)
# Test reading, async reading, disconnecting before connecting raises an error
with pytest.raises(RobotDeviceNotConnectedError):
with pytest.raises(DeviceNotConnectedError):
camera.read()
with pytest.raises(RobotDeviceNotConnectedError):
with pytest.raises(DeviceNotConnectedError):
camera.async_read()
with pytest.raises(RobotDeviceNotConnectedError):
with pytest.raises(DeviceNotConnectedError):
camera.disconnect()
# Test deleting the object without connecting first
@@ -76,7 +76,7 @@ def test_camera(request, camera_type, mock):
assert camera.height is not None
# Test connecting twice raises an error
with pytest.raises(RobotDeviceAlreadyConnectedError):
with pytest.raises(DeviceAlreadyConnectedError):
camera.connect()
# Test reading from the camera
@@ -185,9 +185,9 @@ def test_camera(request, camera_type, mock):
def test_save_images_from_cameras(tmp_path, request, camera_type, mock):
# TODO(rcadene): refactor
if camera_type == "opencv":
from lerobot.common.cameras.opencv import save_images_from_cameras
from lerobot.common.cameras.opencv.camera_opencv import save_images_from_cameras
elif camera_type == "intelrealsense":
from lerobot.common.cameras.intelrealsense import save_images_from_cameras
from lerobot.common.cameras.intel.camera_realsense import save_images_from_cameras
# Small `record_time_s` to speedup unit tests
save_images_from_cameras(tmp_path, record_time_s=0.02, mock=mock)

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@@ -30,7 +30,7 @@ import time
import numpy as np
import pytest
from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.scripts.find_motors_bus_port import find_port
from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, require_motor
@@ -89,11 +89,11 @@ def test_motors_bus(request, motor_type, mock):
motors_bus = make_motors_bus(motor_type, mock=mock)
# Test reading and writing before connecting raises an error
with pytest.raises(RobotDeviceNotConnectedError):
with pytest.raises(DeviceNotConnectedError):
motors_bus.read("Torque_Enable")
with pytest.raises(RobotDeviceNotConnectedError):
with pytest.raises(DeviceNotConnectedError):
motors_bus.write("Torque_Enable", 1)
with pytest.raises(RobotDeviceNotConnectedError):
with pytest.raises(DeviceNotConnectedError):
motors_bus.disconnect()
# Test deleting the object without connecting first
@@ -104,7 +104,7 @@ def test_motors_bus(request, motor_type, mock):
motors_bus.connect()
# Test connecting twice raises an error
with pytest.raises(RobotDeviceAlreadyConnectedError):
with pytest.raises(DeviceAlreadyConnectedError):
motors_bus.connect()
# Test disabling torque and reading torque on all motors

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@@ -26,8 +26,8 @@ pytest -sx 'tests/test_robots.py::test_robot[aloha-True]'
import pytest
import torch
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.robots.utils import make_robot
from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import TEST_ROBOT_TYPES, mock_calibration_dir, require_robot
@@ -54,15 +54,15 @@ def test_robot(tmp_path, request, robot_type, mock):
# Test using robot before connecting raises an error
robot = make_robot(**robot_kwargs)
with pytest.raises(RobotDeviceNotConnectedError):
with pytest.raises(DeviceNotConnectedError):
robot.teleop_step()
with pytest.raises(RobotDeviceNotConnectedError):
with pytest.raises(DeviceNotConnectedError):
robot.teleop_step(record_data=True)
with pytest.raises(RobotDeviceNotConnectedError):
with pytest.raises(DeviceNotConnectedError):
robot.capture_observation()
with pytest.raises(RobotDeviceNotConnectedError):
with pytest.raises(DeviceNotConnectedError):
robot.send_action(None)
with pytest.raises(RobotDeviceNotConnectedError):
with pytest.raises(DeviceNotConnectedError):
robot.disconnect()
# Test deleting the object without connecting first
@@ -74,7 +74,7 @@ def test_robot(tmp_path, request, robot_type, mock):
assert robot.is_connected
# Test connecting twice raises an error
with pytest.raises(RobotDeviceAlreadyConnectedError):
with pytest.raises(DeviceAlreadyConnectedError):
robot.connect()
# TODO(rcadene, aliberts): Test disconnecting with `__del__` instead of `disconnect`

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@@ -23,9 +23,8 @@ import pytest
import torch
from lerobot import available_cameras, available_motors, available_robots
from lerobot.common.cameras.utils import Camera
from lerobot.common.cameras.utils import make_camera as make_camera_device
from lerobot.common.motors.utils import MotorsBus
from lerobot.common.cameras import Camera
from lerobot.common.motors.motors_bus import MotorsBus
from lerobot.common.motors.utils import make_motors_bus as make_motors_bus_device
from lerobot.common.utils.import_utils import is_package_available
@@ -306,11 +305,19 @@ def mock_calibration_dir(calibration_dir):
def make_camera(camera_type: str, **kwargs) -> Camera:
if camera_type == "opencv":
camera_index = kwargs.pop("camera_index", OPENCV_CAMERA_INDEX)
return make_camera_device(camera_type, camera_index=camera_index, **kwargs)
kwargs["camera_index"] = camera_index
from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
config = OpenCVCameraConfig(**kwargs)
return OpenCVCamera(config)
elif camera_type == "intelrealsense":
serial_number = kwargs.pop("serial_number", INTELREALSENSE_SERIAL_NUMBER)
return make_camera_device(camera_type, serial_number=serial_number, **kwargs)
kwargs["serial_number"] = serial_number
from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig
config = RealSenseCameraConfig(**kwargs)
return RealSenseCamera(config)
else:
raise ValueError(f"The camera type '{camera_type}' is not valid.")