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Rename arm -> bus

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This commit is contained in:
Simon Alibert
2025-05-13 13:26:04 +02:00
parent 742708942c
commit eb94a5f03f
9 changed files with 224 additions and 224 deletions
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54
lerobot/common/teleoperators/koch_leader/koch_leader.py
View File

@@ -44,7 +44,7 @@ class KochLeader(Teleoperator):
def __init__(self, config: KochLeaderConfig):
super().__init__(config)
self.config = config
self.arm = DynamixelMotorsBus(
self.bus = DynamixelMotorsBus(
port=self.config.port,
motors={
"shoulder_pan": Motor(1, "xl330-m077", MotorNormMode.RANGE_M100_100),
@@ -59,7 +59,7 @@ class KochLeader(Teleoperator):
@property
def action_features(self) -> dict[str, type]:
return {f"{motor}.pos": float for motor in self.arm.motors}
return {f"{motor}.pos": float for motor in self.bus.motors}
@property
def feedback_features(self) -> dict[str, type]:
@@ -67,13 +67,13 @@ class KochLeader(Teleoperator):
@property
def is_connected(self) -> bool:
return self.arm.is_connected
return self.bus.is_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.arm.connect()
self.bus.connect()
if not self.is_calibrated and calibrate:
self.calibrate()
@@ -82,33 +82,33 @@ class KochLeader(Teleoperator):
@property
def is_calibrated(self) -> bool:
return self.arm.is_calibrated
return self.bus.is_calibrated
def calibrate(self) -> None:
logger.info(f"\nRunning calibration of {self}")
self.arm.disable_torque()
for motor in self.arm.motors:
self.arm.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
self.bus.disable_torque()
for motor in self.bus.motors:
self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
self.arm.write("Drive_Mode", "elbow_flex", DriveMode.INVERTED.value)
drive_modes = {motor: 1 if motor == "elbow_flex" else 0 for motor in self.arm.motors}
self.bus.write("Drive_Mode", "elbow_flex", DriveMode.INVERTED.value)
drive_modes = {motor: 1 if motor == "elbow_flex" else 0 for motor in self.bus.motors}
input(f"Move {self} to the middle of its range of motion and press ENTER....")
homing_offsets = self.arm.set_half_turn_homings()
homing_offsets = self.bus.set_half_turn_homings()
full_turn_motors = ["shoulder_pan", "wrist_roll"]
unknown_range_motors = [motor for motor in self.arm.motors if motor not in full_turn_motors]
unknown_range_motors = [motor for motor in self.bus.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)
range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
for motor in full_turn_motors:
range_mins[motor] = 0
range_maxes[motor] = 4095
self.calibration = {}
for motor, m in self.arm.motors.items():
for motor, m in self.bus.motors.items():
self.calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=drive_modes[motor],
@@ -117,43 +117,43 @@ class KochLeader(Teleoperator):
range_max=range_maxes[motor],
)
self.arm.write_calibration(self.calibration)
self.bus.write_calibration(self.calibration)
self._save_calibration()
logger.info(f"Calibration saved to {self.calibration_fpath}")
def configure(self) -> None:
self.arm.disable_torque()
self.arm.configure_motors()
for motor in self.arm.motors:
self.bus.disable_torque()
self.bus.configure_motors()
for motor in self.bus.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", motor, OperatingMode.EXTENDED_POSITION.value)
self.bus.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,
# its goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
# For the leader gripper, it means we can use it as a physical trigger, since we can force with our finger
# to make it move, and it will move back to its original target position when we release the force.
self.arm.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
self.bus.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
# Set gripper's goal pos in current position mode so that we can use it as a trigger.
self.arm.enable_torque("gripper")
self.arm.write("Goal_Position", "gripper", self.config.gripper_open_pos)
self.bus.enable_torque("gripper")
self.bus.write("Goal_Position", "gripper", self.config.gripper_open_pos)
def setup_motors(self) -> None:
for motor in reversed(self.arm.motors):
for motor in reversed(self.bus.motors):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")
self.arm.setup_motor(motor)
print(f"'{motor}' motor id set to {self.arm.motors[motor].id}")
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
def get_action(self) -> dict[str, float]:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
start = time.perf_counter()
action = self.arm.sync_read("Present_Position")
action = self.bus.sync_read("Present_Position")
action = {f"{motor}.pos": val for motor, val in action.items()}
dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read action: {dt_ms:.1f}ms")
@@ -167,5 +167,5 @@ class KochLeader(Teleoperator):
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self.arm.disconnect()
self.bus.disconnect()
logger.info(f"{self} disconnected.")

44
lerobot/common/teleoperators/so100_leader/so100_leader.py
View File

@@ -41,7 +41,7 @@ class SO100Leader(Teleoperator):
def __init__(self, config: SO100LeaderConfig):
super().__init__(config)
self.config = config
self.arm = FeetechMotorsBus(
self.bus = FeetechMotorsBus(
port=self.config.port,
motors={
"shoulder_pan": Motor(1, "sts3215", MotorNormMode.RANGE_M100_100),
@@ -56,7 +56,7 @@ class SO100Leader(Teleoperator):
@property
def action_features(self) -> dict[str, type]:
return {f"{motor}.pos": float for motor in self.arm.motors}
return {f"{motor}.pos": float for motor in self.bus.motors}
@property
def feedback_features(self) -> dict[str, type]:
@@ -64,13 +64,13 @@ class SO100Leader(Teleoperator):
@property
def is_connected(self) -> bool:
return self.arm.is_connected
return self.bus.is_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.arm.connect()
self.bus.connect()
if not self.is_calibrated and calibrate:
self.calibrate()
@@ -79,29 +79,29 @@ class SO100Leader(Teleoperator):
@property
def is_calibrated(self) -> bool:
return self.arm.is_calibrated
return self.bus.is_calibrated
def calibrate(self) -> None:
logger.info(f"\nRunning calibration of {self}")
self.arm.disable_torque()
for motor in self.arm.motors:
self.arm.write("Operating_Mode", motor, OperatingMode.POSITION.value)
self.bus.disable_torque()
for motor in self.bus.motors:
self.bus.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()
homing_offsets = self.bus.set_half_turn_homings()
full_turn_motor = "wrist_roll"
unknown_range_motors = [motor for motor in self.arm.motors if motor != full_turn_motor]
unknown_range_motors = [motor for motor in self.bus.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..."
)
range_mins, range_maxes = self.arm.record_ranges_of_motion(unknown_range_motors)
range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
range_mins[full_turn_motor] = 0
range_maxes[full_turn_motor] = 4095
self.calibration = {}
for motor, m in self.arm.motors.items():
for motor, m in self.bus.motors.items():
self.calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=0,
@@ -110,25 +110,25 @@ class SO100Leader(Teleoperator):
range_max=range_maxes[motor],
)
self.arm.write_calibration(self.calibration)
self.bus.write_calibration(self.calibration)
self._save_calibration()
logger.info(f"Calibration saved to {self.calibration_fpath}")
def configure(self) -> None:
self.arm.disable_torque()
self.arm.configure_motors()
for motor in self.arm.motors:
self.arm.write("Operating_Mode", motor, OperatingMode.POSITION.value)
self.bus.disable_torque()
self.bus.configure_motors()
for motor in self.bus.motors:
self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
def setup_motors(self) -> None:
for motor in reversed(self.arm.motors):
for motor in reversed(self.bus.motors):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")
self.arm.setup_motor(motor)
print(f"'{motor}' motor id set to {self.arm.motors[motor].id}")
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
def get_action(self) -> dict[str, float]:
start = time.perf_counter()
action = self.arm.sync_read("Present_Position")
action = self.bus.sync_read("Present_Position")
action = {f"{motor}.pos": val for motor, val in action.items()}
dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read action: {dt_ms:.1f}ms")
@@ -142,5 +142,5 @@ class SO100Leader(Teleoperator):
if not self.is_connected:
DeviceNotConnectedError(f"{self} is not connected.")
self.arm.disconnect()
self.bus.disconnect()
logger.info(f"{self} disconnected.")

42
lerobot/common/teleoperators/so101_leader/so101_leader.py
View File

@@ -41,7 +41,7 @@ class SO101Leader(Teleoperator):
def __init__(self, config: SO101LeaderConfig):
super().__init__(config)
self.config = config
self.arm = FeetechMotorsBus(
self.bus = FeetechMotorsBus(
port=self.config.port,
motors={
"shoulder_pan": Motor(1, "sts3215", MotorNormMode.RANGE_M100_100),
@@ -56,7 +56,7 @@ class SO101Leader(Teleoperator):
@property
def action_features(self) -> dict[str, type]:
return {f"{motor}.pos": float for motor in self.arm.motors}
return {f"{motor}.pos": float for motor in self.bus.motors}
@property
def feedback_features(self) -> dict[str, type]:
@@ -64,13 +64,13 @@ class SO101Leader(Teleoperator):
@property
def is_connected(self) -> bool:
return self.arm.is_connected
return self.bus.is_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.arm.connect()
self.bus.connect()
if not self.is_calibrated and calibrate:
self.calibrate()
@@ -79,25 +79,25 @@ class SO101Leader(Teleoperator):
@property
def is_calibrated(self) -> bool:
return self.arm.is_calibrated
return self.bus.is_calibrated
def calibrate(self) -> None:
logger.info(f"\nRunning calibration of {self}")
self.arm.disable_torque()
for motor in self.arm.motors:
self.arm.write("Operating_Mode", motor, OperatingMode.POSITION.value)
self.bus.disable_torque()
for motor in self.bus.motors:
self.bus.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()
homing_offsets = self.bus.set_half_turn_homings()
print(
"Move all joints sequentially through their entire ranges "
"of motion.\nRecording positions. Press ENTER to stop..."
)
range_mins, range_maxes = self.arm.record_ranges_of_motion()
range_mins, range_maxes = self.bus.record_ranges_of_motion()
self.calibration = {}
for motor, m in self.arm.motors.items():
for motor, m in self.bus.motors.items():
self.calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=0,
@@ -106,25 +106,25 @@ class SO101Leader(Teleoperator):
range_max=range_maxes[motor],
)
self.arm.write_calibration(self.calibration)
self.bus.write_calibration(self.calibration)
self._save_calibration()
logger.info(f"Calibration saved to {self.calibration_fpath}")
def configure(self) -> None:
self.arm.disable_torque()
self.arm.configure_motors()
for motor in self.arm.motors:
self.arm.write("Operating_Mode", motor, OperatingMode.POSITION.value)
self.bus.disable_torque()
self.bus.configure_motors()
for motor in self.bus.motors:
self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
def setup_motors(self) -> None:
for motor in reversed(self.arm.motors):
for motor in reversed(self.bus.motors):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")
self.arm.setup_motor(motor)
print(f"'{motor}' motor id set to {self.arm.motors[motor].id}")
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
def get_action(self) -> dict[str, float]:
start = time.perf_counter()
action = self.arm.sync_read("Present_Position")
action = self.bus.sync_read("Present_Position")
action = {f"{motor}.pos": val for motor, val in action.items()}
dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read action: {dt_ms:.1f}ms")
@@ -138,5 +138,5 @@ class SO101Leader(Teleoperator):
if not self.is_connected:
DeviceNotConnectedError(f"{self} is not connected.")
self.arm.disconnect()
self.bus.disconnect()
logger.info(f"{self} disconnected.")

42
lerobot/common/teleoperators/widowx/widowx.py
View File

@@ -42,7 +42,7 @@ class WidowX(Teleoperator):
def __init__(self, config: WidowXConfig):
super().__init__(config)
self.config = config
self.arm = DynamixelMotorsBus(
self.bus = DynamixelMotorsBus(
port=self.config.port,
motors={
"waist": Motor(1, "xm430-w350", MotorNormMode.RANGE_M100_100),
@@ -59,7 +59,7 @@ class WidowX(Teleoperator):
@property
def action_features(self) -> dict[str, type]:
return {f"{motor}.pos": float for motor in self.arm.motors}
return {f"{motor}.pos": float for motor in self.bus.motors}
@property
def feedback_features(self) -> dict[str, type]:
@@ -67,13 +67,13 @@ class WidowX(Teleoperator):
@property
def is_connected(self) -> bool:
return self.arm.is_connected
return self.bus.is_connected
def connect(self, calibrate: bool = True):
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.arm.connect()
self.bus.connect()
if not self.is_calibrated and calibrate:
self.calibrate()
@@ -82,34 +82,34 @@ class WidowX(Teleoperator):
@property
def is_calibrated(self) -> bool:
return self.arm.is_calibrated
return self.bus.is_calibrated
def calibrate(self) -> None:
raise NotImplementedError # TODO(aliberts): adapt code below (copied from koch)
logger.info(f"\nRunning calibration of {self}")
self.arm.disable_torque()
for motor in self.arm.motors:
self.arm.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
self.bus.disable_torque()
for motor in self.bus.motors:
self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
self.arm.write("Drive_Mode", "elbow_flex", DriveMode.INVERTED.value)
drive_modes = {motor: 1 if motor == "elbow_flex" else 0 for motor in self.arm.motors}
self.bus.write("Drive_Mode", "elbow_flex", DriveMode.INVERTED.value)
drive_modes = {motor: 1 if motor == "elbow_flex" else 0 for motor in self.bus.motors}
input("Move robot to the middle of its range of motion and press ENTER....")
homing_offsets = self.arm.set_half_turn_homings()
homing_offsets = self.bus.set_half_turn_homings()
full_turn_motors = ["shoulder_pan", "wrist_roll"]
unknown_range_motors = [motor for motor in self.arm.motors if motor not in full_turn_motors]
unknown_range_motors = [motor for motor in self.bus.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)
range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
for motor in full_turn_motors:
range_mins[motor] = 0
range_maxes[motor] = 4095
self.calibration = {}
for motor, m in self.arm.motors.items():
for motor, m in self.bus.motors.items():
self.calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=drive_modes[motor],
@@ -118,26 +118,26 @@ class WidowX(Teleoperator):
range_max=range_maxes[motor],
)
self.arm.write_calibration(self.calibration)
self.bus.write_calibration(self.calibration)
self._save_calibration()
logger.info(f"Calibration saved to {self.calibration_fpath}")
def configure(self) -> None:
self.arm.disable_torque()
self.arm.configure_motors()
self.bus.disable_torque()
self.bus.configure_motors()
# Set secondary/shadow ID for shoulder and elbow. These joints have two motors.
# As a result, if only one of them is required to move to a certain position,
# the other will follow. This is to avoid breaking the motors.
self.arm.write("Secondary_ID", "shoulder_shadow", 2)
self.arm.write("Secondary_ID", "elbow_shadow", 4)
self.bus.write("Secondary_ID", "shoulder_shadow", 2)
self.bus.write("Secondary_ID", "elbow_shadow", 4)
def get_action(self) -> dict[str, float]:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
start = time.perf_counter()
action = self.arm.sync_read("Present_Position")
action = self.bus.sync_read("Present_Position")
action = {f"{motor}.pos": val for motor, val in action.items()}
dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read action: {dt_ms:.1f}ms")
@@ -150,5 +150,5 @@ class WidowX(Teleoperator):
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self.arm.disconnect()
self.bus.disconnect()
logger.info(f"{self} disconnected.")