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Update Koch & SO-100

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This commit is contained in:
Simon Alibert
2025-04-02 22:33:48 +02:00
parent 854b78975a
commit eeb8490016
8 changed files with 226 additions and 237 deletions
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112
lerobot/common/teleoperators/koch/teleop_koch.py
View File

@@ -23,12 +23,13 @@ from lerobot.common.motors.dynamixel import (
DriveMode,
DynamixelMotorsBus,
OperatingMode,
TorqueMode,
)
from ..teleoperator import Teleoperator
from .configuration_koch import KochTeleopConfig
logger = logging.getLogger(__name__)
class KochTeleop(Teleoperator):
"""
@@ -43,8 +44,6 @@ class KochTeleop(Teleoperator):
def __init__(self, config: KochTeleopConfig):
super().__init__(config)
self.config = config
self.robot_type = config.type
self.arm = DynamixelMotorsBus(
port=self.config.port,
motors={
@@ -55,10 +54,9 @@ class KochTeleop(Teleoperator):
"wrist_roll": Motor(5, "xl330-m077", MotorNormMode.RANGE_M100_100),
"gripper": Motor(6, "xl330-m077", MotorNormMode.RANGE_0_100),
},
calibration=self.calibration,
)
self.logs = {}
@property
def action_feature(self) -> dict:
return {
@@ -77,23 +75,60 @@ class KochTeleop(Teleoperator):
def connect(self) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(
"ManipulatorRobot is already connected. Do not run `robot.connect()` twice."
)
raise DeviceAlreadyConnectedError(f"{self} already connected")
logging.info("Connecting arm.")
self.arm.connect()
if not self.is_calibrated:
self.calibrate()
self.configure()
logger.info(f"{self} connected.")
@property
def is_calibrated(self) -> bool:
return self.arm.is_calibrated
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)
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}
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]
logger.info(
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
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],
)
self.arm.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 name in self.arm.names:
# Torque must be deactivated to change values in the motors' EEPROM area
# We assume that at configuration time, arm is in a rest position,
# and torque can be safely disabled to run calibration.
self.arm.write("Torque_Enable", name, TorqueMode.DISABLED.value)
if name != "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
@@ -108,56 +143,14 @@ class KochTeleop(Teleoperator):
# 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)
# Set gripper's goal pos in current position mode so that we can use it as a trigger.
self.arm.write("Torque_Enable", "gripper", TorqueMode.ENABLED.value)
self.arm.enable_torque("gripper")
self.arm.write("Goal_Position", "gripper", self.config.gripper_open_pos)
@property
def is_calibrated(self) -> bool:
motors_calibration = self.arm.get_calibration()
return motors_calibration == self.calibration
def calibrate(self) -> None:
print(f"\nRunning calibration of {self.id} Koch teleop")
for name in self.arm.names:
self.arm.write("Torque_Enable", name, TorqueMode.DISABLED.value)
self.arm.write("Operating_Mode", name, 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}
input("Move robot to the middle of its range of motion and press ENTER....")
homing_offsets = self.arm.set_half_turn_homings()
fixed_range = ["shoulder_pan", "wrist_roll"]
auto_range_motors = [name for name in self.arm.names if name not in fixed_range]
print(
"Move all joints except 'wrist_roll' (id=5) sequentially through their entire ranges of motion."
)
print("Recording positions. Press ENTER to stop...")
ranges = self.arm.register_ranges_of_motion(auto_range_motors)
for name in fixed_range:
ranges[name] = {"min": 0, "max": 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=ranges[name]["min"],
range_max=ranges[name]["max"],
)
self._save_calibration()
print("Calibration saved to", self.calibration_fpath)
def get_action(self) -> dict[str, float]:
"""The returned action does not have a batch dimension."""
# Read arm position
start_time = time.perf_counter()
start = time.perf_counter()
action = self.arm.sync_read("Present_Position")
self.logs["read_pos_dt_s"] = time.perf_counter() - start_time
dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read action: {dt_ms:.1f}ms")
return action
def send_feedback(self, feedback: dict[str, float]) -> None:
@@ -171,3 +164,4 @@ class KochTeleop(Teleoperator):
)
self.arm.disconnect()
logger.info(f"{self} disconnected.")

64
lerobot/common/teleoperators/so100/teleop_so100.py
View File

@@ -22,12 +22,13 @@ from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.common.motors.feetech import (
FeetechMotorsBus,
OperatingMode,
TorqueMode,
)
from ..teleoperator import Teleoperator
from .configuration_so100 import SO100TeleopConfig
logger = logging.getLogger(__name__)
class SO100Teleop(Teleoperator):
"""
@@ -40,8 +41,6 @@ class SO100Teleop(Teleoperator):
def __init__(self, config: SO100TeleopConfig):
super().__init__(config)
self.config = config
self.robot_type = config.type
self.arm = FeetechMotorsBus(
port=self.config.port,
motors={
@@ -54,8 +53,6 @@ class SO100Teleop(Teleoperator):
},
)
self.logs = {}
@property
def action_feature(self) -> dict:
return {
@@ -74,44 +71,37 @@ class SO100Teleop(Teleoperator):
def connect(self) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(
"ManipulatorRobot is already connected. Do not run `robot.connect()` twice."
)
raise DeviceAlreadyConnectedError(f"{self} already connected")
logging.info("Connecting arm.")
self.arm.connect()
if not self.is_calibrated:
self.calibrate()
self.configure()
def configure(self) -> None:
# We assume that at connection time, arm is in a rest position,
# and torque can be safely disabled to run calibration.
for name in self.arm.names:
self.arm.write("Torque_Enable", name, TorqueMode.DISABLED.value)
logger.info(f"{self} connected.")
@property
def is_calibrated(self) -> bool:
motors_calibration = self.arm.get_calibration()
return motors_calibration == self.calibration
return self.arm.is_calibrated
def calibrate(self) -> None:
print(f"\nRunning calibration of {self.id} SO-100 teleop")
logger.info(f"\nRunning calibration of {self}")
self.arm.disable_torque()
for name in self.arm.names:
self.arm.write("Torque_Enable", name, TorqueMode.DISABLED.value)
self.arm.write("Operating_Mode", name, OperatingMode.POSITION.value)
input("Move robot to the middle of its range of motion and press ENTER....")
homing_offsets = self.arm.set_half_turn_homings()
print(
"Move all joints except 'wrist_roll' (id=5) sequentially through their entire ranges of motion."
full_turn_motor = "wrist_roll"
unknown_range_motors = [name for name in self.arm.names if name != full_turn_motor]
logger.info(
f"Move all joints except '{full_turn_motor}' sequentially through their "
"entire ranges of motion.\nRecording positions. Press ENTER to stop..."
)
print("Recording positions. Press ENTER to stop...")
auto_range_motors = [name for name in self.arm.names if name != "wrist_roll"]
ranges = self.arm.register_ranges_of_motion(auto_range_motors)
ranges["wrist_roll"] = {"min": 0, "max": 4095}
range_mins, range_maxes = self.arm.record_ranges_of_motion(unknown_range_motors)
range_mins[full_turn_motor] = 0
range_maxes[full_turn_motor] = 4095
self.calibration = {}
for name, motor in self.arm.motors.items():
@@ -119,25 +109,30 @@ class SO100Teleop(Teleoperator):
id=motor.id,
drive_mode=0,
homing_offset=homing_offsets[name],
range_min=ranges[name]["min"],
range_max=ranges[name]["max"],
range_min=range_mins[name],
range_max=range_maxes[name],
)
self.arm.write_calibration(self.calibration)
self._save_calibration()
print("Calibration saved to", self.calibration_fpath)
logger.info(f"Calibration saved to {self.calibration_fpath}")
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)
def get_action(self) -> dict[str, float]:
"""The returned action does not have a batch dimension."""
# Read arm position
before_read_t = time.perf_counter()
start = time.perf_counter()
action = self.arm.sync_read("Present_Position")
self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read action: {dt_ms:.1f}ms")
return action
def send_feedback(self, feedback: dict[str, float]) -> None:
# TODO(rcadene, aliberts): Implement force feedback
pass
raise NotImplementedError
def disconnect(self) -> None:
if not self.is_connected:
@@ -146,3 +141,4 @@ class SO100Teleop(Teleoperator):
)
self.arm.disconnect()
logger.info(f"{self} disconnected.")

11
lerobot/common/teleoperators/teleoperator.py
View File

@@ -30,6 +30,9 @@ class Teleoperator(abc.ABC):
if self.calibration_fpath.is_file():
self._load_calibration()
def __str__(self) -> str:
return f"{self.id} {self.__class__.__name__}"
@abc.abstractproperty
def action_feature(self) -> dict:
pass
@@ -47,10 +50,6 @@ class Teleoperator(abc.ABC):
"""Connects to the teleoperator."""
pass
@abc.abstractmethod
def configure(self) -> None:
pass
@abc.abstractproperty
def is_calibrated(self) -> bool:
pass
@@ -70,6 +69,10 @@ class Teleoperator(abc.ABC):
with open(fpath, "w") as f, draccus.config_type("json"):
draccus.dump(self.calibration, f, indent=4)
@abc.abstractmethod
def configure(self) -> None:
pass
@abc.abstractmethod
def get_action(self) -> dict[str, Any]:
"""Gets the action to send to a teleoperator."""