chore(dummy): add comments + better visualization

Co-authored-by: Pepijn <pepijn@huggingface.co>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

.dockerignore

@@ -73,7 +73,7 @@ pip-log.txt
 pip-delete-this-directory.txt
 
 # Unit test / coverage reports
-!tests/data
+!tests/artifacts
 htmlcov/
 .tox/
 .nox/

.gitignore

@@ -78,7 +78,7 @@ pip-log.txt
 pip-delete-this-directory.txt
 
 # Unit test / coverage reports
-!tests/data
+!tests/artifacts
 htmlcov/
 .tox/
 .nox/

.pre-commit-config.yaml

@@ -12,10 +12,17 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-exclude: ^(tests/data)
+exclude: "tests/artifacts/.*\\.safetensors$"
 default_language_version:
     python: python3.10
 repos:
+  ##### Meta #####
+  - repo: meta
+    hooks:
+      - id: check-useless-excludes
+      - id: check-hooks-apply
+
+
   ##### Style / Misc. #####
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v5.0.0
@@ -28,31 +35,37 @@ repos:
       - id: check-toml
       - id: end-of-file-fixer
       - id: trailing-whitespace
+
   - repo: https://github.com/crate-ci/typos
-    rev: v1.30.0
+    rev: v1.30.2
     hooks:
       - id: typos
         args: [--force-exclude]
+
   - repo: https://github.com/asottile/pyupgrade
     rev: v3.19.1
     hooks:
     -   id: pyupgrade
+
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.9.9
+    rev: v0.9.10
     hooks:
       - id: ruff
         args: [--fix]
       - id: ruff-format
 
+
   ##### Security #####
   - repo: https://github.com/gitleaks/gitleaks
     rev: v8.24.0
     hooks:
       - id: gitleaks
+
   - repo: https://github.com/woodruffw/zizmor-pre-commit
     rev: v1.4.1
     hooks:
       - id: zizmor
+
   - repo: https://github.com/PyCQA/bandit
     rev: 1.8.3
     hooks:

CONTRIBUTING.md

@@ -291,7 +291,7 @@ sudo apt-get install git-lfs
 git lfs install
 ```
 
-Pull artifacts if they're not in [tests/data](tests/data)
+Pull artifacts if they're not in [tests/artifacts](tests/artifacts)
 ```bash
 git lfs pull
 ```

README.md

@@ -232,8 +232,8 @@ python lerobot/scripts/eval.py \
     --env.type=pusht \
     --eval.batch_size=10 \
     --eval.n_episodes=10 \
-    --use_amp=false \
-    --device=cuda
+    --policy.use_amp=false \
+    --policy.device=cuda
 ```
 
 Note: After training your own policy, you can re-evaluate the checkpoints with:

examples/4_train_policy_with_script.md

@@ -1,5 +1,5 @@
 This tutorial will explain the training script, how to use it, and particularly how to configure everything needed for the training run.
-> **Note:** The following assume you're running these commands on a machine equipped with a cuda GPU. If you don't have one (or if you're using a Mac), you can add `--device=cpu` (`--device=mps` respectively). However, be advised that the code executes much slower on cpu.
+> **Note:** The following assume you're running these commands on a machine equipped with a cuda GPU. If you don't have one (or if you're using a Mac), you can add `--policy.device=cpu` (`--policy.device=mps` respectively). However, be advised that the code executes much slower on cpu.
 
 
 ## The training script

examples/7_get_started_with_real_robot.md

@@ -386,14 +386,14 @@ When you connect your robot for the first time, the [`ManipulatorRobot`](../lero
 
 Here are the positions you'll move the follower arm to:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                                  | 2. Rotated position                                                                                                                                                        | 3. Rest position                                                                                                                                                  |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <img src="../media/koch/follower_zero.webp?raw=true" alt="Koch v1.1 follower arm zero position" title="Koch v1.1 follower arm zero position" style="width:100%;"> | <img src="../media/koch/follower_rotated.webp?raw=true" alt="Koch v1.1 follower arm rotated position" title="Koch v1.1 follower arm rotated position" style="width:100%;"> | <img src="../media/koch/follower_rest.webp?raw=true" alt="Koch v1.1 follower arm rest position" title="Koch v1.1 follower arm rest position" style="width:100%;"> |
 
 And here are the corresponding positions for the leader arm:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                            | 2. Rotated position                                                                                                                                                  | 3. Rest position                                                                                                                                            |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <img src="../media/koch/leader_zero.webp?raw=true" alt="Koch v1.1 leader arm zero position" title="Koch v1.1 leader arm zero position" style="width:100%;"> | <img src="../media/koch/leader_rotated.webp?raw=true" alt="Koch v1.1 leader arm rotated position" title="Koch v1.1 leader arm rotated position" style="width:100%;"> | <img src="../media/koch/leader_rest.webp?raw=true" alt="Koch v1.1 leader arm rest position" title="Koch v1.1 leader arm rest position" style="width:100%;"> |
 
 You can watch a [video tutorial of the calibration procedure](https://youtu.be/8drnU9uRY24) for more details.
@@ -898,14 +898,14 @@ python lerobot/scripts/train.py \
   --policy.type=act \
   --output_dir=outputs/train/act_koch_test \
   --job_name=act_koch_test \
-  --device=cuda \
+  --policy.device=cuda \
   --wandb.enable=true
 ```
 
 Let's explain it:
 1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/koch_test`.
 2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor sates, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `device=cuda` since we are training on a Nvidia GPU, but you could use `device=mps` to train on Apple silicon.
+4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
 5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
 
 For more information on the `train` script see the previous tutorial: [`examples/4_train_policy_with_script.md`](../examples/4_train_policy_with_script.md)

lerobot/common/cameras/intel/camera_realsense.py

@@ -49,7 +49,7 @@ def find_cameras(raise_when_empty=True, mock=False) -> list[dict]:
     connected to the computer.
     """
     if mock:
-        import tests.mock_pyrealsense2 as rs
+        import tests.cameras.mock_pyrealsense2 as rs
     else:
         import pyrealsense2 as rs
 
@@ -101,7 +101,7 @@ def save_images_from_cameras(
         serial_numbers = [cam["serial_number"] for cam in camera_infos]
 
     if mock:
-        import tests.mock_cv2 as cv2
+        import tests.cameras.mock_cv2 as cv2
     else:
         import cv2
 
@@ -252,7 +252,7 @@ class RealSenseCamera(Camera):
         self.logs = {}
 
         if self.mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 
@@ -284,7 +284,7 @@ class RealSenseCamera(Camera):
             raise DeviceAlreadyConnectedError(f"RealSenseCamera({self.serial_number}) is already connected.")
 
         if self.mock:
-            import tests.mock_pyrealsense2 as rs
+            import tests.cameras.mock_pyrealsense2 as rs
         else:
             import pyrealsense2 as rs
 
@@ -372,7 +372,7 @@ class RealSenseCamera(Camera):
             )
 
         if self.mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 

lerobot/common/cameras/opencv/camera_opencv.py

@@ -81,7 +81,7 @@ def _find_cameras(
     possible_camera_ids: list[int | str], raise_when_empty=False, mock=False
 ) -> list[int | str]:
     if mock:
-        import tests.mock_cv2 as cv2
+        import tests.cameras.mock_cv2 as cv2
     else:
         import cv2
 
@@ -270,7 +270,7 @@ class OpenCVCamera(Camera):
         self.logs = {}
 
         if self.mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 
@@ -287,7 +287,7 @@ class OpenCVCamera(Camera):
             raise DeviceAlreadyConnectedError(f"OpenCVCamera({self.camera_index}) is already connected.")
 
         if self.mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 
@@ -399,7 +399,7 @@ class OpenCVCamera(Camera):
         # so we convert the image color from BGR to RGB.
         if requested_color_mode == "rgb":
             if self.mock:
-                import tests.mock_cv2 as cv2
+                import tests.cameras.mock_cv2 as cv2
             else:
                 import cv2
 

lerobot/common/motors/dynamixel/dynamixel.py

@@ -332,7 +332,7 @@ class DynamixelMotorsBus:
             )
 
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -356,7 +356,7 @@ class DynamixelMotorsBus:
 
     def reconnect(self):
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -646,7 +646,7 @@ class DynamixelMotorsBus:
 
     def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -691,7 +691,7 @@ class DynamixelMotorsBus:
         start_time = time.perf_counter()
 
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -757,7 +757,7 @@ class DynamixelMotorsBus:
 
     def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY):
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -793,7 +793,7 @@ class DynamixelMotorsBus:
         start_time = time.perf_counter()
 
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 

lerobot/common/motors/feetech/__init__.py

@@ -1,4 +1,9 @@
 from .feetech import FeetechMotorsBus, TorqueMode
-from .feetech_calibration import run_arm_manual_calibration
+from .feetech_calibration import apply_feetech_offsets_from_calibration, run_full_arm_calibration
 
-__all__ = ["FeetechMotorsBus", "TorqueMode", "run_arm_manual_calibration"]
+__all__ = [
+    "FeetechMotorsBus",
+    "TorqueMode",
+    "apply_feetech_offsets_from_calibration",
+    "run_full_arm_calibration",
+]

lerobot/common/motors/feetech/feetech.py

@@ -13,8 +13,6 @@
 # limitations under the License.
 
 import enum
-import logging
-import math
 import time
 import traceback
 from copy import deepcopy
@@ -31,13 +29,6 @@ TIMEOUT_MS = 1000
 
 MAX_ID_RANGE = 252
 
-# The following bounds define the lower and upper joints range (after calibration).
-# For joints in degree (i.e. revolute joints), their nominal range is [-180, 180] degrees
-# which corresponds to a half rotation on the left and half rotation on the right.
-# Some joints might require higher range, so we allow up to [-270, 270] degrees until
-# an error is raised.
-LOWER_BOUND_DEGREE = -270
-UPPER_BOUND_DEGREE = 270
 # For joints in percentage (i.e. joints that move linearly like the prismatic joint of a gripper),
 # their nominal range is [0, 100] %. For instance, for Aloha gripper, 0% is fully
 # closed, and 100% is fully open. To account for slight calibration issue, we allow up to
@@ -47,7 +38,6 @@ UPPER_BOUND_LINEAR = 110
 
 HALF_TURN_DEGREE = 180
 
-
 # See this link for STS3215 Memory Table:
 # https://docs.google.com/spreadsheets/d/1GVs7W1VS1PqdhA1nW-abeyAHhTUxKUdR/edit?usp=sharing&ouid=116566590112741600240&rtpof=true&sd=true
 # data_name: (address, size_byte)
@@ -113,8 +103,6 @@ SCS_SERIES_BAUDRATE_TABLE = {
 }
 
 CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]
-CONVERT_UINT32_TO_INT32_REQUIRED = ["Goal_Position", "Present_Position"]
-
 
 MODEL_CONTROL_TABLE = {
     "scs_series": SCS_SERIES_CONTROL_TABLE,
@@ -136,15 +124,63 @@ NUM_READ_RETRY = 20
 NUM_WRITE_RETRY = 20
 
 
-def convert_degrees_to_steps(degrees: float | np.ndarray, models: str | list[str]) -> np.ndarray:
-    """This function converts the degree range to the step range for indicating motors rotation.
-    It assumes a motor achieves a full rotation by going from -180 degree position to +180.
-    The motor resolution (e.g. 4096) corresponds to the number of steps needed to achieve a full rotation.
+def convert_ticks_to_degrees(ticks, model):
+    resolutions = MODEL_RESOLUTION[model]
+    # Convert the ticks to degrees
+    return ticks * (360.0 / resolutions)
+
+
+def convert_degrees_to_ticks(degrees, model):
+    resolutions = MODEL_RESOLUTION[model]
+    # Convert degrees to motor ticks
+    return int(degrees * (resolutions / 360.0))
+
+
+def adjusted_to_homing_ticks(raw_motor_ticks: int, model: str, motorbus, motor_id: int) -> int:
     """
-    resolutions = [MODEL_RESOLUTION[model] for model in models]
-    steps = degrees / 180 * np.array(resolutions) / 2
-    steps = steps.astype(int)
-    return steps
+    Takes a raw reading [0..(res-1)] (e.g. 0..4095) and shifts it so that '2048'
+    becomes 0 in the homed coordinate system ([-2048..+2047] for 4096 resolution).
+    """
+    resolutions = MODEL_RESOLUTION[model]
+
+    # Shift raw ticks by half-resolution so 2048 -> 0, then wrap [0..res-1].
+    ticks = (raw_motor_ticks - (resolutions // 2)) % resolutions
+
+    # If above halfway, fold it into negative territory => [-2048..+2047].
+    if ticks > (resolutions // 2):
+        ticks -= resolutions
+
+    # Flip sign if drive_mode is set.
+    drive_mode = 0
+    if motorbus.calibration is not None:
+        drive_mode = motorbus.calibration["drive_mode"][motor_id - 1]
+
+    if drive_mode:
+        ticks *= -1
+
+    return ticks
+
+
+def adjusted_to_motor_ticks(adjusted_pos: int, model: str, motorbus, motor_id: int) -> int:
+    """
+    Inverse of adjusted_to_homing_ticks(). Takes a 'homed' position in [-2048..+2047]
+    and recovers the raw [0..(res-1)] ticks with 2048 as midpoint.
+    """
+    # Flip sign if drive_mode was set.
+    drive_mode = 0
+    if motorbus.calibration is not None:
+        drive_mode = motorbus.calibration["drive_mode"][motor_id - 1]
+
+    if drive_mode:
+        adjusted_pos *= -1
+
+    resolutions = MODEL_RESOLUTION[model]
+
+    # Shift by +half-resolution and wrap into [0..res-1].
+    # This undoes the earlier shift by -half-resolution.
+    ticks = (adjusted_pos + (resolutions // 2)) % resolutions
+
+    return ticks
 
 
 def convert_to_bytes(value, bytes, mock=False):
@@ -304,8 +340,6 @@ class FeetechMotorsBus:
         self.group_writers = {}
         self.logs = {}
 
-        self.track_positions = {}
-
     def connect(self):
         if self.is_connected:
             raise DeviceAlreadyConnectedError(
@@ -313,7 +347,7 @@ class FeetechMotorsBus:
             )
 
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -337,7 +371,7 @@ class FeetechMotorsBus:
 
     def reconnect(self):
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -402,33 +436,7 @@ class FeetechMotorsBus:
     def set_calibration(self, calibration: dict[str, list]):
         self.calibration = calibration
 
-    def apply_calibration_autocorrect(self, values: np.ndarray | list, motor_names: list[str] | None):
-        """This function apply the calibration, automatically detects out of range errors for motors values and attempt to correct.
-
-        For more info, see docstring of `apply_calibration` and `autocorrect_calibration`.
-        """
-        try:
-            values = self.apply_calibration(values, motor_names)
-        except JointOutOfRangeError as e:
-            print(e)
-            self.autocorrect_calibration(values, motor_names)
-            values = self.apply_calibration(values, motor_names)
-        return values
-
     def apply_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
-        """Convert from unsigned int32 joint position range [0, 2**32[ to the universal float32 nominal degree range ]-180.0, 180.0[ with
-        a "zero position" at 0 degree.
-
-        Note: We say "nominal degree range" since the motors can take values outside this range. For instance, 190 degrees, if the motor
-        rotate more than a half a turn from the zero position. However, most motors can't rotate more than 180 degrees and will stay in this range.
-
-        Joints values are original in [0, 2**32[ (unsigned int32). Each motor are expected to complete a full rotation
-        when given a goal position that is + or - their resolution. For instance, feetech xl330-m077 have a resolution of 4096, and
-        at any position in their original range, let's say the position 56734, they complete a full rotation clockwise by moving to 60830,
-        or anticlockwise by moving to 52638. The position in the original range is arbitrary and might change a lot between each motor.
-        To harmonize between motors of the same model, different robots, or even models of different brands, we propose to work
-        in the centered nominal degree range ]-180, 180[.
-        """
         if motor_names is None:
             motor_names = self.motor_names
 
@@ -440,34 +448,11 @@ class FeetechMotorsBus:
             calib_mode = self.calibration["calib_mode"][calib_idx]
 
             if CalibrationMode[calib_mode] == CalibrationMode.DEGREE:
-                drive_mode = self.calibration["drive_mode"][calib_idx]
-                homing_offset = self.calibration["homing_offset"][calib_idx]
-                _, model = self.motors[name]
-                resolution = self.model_resolution[model]
+                motor_idx, model = self.motors[name]
 
-                # Update direction of rotation of the motor to match between leader and follower.
-                # In fact, the motor of the leader for a given joint can be assembled in an
-                # opposite direction in term of rotation than the motor of the follower on the same joint.
-                if drive_mode:
-                    values[i] *= -1
-
-                # Convert from range [-2**31, 2**31[ to
-                # nominal range ]-resolution, resolution[ (e.g. ]-2048, 2048[)
-                values[i] += homing_offset
-
-                # Convert from range ]-resolution, resolution[ to
-                # universal float32 centered degree range ]-180, 180[
-                values[i] = values[i] / (resolution // 2) * HALF_TURN_DEGREE
-
-                if (values[i] < LOWER_BOUND_DEGREE) or (values[i] > UPPER_BOUND_DEGREE):
-                    raise JointOutOfRangeError(
-                        f"Wrong motor position range detected for {name}. "
-                        f"Expected to be in nominal range of [-{HALF_TURN_DEGREE}, {HALF_TURN_DEGREE}] degrees (a full rotation), "
-                        f"with a maximum range of [{LOWER_BOUND_DEGREE}, {UPPER_BOUND_DEGREE}] degrees to account for joints that can rotate a bit more, "
-                        f"but present value is {values[i]} degree. "
-                        "This might be due to a cable connection issue creating an artificial 360 degrees jump in motor values. "
-                        "You need to recalibrate by running: `python lerobot/scripts/control_robot.py calibrate`"
-                    )
+                # Convert raw motor ticks to homed ticks, then convert the homed ticks to degrees
+                values[i] = adjusted_to_homing_ticks(values[i], model, self, motor_idx)
+                values[i] = convert_ticks_to_degrees(values[i], model)
 
             elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
                 start_pos = self.calibration["start_pos"][calib_idx]
@@ -489,103 +474,6 @@ class FeetechMotorsBus:
 
         return values
 
-    def autocorrect_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
-        """This function automatically detects issues with values of motors after calibration, and correct for these issues.
-
-        Some motors might have values outside of expected maximum bounds after calibration.
-        For instance, for a joint in degree, its value can be outside [-270, 270] degrees, which is totally unexpected given
-        a nominal range of [-180, 180] degrees, which represents half a turn to the left or right starting from zero position.
-
-        Known issues:
-        #1: Motor value randomly shifts of a full turn, caused by hardware/connection errors.
-        #2: Motor internal homing offset is shifted of a full turn, caused by using default calibration (e.g Aloha).
-        #3: motor internal homing offset is shifted of less or more than a full turn, caused by using default calibration
-            or by human error during manual calibration.
-
-        Issues #1 and #2 can be solved by shifting the calibration homing offset by a full turn.
-        Issue #3 will be visually detected by user and potentially captured by the safety feature `max_relative_target`,
-        that will slow down the motor, raise an error asking to recalibrate. Manual recalibrating will solve the issue.
-
-        Note: A full turn corresponds to 360 degrees but also to 4096 steps for a motor resolution of 4096.
-        """
-        if motor_names is None:
-            motor_names = self.motor_names
-
-        # Convert from unsigned int32 original range [0, 2**32] to signed float32 range
-        values = values.astype(np.float32)
-
-        for i, name in enumerate(motor_names):
-            calib_idx = self.calibration["motor_names"].index(name)
-            calib_mode = self.calibration["calib_mode"][calib_idx]
-
-            if CalibrationMode[calib_mode] == CalibrationMode.DEGREE:
-                drive_mode = self.calibration["drive_mode"][calib_idx]
-                homing_offset = self.calibration["homing_offset"][calib_idx]
-                _, model = self.motors[name]
-                resolution = self.model_resolution[model]
-
-                if drive_mode:
-                    values[i] *= -1
-
-                # Convert from initial range to range [-180, 180] degrees
-                calib_val = (values[i] + homing_offset) / (resolution // 2) * HALF_TURN_DEGREE
-                in_range = (calib_val > LOWER_BOUND_DEGREE) and (calib_val < UPPER_BOUND_DEGREE)
-
-                # Solve this inequality to find the factor to shift the range into [-180, 180] degrees
-                # values[i] = (values[i] + homing_offset + resolution * factor) / (resolution // 2) * HALF_TURN_DEGREE
-                # - HALF_TURN_DEGREE <= (values[i] + homing_offset + resolution * factor) / (resolution // 2) * HALF_TURN_DEGREE <= HALF_TURN_DEGREE
-                # (- HALF_TURN_DEGREE / HALF_TURN_DEGREE * (resolution // 2) - values[i] - homing_offset) / resolution <= factor <= (HALF_TURN_DEGREE / 180 * (resolution // 2) - values[i] - homing_offset) / resolution
-                low_factor = (
-                    -HALF_TURN_DEGREE / HALF_TURN_DEGREE * (resolution // 2) - values[i] - homing_offset
-                ) / resolution
-                upp_factor = (
-                    HALF_TURN_DEGREE / HALF_TURN_DEGREE * (resolution // 2) - values[i] - homing_offset
-                ) / resolution
-
-            elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
-                start_pos = self.calibration["start_pos"][calib_idx]
-                end_pos = self.calibration["end_pos"][calib_idx]
-
-                # Convert from initial range to range [0, 100] in %
-                calib_val = (values[i] - start_pos) / (end_pos - start_pos) * 100
-                in_range = (calib_val > LOWER_BOUND_LINEAR) and (calib_val < UPPER_BOUND_LINEAR)
-
-                # Solve this inequality to find the factor to shift the range into [0, 100] %
-                # values[i] = (values[i] - start_pos + resolution * factor) / (end_pos + resolution * factor - start_pos - resolution * factor) * 100
-                # values[i] = (values[i] - start_pos + resolution * factor) / (end_pos - start_pos) * 100
-                # 0 <= (values[i] - start_pos + resolution * factor) / (end_pos - start_pos) * 100 <= 100
-                # (start_pos - values[i]) / resolution <= factor <= (end_pos - values[i]) / resolution
-                low_factor = (start_pos - values[i]) / resolution
-                upp_factor = (end_pos - values[i]) / resolution
-
-            if not in_range:
-                # Get first integer between the two bounds
-                if low_factor < upp_factor:
-                    factor = math.ceil(low_factor)
-
-                    if factor > upp_factor:
-                        raise ValueError(f"No integer found between bounds [{low_factor=}, {upp_factor=}]")
-                else:
-                    factor = math.ceil(upp_factor)
-
-                    if factor > low_factor:
-                        raise ValueError(f"No integer found between bounds [{low_factor=}, {upp_factor=}]")
-
-                if CalibrationMode[calib_mode] == CalibrationMode.DEGREE:
-                    out_of_range_str = f"{LOWER_BOUND_DEGREE} < {calib_val} < {UPPER_BOUND_DEGREE} degrees"
-                    in_range_str = f"{LOWER_BOUND_DEGREE} < {calib_val} < {UPPER_BOUND_DEGREE} degrees"
-                elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
-                    out_of_range_str = f"{LOWER_BOUND_LINEAR} < {calib_val} < {UPPER_BOUND_LINEAR} %"
-                    in_range_str = f"{LOWER_BOUND_LINEAR} < {calib_val} < {UPPER_BOUND_LINEAR} %"
-
-                logging.warning(
-                    f"Auto-correct calibration of motor '{name}' by shifting value by {abs(factor)} full turns, "
-                    f"from '{out_of_range_str}' to '{in_range_str}'."
-                )
-
-                # A full turn corresponds to 360 degrees but also to 4096 steps for a motor resolution of 4096.
-                self.calibration["homing_offset"][calib_idx] += resolution * factor
-
     def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] | None):
         """Inverse of `apply_calibration`."""
         if motor_names is None:
@@ -596,23 +484,11 @@ class FeetechMotorsBus:
             calib_mode = self.calibration["calib_mode"][calib_idx]
 
             if CalibrationMode[calib_mode] == CalibrationMode.DEGREE:
-                drive_mode = self.calibration["drive_mode"][calib_idx]
-                homing_offset = self.calibration["homing_offset"][calib_idx]
-                _, model = self.motors[name]
-                resolution = self.model_resolution[model]
+                motor_idx, model = self.motors[name]
 
-                # Convert from nominal 0-centered degree range [-180, 180] to
-                # 0-centered resolution range (e.g. [-2048, 2048] for resolution=4096)
-                values[i] = values[i] / HALF_TURN_DEGREE * (resolution // 2)
-
-                # Subtract the homing offsets to come back to actual motor range of values
-                # which can be arbitrary.
-                values[i] -= homing_offset
-
-                # Remove drive mode, which is the rotation direction of the motor, to come back to
-                # actual motor rotation direction which can be arbitrary.
-                if drive_mode:
-                    values[i] *= -1
+                # Convert degrees to homed ticks, then convert the homed ticks to raw ticks
+                values[i] = convert_degrees_to_ticks(values[i], model)
+                values[i] = adjusted_to_motor_ticks(values[i], model, self, motor_idx)
 
             elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR:
                 start_pos = self.calibration["start_pos"][calib_idx]
@@ -625,46 +501,9 @@ class FeetechMotorsBus:
         values = np.round(values).astype(np.int32)
         return values
 
-    def avoid_rotation_reset(self, values, motor_names, data_name):
-        if data_name not in self.track_positions:
-            self.track_positions[data_name] = {
-                "prev": [None] * len(self.motor_names),
-                # Assume False at initialization
-                "below_zero": [False] * len(self.motor_names),
-                "above_max": [False] * len(self.motor_names),
-            }
-
-        track = self.track_positions[data_name]
-
-        if motor_names is None:
-            motor_names = self.motor_names
-
-        for i, name in enumerate(motor_names):
-            idx = self.motor_names.index(name)
-
-            if track["prev"][idx] is None:
-                track["prev"][idx] = values[i]
-                continue
-
-            # Detect a full rotation occurred
-            if abs(track["prev"][idx] - values[i]) > 2048:
-                # Position went below 0 and got reset to 4095
-                if track["prev"][idx] < values[i]:
-                    # So we set negative value by adding a full rotation
-                    values[i] -= 4096
-
-                # Position went above 4095 and got reset to 0
-                elif track["prev"][idx] > values[i]:
-                    # So we add a full rotation
-                    values[i] += 4096
-
-            track["prev"][idx] = values[i]
-
-        return values
-
     def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -702,7 +541,7 @@ class FeetechMotorsBus:
 
     def read(self, data_name, motor_names: str | list[str] | None = None):
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -735,7 +574,7 @@ class FeetechMotorsBus:
             self.port_handler.ser.reset_output_buffer()
             self.port_handler.ser.reset_input_buffer()
 
-            # create new group reader
+            # Create new group reader
             self.group_readers[group_key] = scs.GroupSyncRead(
                 self.port_handler, self.packet_handler, addr, bytes
             )
@@ -760,15 +599,8 @@ class FeetechMotorsBus:
 
         values = np.array(values)
 
-        # Convert to signed int to use range [-2048, 2048] for our motor positions.
-        if data_name in CONVERT_UINT32_TO_INT32_REQUIRED:
-            values = values.astype(np.int32)
-
-        if data_name in CALIBRATION_REQUIRED:
-            values = self.avoid_rotation_reset(values, motor_names, data_name)
-
         if data_name in CALIBRATION_REQUIRED and self.calibration is not None:
-            values = self.apply_calibration_autocorrect(values, motor_names)
+            values = self.apply_calibration(values, motor_names)
 
         # log the number of seconds it took to read the data from the motors
         delta_ts_name = get_log_name("delta_timestamp_s", "read", data_name, motor_names)
@@ -782,7 +614,7 @@ class FeetechMotorsBus:
 
     def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY):
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -818,7 +650,7 @@ class FeetechMotorsBus:
         start_time = time.perf_counter()
 
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 

lerobot/common/motors/feetech/feetech_calibration.py

@@ -11,488 +11,244 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-
-"""Logic to calibrate a robot arm built with feetech motors"""
-# TODO(rcadene, aliberts): move this logic into the robot code when refactoring
-
-import time
-
 import numpy as np
 
 from ..motors_bus import MotorsBus
 from .feetech import (
     CalibrationMode,
+    FeetechMotorsBus,
     TorqueMode,
-    convert_degrees_to_steps,
 )
 
 URL_TEMPLATE = (
     "https://raw.githubusercontent.com/huggingface/lerobot/main/media/{robot}/{arm}_{position}.webp"
 )
 
-# The following positions are provided in nominal degree range ]-180, +180[
-# For more info on these constants, see comments in the code where they get used.
-ZERO_POSITION_DEGREE = 0
-ROTATED_POSITION_DEGREE = 90
 
-
-def assert_drive_mode(drive_mode):
-    # `drive_mode` is in [0,1] with 0 means original rotation direction for the motor, and 1 means inverted.
-    if not np.all(np.isin(drive_mode, [0, 1])):
-        raise ValueError(f"`drive_mode` contains values other than 0 or 1: ({drive_mode})")
-
-
-def apply_drive_mode(position, drive_mode):
-    assert_drive_mode(drive_mode)
-    # Convert `drive_mode` from [0, 1] with 0 indicates original rotation direction and 1 inverted,
-    # to [-1, 1] with 1 indicates original rotation direction and -1 inverted.
-    signed_drive_mode = -(drive_mode * 2 - 1)
-    position *= signed_drive_mode
-    return position
-
-
-def move_until_block(arm, motor_name, positive_direction=True, while_move_hook=None):
-    count = 0
-    while True:
-        present_pos = arm.read("Present_Position", motor_name)
-        if positive_direction:
-            # Move +100 steps every time. Lower the steps to lower the speed at which the arm moves.
-            arm.write("Goal_Position", present_pos + 100, motor_name)
-        else:
-            arm.write("Goal_Position", present_pos - 100, motor_name)
-
-        if while_move_hook is not None:
-            while_move_hook()
-
-        present_pos = arm.read("Present_Position", motor_name).item()
-        present_speed = arm.read("Present_Speed", motor_name).item()
-        present_current = arm.read("Present_Current", motor_name).item()
-        # present_load = arm.read("Present_Load", motor_name).item()
-        # present_voltage = arm.read("Present_Voltage", motor_name).item()
-        # present_temperature = arm.read("Present_Temperature", motor_name).item()
-
-        # print(f"{present_pos=}")
-        # print(f"{present_speed=}")
-        # print(f"{present_current=}")
-        # print(f"{present_load=}")
-        # print(f"{present_voltage=}")
-        # print(f"{present_temperature=}")
-
-        if present_speed == 0 and present_current > 40:
-            count += 1
-            if count > 100 or present_current > 300:
-                return present_pos
-        else:
-            count = 0
-
-
-def move_to_calibrate(
-    arm,
-    motor_name,
-    invert_drive_mode=False,
-    positive_first=True,
-    in_between_move_hook=None,
-    while_move_hook=None,
-):
-    initial_pos = arm.read("Present_Position", motor_name)
-
-    if positive_first:
-        p_present_pos = move_until_block(
-            arm, motor_name, positive_direction=True, while_move_hook=while_move_hook
-        )
-    else:
-        n_present_pos = move_until_block(
-            arm, motor_name, positive_direction=False, while_move_hook=while_move_hook
-        )
-
-    if in_between_move_hook is not None:
-        in_between_move_hook()
-
-    if positive_first:
-        n_present_pos = move_until_block(
-            arm, motor_name, positive_direction=False, while_move_hook=while_move_hook
-        )
-    else:
-        p_present_pos = move_until_block(
-            arm, motor_name, positive_direction=True, while_move_hook=while_move_hook
-        )
-
-    zero_pos = (n_present_pos + p_present_pos) / 2
-
-    calib_data = {
-        "initial_pos": initial_pos,
-        "homing_offset": zero_pos if invert_drive_mode else -zero_pos,
-        "invert_drive_mode": invert_drive_mode,
-        "drive_mode": -1 if invert_drive_mode else 0,
-        "zero_pos": zero_pos,
-        "start_pos": n_present_pos if invert_drive_mode else p_present_pos,
-        "end_pos": p_present_pos if invert_drive_mode else n_present_pos,
-    }
-    return calib_data
-
-
-def apply_offset(calib, offset):
-    calib["zero_pos"] += offset
-    if calib["drive_mode"]:
-        calib["homing_offset"] += offset
-    else:
-        calib["homing_offset"] -= offset
-    return calib
-
-
-def run_arm_auto_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
-    if robot_type == "so100":
-        return run_arm_auto_calibration_so100(arm, robot_type, arm_name, arm_type)
-    elif robot_type == "moss":
-        return run_arm_auto_calibration_moss(arm, robot_type, arm_name, arm_type)
-    else:
-        raise ValueError(robot_type)
-
-
-def run_arm_auto_calibration_so100(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
-    """All the offsets and magic numbers are hand tuned, and are unique to SO-100 follower arms"""
+def disable_torque(arm: MotorsBus):
     if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
         raise ValueError("To run calibration, the torque must be disabled on all motors.")
 
-    if not (robot_type == "so100" and arm_type == "follower"):
-        raise NotImplementedError("Auto calibration only supports the follower of so100 arms for now.")
 
-    print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
+def get_calibration_modes(arm: MotorsBus):
+    """Returns calibration modes for each motor (DEGREE for rotational, LINEAR for gripper)."""
+    return [
+        CalibrationMode.LINEAR.name if name == "gripper" else CalibrationMode.DEGREE.name
+        for name in arm.motor_names
+    ]
 
-    print("\nMove arm to initial position")
-    print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="initial"))
-    input("Press Enter to continue...")
 
-    # Lower the acceleration of the motors (in [0,254])
-    initial_acceleration = arm.read("Acceleration")
-    arm.write("Lock", 0)
-    arm.write("Acceleration", 10)
-    time.sleep(1)
+def reset_offset(motor_id, motor_bus):
+    # Open the write lock, changes to EEPROM do NOT persist yet
+    motor_bus.write("Lock", 1)
 
-    arm.write("Torque_Enable", TorqueMode.ENABLED.value)
+    # Set offset to 0
+    motor_name = motor_bus.motor_names[motor_id - 1]
+    motor_bus.write("Offset", 0, motor_names=[motor_name])
 
-    print(f'{arm.read("Present_Position", "elbow_flex")=}')
+    # Close the write lock, changes to EEPROM do persist
+    motor_bus.write("Lock", 0)
 
-    calib = {}
+    # Confirm that the offset is zero by reading it back
+    confirmed_offset = motor_bus.read("Offset")[motor_id - 1]
+    print(f"Offset for motor {motor_id} reset to: {confirmed_offset}")
+    return confirmed_offset
 
-    init_wf_pos = arm.read("Present_Position", "wrist_flex")
-    init_sl_pos = arm.read("Present_Position", "shoulder_lift")
-    init_ef_pos = arm.read("Present_Position", "elbow_flex")
-    arm.write("Goal_Position", init_wf_pos - 800, "wrist_flex")
-    arm.write("Goal_Position", init_sl_pos + 150 + 1024, "shoulder_lift")
-    arm.write("Goal_Position", init_ef_pos - 2048, "elbow_flex")
-    time.sleep(2)
 
-    print("Calibrate shoulder_pan")
-    calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan")
-    arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan")
-    time.sleep(1)
+def calibrate_homing_motor(motor_id, motor_bus):
+    reset_offset(motor_id, motor_bus)
 
-    print("Calibrate gripper")
-    calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True)
-    time.sleep(1)
+    home_ticks = motor_bus.read("Present_Position")[motor_id - 1]  # Read index starts at 0
+    print(f"Encoder offset (present position in homing position): {home_ticks}")
 
-    print("Calibrate wrist_flex")
-    calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex")
-    calib["wrist_flex"] = apply_offset(calib["wrist_flex"], offset=80)
+    return home_ticks
 
-    def in_between_move_hook():
-        nonlocal arm, calib
-        time.sleep(2)
-        ef_pos = arm.read("Present_Position", "elbow_flex")
-        sl_pos = arm.read("Present_Position", "shoulder_lift")
-        arm.write("Goal_Position", ef_pos + 1024, "elbow_flex")
-        arm.write("Goal_Position", sl_pos - 1024, "shoulder_lift")
-        time.sleep(2)
 
-    print("Calibrate elbow_flex")
-    calib["elbow_flex"] = move_to_calibrate(
-        arm, "elbow_flex", positive_first=False, in_between_move_hook=in_between_move_hook
-    )
-    calib["elbow_flex"] = apply_offset(calib["elbow_flex"], offset=80 - 1024)
+def calibrate_linear_motor(motor_id, motor_bus):
+    motor_names = motor_bus.motor_names
+    motor_name = motor_names[motor_id - 1]
 
-    arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] + 1024 + 512, "elbow_flex")
-    time.sleep(1)
+    reset_offset(motor_id, motor_bus)
 
-    def in_between_move_hook():
-        nonlocal arm, calib
-        arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"], "elbow_flex")
+    input(f"Close the {motor_name}, then press Enter...")
+    start_pos = motor_bus.read("Present_Position")[motor_id - 1]  # Read index starts ar 0
+    print(f"  [Motor {motor_id}] start position recorded: {start_pos}")
 
-    print("Calibrate shoulder_lift")
-    calib["shoulder_lift"] = move_to_calibrate(
-        arm,
-        "shoulder_lift",
-        invert_drive_mode=True,
-        positive_first=False,
-        in_between_move_hook=in_between_move_hook,
-    )
-    # add an 30 steps as offset to align with body
-    calib["shoulder_lift"] = apply_offset(calib["shoulder_lift"], offset=1024 - 50)
+    input(f"Open the {motor_name} fully, then press Enter...")
+    end_pos = motor_bus.read("Present_Position")[motor_id - 1]  # Read index starts ar 0
+    print(f"  [Motor {motor_id}] end position recorded: {end_pos}")
 
-    def while_move_hook():
-        nonlocal arm, calib
-        positions = {
-            "shoulder_lift": round(calib["shoulder_lift"]["zero_pos"] - 1600),
-            "elbow_flex": round(calib["elbow_flex"]["zero_pos"] + 1700),
-            "wrist_flex": round(calib["wrist_flex"]["zero_pos"] + 800),
-            "gripper": round(calib["gripper"]["end_pos"]),
-        }
-        arm.write("Goal_Position", list(positions.values()), list(positions.keys()))
+    return start_pos, end_pos
 
-    arm.write("Goal_Position", round(calib["shoulder_lift"]["zero_pos"] - 1600), "shoulder_lift")
-    time.sleep(2)
-    arm.write("Goal_Position", round(calib["elbow_flex"]["zero_pos"] + 1700), "elbow_flex")
-    time.sleep(2)
-    arm.write("Goal_Position", round(calib["wrist_flex"]["zero_pos"] + 800), "wrist_flex")
-    time.sleep(2)
-    arm.write("Goal_Position", round(calib["gripper"]["end_pos"]), "gripper")
-    time.sleep(2)
 
-    print("Calibrate wrist_roll")
-    calib["wrist_roll"] = move_to_calibrate(
-        arm, "wrist_roll", invert_drive_mode=True, positive_first=False, while_move_hook=while_move_hook
-    )
+def single_motor_calibration(arm: MotorsBus, motor_id: int):
+    """Calibrates a single motor and returns its calibration data for updating the calibration file."""
 
-    arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"], "wrist_roll")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["gripper"]["start_pos"], "gripper")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"], "wrist_flex")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] + 2048, "elbow_flex")
-    arm.write("Goal_Position", calib["shoulder_lift"]["zero_pos"] - 2048, "shoulder_lift")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan")
-    time.sleep(1)
+    disable_torque(arm)
+    print(f"\n--- Calibrating Motor {motor_id} ---")
 
-    calib_modes = []
-    for name in arm.motor_names:
-        if name == "gripper":
-            calib_modes.append(CalibrationMode.LINEAR.name)
-        else:
-            calib_modes.append(CalibrationMode.DEGREE.name)
+    start_pos = 0
+    end_pos = 0
+    encoder_offset = 0
 
+    if motor_id == 6:
+        start_pos, end_pos = calibrate_linear_motor(motor_id, arm)
+    else:
+        input("Move the motor to (zero) position, then press Enter...")
+        encoder_offset = calibrate_homing_motor(motor_id, arm)
+
+    print(f"Calibration for motor ID:{motor_id} done.")
+
+    # Create a calibration dictionary for the single motor
     calib_dict = {
-        "homing_offset": [calib[name]["homing_offset"] for name in arm.motor_names],
-        "drive_mode": [calib[name]["drive_mode"] for name in arm.motor_names],
-        "start_pos": [calib[name]["start_pos"] for name in arm.motor_names],
-        "end_pos": [calib[name]["end_pos"] for name in arm.motor_names],
-        "calib_mode": calib_modes,
-        "motor_names": arm.motor_names,
+        "homing_offset": int(encoder_offset),
+        "drive_mode": 0,
+        "start_pos": int(start_pos),
+        "end_pos": int(end_pos),
+        "calib_mode": get_calibration_modes(arm)[motor_id - 1],
+        "motor_name": arm.motor_names[motor_id - 1],
     }
 
-    # Re-enable original accerlation
-    arm.write("Lock", 0)
-    arm.write("Acceleration", initial_acceleration)
-    time.sleep(1)
-
     return calib_dict
 
 
-def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
-    """All the offsets and magic numbers are hand tuned, and are unique to SO-100 follower arms"""
-    if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
-        raise ValueError("To run calibration, the torque must be disabled on all motors.")
+def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
+    """
+    Runs a full calibration process for all motors in a robotic arm.
 
-    if not (robot_type == "moss" and arm_type == "follower"):
-        raise NotImplementedError("Auto calibration only supports the follower of moss arms for now.")
+    This function calibrates each motor in the arm, determining encoder offsets and
+    start/end positions for linear and rotational motors. The calibration data is then
+    stored in a dictionary for later use.
 
-    print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
+    **Calibration Process:**
+    - The user is prompted to move the arm to its homing position before starting.
+    - Motors with rotational motion are calibrated using a homing method.
+    - Linear actuators (e.g., grippers) are calibrated separately.
+    - Encoder offsets, start positions, and end positions are recorded.
 
-    print("\nMove arm to initial position")
-    print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="initial"))
-    input("Press Enter to continue...")
-
-    # Lower the acceleration of the motors (in [0,254])
-    initial_acceleration = arm.read("Acceleration")
-    arm.write("Lock", 0)
-    arm.write("Acceleration", 10)
-    time.sleep(1)
-
-    arm.write("Torque_Enable", TorqueMode.ENABLED.value)
-
-    sl_pos = arm.read("Present_Position", "shoulder_lift")
-    arm.write("Goal_Position", sl_pos - 1024 - 450, "shoulder_lift")
-    ef_pos = arm.read("Present_Position", "elbow_flex")
-    arm.write("Goal_Position", ef_pos + 1024 + 450, "elbow_flex")
-    time.sleep(2)
-
-    calib = {}
-
-    print("Calibrate shoulder_pan")
-    calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan")
-    arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan")
-    time.sleep(1)
-
-    print("Calibrate gripper")
-    calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True)
-    time.sleep(1)
-
-    print("Calibrate wrist_flex")
-    calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex", invert_drive_mode=True)
-    calib["wrist_flex"] = apply_offset(calib["wrist_flex"], offset=-210 + 1024)
-
-    wr_pos = arm.read("Present_Position", "wrist_roll")
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
-    time.sleep(1)
-    arm.write("Goal_Position", wr_pos - 1024, "wrist_roll")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 2048, "wrist_flex")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["gripper"]["end_pos"], "gripper")
-    time.sleep(1)
-
-    print("Calibrate wrist_roll")
-    calib["wrist_roll"] = move_to_calibrate(arm, "wrist_roll", invert_drive_mode=True)
-    calib["wrist_roll"] = apply_offset(calib["wrist_roll"], offset=790)
-
-    arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"] - 1024, "wrist_roll")
-    arm.write("Goal_Position", calib["gripper"]["start_pos"], "gripper")
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"], "wrist_roll")
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 2048, "wrist_flex")
-
-    def in_between_move_elbow_flex_hook():
-        nonlocal arm, calib
-        arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"], "wrist_flex")
-
-    print("Calibrate elbow_flex")
-    calib["elbow_flex"] = move_to_calibrate(
-        arm,
-        "elbow_flex",
-        invert_drive_mode=True,
-        in_between_move_hook=in_between_move_elbow_flex_hook,
-    )
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
-
-    def in_between_move_shoulder_lift_hook():
-        nonlocal arm, calib
-        sl = arm.read("Present_Position", "shoulder_lift")
-        arm.write("Goal_Position", sl - 1500, "shoulder_lift")
-        time.sleep(1)
-        arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] + 1536, "elbow_flex")
-        time.sleep(1)
-        arm.write("Goal_Position", calib["wrist_flex"]["start_pos"], "wrist_flex")
-        time.sleep(1)
-
-    print("Calibrate shoulder_lift")
-    calib["shoulder_lift"] = move_to_calibrate(
-        arm, "shoulder_lift", in_between_move_hook=in_between_move_shoulder_lift_hook
-    )
-    calib["shoulder_lift"] = apply_offset(calib["shoulder_lift"], offset=-1024)
-
-    arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex")
-    time.sleep(1)
-    arm.write("Goal_Position", calib["shoulder_lift"]["zero_pos"] + 2048, "shoulder_lift")
-    arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] - 1024 - 400, "elbow_flex")
-    time.sleep(2)
-
-    calib_modes = []
-    for name in arm.motor_names:
-        if name == "gripper":
-            calib_modes.append(CalibrationMode.LINEAR.name)
-        else:
-            calib_modes.append(CalibrationMode.DEGREE.name)
-
-    calib_dict = {
-        "homing_offset": [calib[name]["homing_offset"] for name in arm.motor_names],
-        "drive_mode": [calib[name]["drive_mode"] for name in arm.motor_names],
-        "start_pos": [calib[name]["start_pos"] for name in arm.motor_names],
-        "end_pos": [calib[name]["end_pos"] for name in arm.motor_names],
-        "calib_mode": calib_modes,
-        "motor_names": arm.motor_names,
-    }
-
-    # Re-enable original accerlation
-    arm.write("Lock", 0)
-    arm.write("Acceleration", initial_acceleration)
-    time.sleep(1)
-
-    return calib_dict
-
-
-def run_arm_manual_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
-    """This function ensures that a neural network trained on data collected on a given robot
-    can work on another robot. For instance before calibration, setting a same goal position
-    for each motor of two different robots will get two very different positions. But after calibration,
-    the two robots will move to the same position.To this end, this function computes the homing offset
-    and the drive mode for each motor of a given robot.
-
-    Homing offset is used to shift the motor position to a ]-2048, +2048[ nominal range (when the motor uses 2048 steps
-    to complete a half a turn). This range is set around an arbitrary "zero position" corresponding to all motor positions
-    being 0. During the calibration process, you will need to manually move the robot to this "zero position".
-
-    Drive mode is used to invert the rotation direction of the motor. This is useful when some motors have been assembled
-    in the opposite orientation for some robots. During the calibration process, you will need to manually move the robot
-    to the "rotated position".
-
-    After calibration, the homing offsets and drive modes are stored in a cache.
-
-    Example of usage:
+    **Example Usage:**
     ```python
-    run_arm_calibration(arm, "so100", "left", "follower")
+    run_full_arm_calibration(arm, "so100", "left", "follower")
     ```
     """
-    if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
-        raise ValueError("To run calibration, the torque must be disabled on all motors.")
+    disable_torque(arm)
 
     print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
 
-    print("\nMove arm to zero position")
-    print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero"))
+    print("\nMove arm to homing position (middle)")
+    print(
+        "See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero")
+    )  # TODO(pepijn): replace with new instruction homing pos (all motors in middle) in tutorial
     input("Press Enter to continue...")
 
-    # We arbitrarily chose our zero target position to be a straight horizontal position with gripper upwards and closed.
-    # It is easy to identify and all motors are in a "quarter turn" position. Once calibration is done, this position will
-    # correspond to every motor angle being 0. If you set all 0 as Goal Position, the arm will move in this position.
-    zero_target_pos = convert_degrees_to_steps(ZERO_POSITION_DEGREE, arm.motor_models)
+    start_positions = np.zeros(len(arm.motor_indices))
+    end_positions = np.zeros(len(arm.motor_indices))
+    encoder_offsets = np.zeros(len(arm.motor_indices))
 
-    # Compute homing offset so that `present_position + homing_offset ~= target_position`.
-    zero_pos = arm.read("Present_Position")
-    homing_offset = zero_target_pos - zero_pos
+    modes = get_calibration_modes(arm)
 
-    # The rotated target position corresponds to a rotation of a quarter turn from the zero position.
-    # This allows to identify the rotation direction of each motor.
-    # For instance, if the motor rotates 90 degree, and its value is -90 after applying the homing offset, then we know its rotation direction
-    # is inverted. However, for the calibration being successful, we need everyone to follow the same target position.
-    # Sometimes, there is only one possible rotation direction. For instance, if the gripper is closed, there is only one direction which
-    # corresponds to opening the gripper. When the rotation direction is ambiguous, we arbitrarily rotate clockwise from the point of view
-    # of the previous motor in the kinetic chain.
-    print("\nMove arm to rotated target position")
-    print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="rotated"))
-    input("Press Enter to continue...")
+    for i, motor_id in enumerate(arm.motor_indices):
+        if modes[i] == CalibrationMode.DEGREE.name:
+            encoder_offsets[i] = calibrate_homing_motor(motor_id, arm)
+            start_positions[i] = 0
+            end_positions[i] = 0
 
-    rotated_target_pos = convert_degrees_to_steps(ROTATED_POSITION_DEGREE, arm.motor_models)
-
-    # Find drive mode by rotating each motor by a quarter of a turn.
-    # Drive mode indicates if the motor rotation direction should be inverted (=1) or not (=0).
-    rotated_pos = arm.read("Present_Position")
-    drive_mode = (rotated_pos < zero_pos).astype(np.int32)
-
-    # Re-compute homing offset to take into account drive mode
-    rotated_drived_pos = apply_drive_mode(rotated_pos, drive_mode)
-    homing_offset = rotated_target_pos - rotated_drived_pos
+    for i, motor_id in enumerate(arm.motor_indices):
+        if modes[i] == CalibrationMode.LINEAR.name:
+            start_positions[i], end_positions[i] = calibrate_linear_motor(motor_id, arm)
+            encoder_offsets[i] = 0
 
     print("\nMove arm to rest position")
-    print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="rest"))
     input("Press Enter to continue...")
-    print()
 
-    # Joints with rotational motions are expressed in degrees in nominal range of [-180, 180]
-    calib_modes = []
-    for name in arm.motor_names:
-        if name == "gripper":
-            calib_modes.append(CalibrationMode.LINEAR.name)
-        else:
-            calib_modes.append(CalibrationMode.DEGREE.name)
+    print(f"\n calibration of {robot_type} {arm_name} {arm_type} done!")
+
+    # Force drive_mode values (can be static)
+    drive_modes = [0, 1, 0, 0, 1, 0]
 
     calib_dict = {
-        "homing_offset": homing_offset.tolist(),
-        "drive_mode": drive_mode.tolist(),
-        "start_pos": zero_pos.tolist(),
-        "end_pos": rotated_pos.tolist(),
-        "calib_mode": calib_modes,
+        "homing_offset": encoder_offsets.astype(int).tolist(),
+        "drive_mode": drive_modes,
+        "start_pos": start_positions.astype(int).tolist(),
+        "end_pos": end_positions.astype(int).tolist(),
+        "calib_mode": get_calibration_modes(arm),
         "motor_names": arm.motor_names,
     }
     return calib_dict
+
+
+def run_full_auto_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str):
+    """TODO(pepijn): Add this method later as extra
+    Example of usage:
+    ```python
+    run_full_auto_arm_calibration(arm, "so100", "left", "follower")
+    ```
+    """
+    print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
+
+
+def apply_feetech_offsets_from_calibration(motorsbus: FeetechMotorsBus, calibration_dict: dict):
+    """
+    Reads 'calibration_dict' containing 'homing_offset' and 'motor_names',
+    then writes each motor's offset to the servo's internal Offset (0x1F) in EPROM.
+
+    This version is modified so each homed position (originally 0) will now read
+    2047, i.e. 180° away from 0 in the 4096-count circle. Offsets are permanently
+    stored in EEPROM, so the servo's Present_Position is hardware-shifted even
+    after power cycling.
+
+    Steps:
+      1) Subtract 2047 from the old offset (so 0 -> 2047).
+      2) Clamp to [-2047..+2047].
+      3) Encode sign bit and magnitude into a 12-bit number.
+    """
+
+    homing_offsets = calibration_dict["homing_offset"]
+    motor_names = calibration_dict["motor_names"]
+    start_pos = calibration_dict["start_pos"]
+
+    # Open the write lock, changes to EEPROM do NOT persist yet
+    motorsbus.write("Lock", 1)
+
+    # For each motor, set the 'Offset' parameter
+    for m_name, old_offset in zip(motor_names, homing_offsets, strict=False):
+        # If bus doesn’t have a motor named m_name, skip
+        if m_name not in motorsbus.motors:
+            print(f"Warning: '{m_name}' not found in motorsbus.motors; skipping offset.")
+            continue
+
+        if m_name == "gripper":
+            old_offset = start_pos  # If gripper set the offset to the start position of the gripper
+            continue
+
+        # Shift the offset so the homed position reads 2047
+        new_offset = old_offset - 2047
+
+        # Clamp to [-2047..+2047]
+        if new_offset > 2047:
+            new_offset = 2047
+            print(
+                f"Warning: '{new_offset}' is getting clamped because its larger then 2047; This should not happen!"
+            )
+        elif new_offset < -2047:
+            new_offset = -2047
+            print(
+                f"Warning: '{new_offset}' is getting clamped because its smaller then -2047; This should not happen!"
+            )
+
+        # Determine the direction (sign) bit and magnitude
+        direction_bit = 1 if new_offset < 0 else 0
+        magnitude = abs(new_offset)
+
+        # Combine sign bit (bit 11) with the magnitude (bits 0..10)
+        servo_offset = (direction_bit << 11) | magnitude
+
+        # Write offset to servo
+        motorsbus.write("Offset", servo_offset, motor_names=m_name)
+        print(
+            f"Set offset for {m_name}: "
+            f"old_offset={old_offset}, new_offset={new_offset}, servo_encoded={magnitude} + direction={direction_bit}"
+        )
+
+    motorsbus.write("Lock", 0)
+    print("Offsets have been saved to EEPROM successfully.")

lerobot/common/robots/dummy/configuration_dummy.py

@@ -0,0 +1,31 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass, field
+
+from lerobot.common.cameras.configs import CameraConfig
+from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.common.robots.config import RobotConfig
+
+
+@RobotConfig.register_subclass("dummy")
+@dataclass
+class DummyConfig(RobotConfig):
+    id = "dummy"
+
+    cameras: dict[str, CameraConfig] = field(
+        default_factory=lambda: {
+            "cam": OpenCVCameraConfig(camera_index=0, fps=30, width=1280, height=720),
+        }
+    )

lerobot/common/robots/dummy/dummy.py

@@ -0,0 +1,101 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import logging
+
+import numpy as np
+
+from lerobot.common.cameras.utils import make_cameras_from_configs
+from lerobot.common.constants import OBS_STATE
+from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+
+from ..robot import Robot
+from .configuration_dummy import DummyConfig
+
+
+class Dummy(Robot):
+    config_class = DummyConfig
+    name = "dummy"
+
+    def __init__(self, config: DummyConfig):
+        super().__init__(config)
+        self.cameras = make_cameras_from_configs(config.cameras)
+        self.is_connected = False
+
+    @property
+    def state_feature(self) -> dict:
+        logging.warning("Dummy has nothing to send.")
+
+    @property
+    def action_feature(self) -> dict:
+        logging.warning("Dummy has nothing to send.")
+
+    @property
+    def camera_features(self) -> dict[str, dict]:
+        cam_ft = {
+            "cam": {
+                "shape": (480, 640, 3),
+                "names": ["height", "width", "channels"],
+                "info": None,
+            },
+        }
+        return cam_ft
+
+    def connect(self) -> None:
+        if self.is_connected:
+            raise DeviceAlreadyConnectedError(
+                "Dummy is already connected. Do not run `robot.connect()` twice."
+            )
+
+        logging.info("Connecting cameras.")
+        for cam in self.cameras.values():
+            cam.connect()
+
+        self.is_connected = True
+
+    def calibrate(self) -> None:
+        logging.warning("Dummy has nothing to calibrate.")
+        return
+
+    def get_observation(self) -> dict[str, np.ndarray]:
+        if not self.is_connected:
+            raise DeviceNotConnectedError("Dummy is not connected. You need to run `robot.connect()`.")
+
+        obs_dict = {}
+
+        for cam_key, cam in self.cameras.items():
+            frame = cam.async_read()
+            obs_dict[f"{OBS_STATE}.{cam_key}"] = frame
+
+        return obs_dict
+
+    def send_action(self, action: np.ndarray) -> np.ndarray:
+        logging.warning("Dummy has nothing to send.")
+
+    def print_logs(self):
+        pass
+
+    def disconnect(self):
+        if not self.is_connected:
+            raise DeviceNotConnectedError(
+                "Dummy is not connected. You need to run `robot.connect()` before disconnecting."
+            )
+        for cam in self.cameras.values():
+            cam.disconnect()
+        self.is_connected = False
+
+    def __del__(self):
+        if getattr(self, "is_connected", False):
+            self.disconnect()

lerobot/common/robots/dummy/dummy_app.py

@@ -0,0 +1,71 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import logging
+import time
+
+import rerun as rr
+
+from lerobot.common.robots.dummy.configuration_dummy import DummyConfig
+from lerobot.common.robots.dummy.dummy import Dummy
+from lerobot.common.teleoperators.so100 import SO100Teleop, SO100TeleopConfig
+
+
+# IMO, it's better to use rerun in the application code instead of the library code
+def main():
+    logging.info("Configuring Devices")
+    leader_arm_config = SO100TeleopConfig(port="/dev/tty.usbmodem58760434171")
+    leader_arm = SO100Teleop(leader_arm_config)
+
+    robot_config = DummyConfig()
+    robot = Dummy(robot_config)
+
+    logging.info("Connecting SO100 Devices")
+    leader_arm.connect()
+
+    logging.info("Connecting Dummy")
+    robot.connect()
+
+    rr.init("rerun_dummy_data")
+    # If data source and visualizer are in different host, use .connect() instead to establish a tcp connection
+    # We can define a custom blueprint configuration for the visualizer panels
+    # Memory limit will make sure no more than 5% of the memory is used by the visualizer
+    rr.spawn(memory_limit="5%")
+
+    logging.info("Starting...")
+    i = 0
+    while i < 10000:
+        # An alternative would be do rerun log inside of these methods. But then that means embedding rerun into the library
+        arm_action = leader_arm.get_action()
+        observation = robot.get_observation()
+
+        for j in range(arm_action.size):
+            # If you want to disable batching we can do it: export RERUN_FLUSH_NUM_BYTES=256
+            current_time = time.time()
+            rr.set_time_seconds(f"arm_action_{j}", current_time)
+            rr.log(f"arm_action_{j}", rr.Scalar(arm_action[j]))
+
+        for k, v in observation.items():
+            # This discards all previous image frames
+            rr.set_time_seconds(k, 0.0)
+            rr.log(k, rr.Image(v))
+
+        i += 1
+
+    robot.disconnect()
+    leader_arm.disconnect()
+
+
+if __name__ == "__main__":
+    main()

lerobot/common/robots/koch/configuration_koch.py

@@ -16,15 +16,5 @@ class KochRobotConfig(RobotConfig):
     # the number of motors in your follower arms.
     max_relative_target: int | None = None
 
-    mock: bool = False
-
-    # motors
-    shoulder_pan: tuple = (1, "xl430-w250")
-    shoulder_lift: tuple = (2, "xl430-w250")
-    elbow_flex: tuple = (3, "xl330-m288")
-    wrist_flex: tuple = (4, "xl330-m288")
-    wrist_roll: tuple = (5, "xl330-m288")
-    gripper: tuple = (6, "xl330-m288")
-
     # cameras
     cameras: dict[str, CameraConfig] = field(default_factory=dict)

lerobot/common/robots/koch/robot_koch.py

@@ -49,17 +49,16 @@ class KochRobot(Robot):
         super().__init__(config)
         self.config = config
         self.robot_type = config.type
-        self.id = config.id
 
         self.arm = DynamixelMotorsBus(
             port=self.config.port,
             motors={
-                "shoulder_pan": config.shoulder_pan,
-                "shoulder_lift": config.shoulder_lift,
-                "elbow_flex": config.elbow_flex,
-                "wrist_flex": config.wrist_flex,
-                "wrist_roll": config.wrist_roll,
-                "gripper": config.gripper,
+                "shoulder_pan": (1, "xl430-w250"),
+                "shoulder_lift": (2, "xl430-w250"),
+                "elbow_flex": (3, "xl330-m288"),
+                "wrist_flex": (4, "xl330-m288"),
+                "wrist_roll": (5, "xl330-m288"),
+                "gripper": (6, "xl330-m288"),
             },
         )
         self.cameras = make_cameras_from_configs(config.cameras)
@@ -129,19 +128,17 @@ class KochRobot(Robot):
         Rotations are expressed in degrees in nominal range of [-180, 180],
         and linear motions (like gripper of Aloha) in nominal range of [0, 100].
         """
-        arm_calib_path = self.calibration_dir / f"{self.config.id}.json"
-
-        if arm_calib_path.exists():
-            with open(arm_calib_path) as f:
+        if self.calibration_fpath.exists():
+            with open(self.calibration_fpath) as f:
                 calibration = json.load(f)
         else:
             # TODO(rcadene): display a warning in __init__ if calibration file not available
-            logging.info(f"Missing calibration file '{arm_calib_path}'")
+            logging.info(f"Missing calibration file '{self.calibration_fpath}'")
             calibration = run_arm_calibration(self.arm, self.robot_type, self.name, "follower")
 
-            logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
-            arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
-            with open(arm_calib_path, "w") as f:
+            logging.info(f"Calibration is done! Saving calibration file '{self.calibration_fpath}'")
+            self.calibration_fpath.parent.mkdir(parents=True, exist_ok=True)
+            with open(self.calibration_fpath, "w") as f:
                 json.dump(calibration, f)
 
         self.arm.set_calibration(calibration)

lerobot/common/robots/lekiwi/README.md

@@ -366,8 +366,8 @@ Now we have to calibrate the leader arm and the follower arm. The wheel motors d
 
 You will need to move the follower arm to these positions sequentially:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                                  | 2. Rotated position                                                                                                                                                        | 3. Rest position                                                                                                                                                  |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <img src="../media/lekiwi/mobile_calib_zero.webp?raw=true" alt="SO-100 follower arm zero position" title="SO-100 follower arm zero position" style="width:100%;"> | <img src="../media/lekiwi/mobile_calib_rotated.webp?raw=true" alt="SO-100 follower arm rotated position" title="SO-100 follower arm rotated position" style="width:100%;"> | <img src="../media/lekiwi/mobile_calib_rest.webp?raw=true" alt="SO-100 follower arm rest position" title="SO-100 follower arm rest position" style="width:100%;"> |
 
 Make sure the arm is connected to the Raspberry Pi and run this script (on the Raspberry Pi) to launch manual calibration:
@@ -385,8 +385,8 @@ If you have the **wired** LeKiwi version please run all commands including this
 ### Calibrate leader arm
 Then to calibrate the leader arm (which is attached to the laptop/pc). You will need to move the leader arm to these positions sequentially:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                       | 2. Rotated position                                                                                                                                             | 3. Rest position                                                                                                                                       |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
 | <img src="../media/so100/leader_zero.webp?raw=true" alt="SO-100 leader arm zero position" title="SO-100 leader arm zero position" style="width:100%;"> | <img src="../media/so100/leader_rotated.webp?raw=true" alt="SO-100 leader arm rotated position" title="SO-100 leader arm rotated position" style="width:100%;"> | <img src="../media/so100/leader_rest.webp?raw=true" alt="SO-100 leader arm rest position" title="SO-100 leader arm rest position" style="width:100%;"> |
 
 Run this script (on your laptop/pc) to launch manual calibration:
@@ -416,22 +416,22 @@ python lerobot/scripts/control_robot.py \
 
 You should see on your laptop something like this: ```[INFO] Connected to remote robot at tcp://172.17.133.91:5555 and video stream at tcp://172.17.133.91:5556.``` Now you can move the leader arm and use the keyboard (w,a,s,d) to drive forward, left, backwards, right. And use (z,x) to turn left or turn right. You can use (r,f) to increase and decrease the speed of the mobile robot. There are three speed modes, see the table below:
 | Speed Mode | Linear Speed (m/s) | Rotation Speed (deg/s) |
-|------------|-------------------|-----------------------|
-| Fast      | 0.4               | 90                    |
-| Medium    | 0.25              | 60                    |
-| Slow      | 0.1               | 30                    |
+| ---------- | ------------------ | ---------------------- |
+| Fast       | 0.4                | 90                     |
+| Medium     | 0.25               | 60                     |
+| Slow       | 0.1                | 30                     |
 
 
-| Key  | Action                         |
-|------|--------------------------------|
-| W    | Move forward                   |
-| A    | Move left                       |
-| S    | Move backward                   |
-| D    | Move right                      |
-| Z    | Turn left                       |
-| X    | Turn right                      |
-| R    | Increase speed                  |
-| F    | Decrease speed                  |
+| Key | Action         |
+| --- | -------------- |
+| W   | Move forward   |
+| A   | Move left      |
+| S   | Move backward  |
+| D   | Move right     |
+| Z   | Turn left      |
+| X   | Turn right     |
+| R   | Increase speed |
+| F   | Decrease speed |
 
 > [!TIP]
 >  If you use a different keyboard you can change the keys for each command in the [`LeKiwiRobotConfig`](../lerobot/common/robot_devices/robots/configs.py).
@@ -549,14 +549,14 @@ python lerobot/scripts/train.py \
   --policy.type=act \
   --output_dir=outputs/train/act_lekiwi_test \
   --job_name=act_lekiwi_test \
-  --device=cuda \
+  --policy.device=cuda \
   --wandb.enable=true
 ```
 
 Let's explain it:
 1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/lekiwi_test`.
 2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor sates, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `device=cuda` since we are training on a Nvidia GPU, but you could use `device=mps` to train on Apple silicon.
+4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
 5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
 
 Training should take several hours. You will find checkpoints in `outputs/train/act_lekiwi_test/checkpoints`.

lerobot/common/robots/lekiwi/lekiwi_remote.py

@@ -61,7 +61,7 @@ def calibrate_follower_arm(motors_bus, calib_dir_str):
     calib_dir.mkdir(parents=True, exist_ok=True)
     calib_file = calib_dir / "main_follower.json"
     try:
-        from lerobot.common.motors.feetech.feetech_calibration import run_arm_manual_calibration
+        from lerobot.common.motors.feetech.feetech_calibration import run_full_arm_calibration
     except ImportError:
         print("[WARNING] Calibration function not available. Skipping calibration.")
         return
@@ -72,7 +72,7 @@ def calibrate_follower_arm(motors_bus, calib_dir_str):
         print(f"[INFO] Loaded calibration from {calib_file}")
     else:
         print("[INFO] Calibration file not found. Running manual calibration...")
-        calibration = run_arm_manual_calibration(motors_bus, "lekiwi", "follower_arm", "follower")
+        calibration = run_full_arm_calibration(motors_bus, "lekiwi", "follower_arm", "follower")
         print(f"[INFO] Calibration complete. Saving to {calib_file}")
         with open(calib_file, "w") as f:
             json.dump(calibration, f)

lerobot/common/robots/lekiwi/robot_lekiwi.py

@@ -12,7 +12,7 @@ import zmq
 from lerobot.common.cameras.utils import make_cameras_from_configs
 from lerobot.common.errors import DeviceNotConnectedError
 from lerobot.common.motors.feetech.feetech import TorqueMode
-from lerobot.common.motors.feetech.feetech_calibration import run_arm_manual_calibration
+from lerobot.common.motors.feetech.feetech_calibration import run_full_arm_calibration
 from lerobot.common.motors.motors_bus import MotorsBus
 from lerobot.common.motors.utils import make_motors_buses_from_configs
 from lerobot.common.robots.lekiwi.configuration_lekiwi import LeKiwiRobotConfig
@@ -253,7 +253,7 @@ class MobileManipulator:
                 calibration = json.load(f)
         else:
             print(f"Missing calibration file '{arm_calib_path}'")
-            calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
+            calibration = run_full_arm_calibration(arm, self.robot_type, name, arm_type)
             print(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
             arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
             with open(arm_calib_path, "w") as f:

lerobot/common/robots/manipulator.py

@@ -81,6 +81,73 @@ class ManipulatorRobotConfig(RobotConfig):
                     )
 
 
+def apply_feetech_offsets_from_calibration(motorsbus, calibration_dict: dict):
+    """
+    Reads 'calibration_dict' containing 'homing_offset' and 'motor_names',
+    then writes each motor's offset to the servo's internal Offset (0x1F) in EPROM.
+
+    This version is modified so each homed position (originally 0) will now read
+    2047, i.e. 180° away from 0 in the 4096-count circle. Offsets are permanently
+    stored in EEPROM, so the servo's Present_Position is hardware-shifted even
+    after power cycling.
+
+    Steps:
+      1) Subtract 2047 from the old offset (so 0 -> 2047).
+      2) Clamp to [-2047..+2047].
+      3) Encode sign bit and magnitude into a 12-bit number.
+    """
+
+    homing_offsets = calibration_dict["homing_offset"]
+    motor_names = calibration_dict["motor_names"]
+    start_pos = calibration_dict["start_pos"]
+
+    # Open the write lock, changes to EEPROM do NOT persist yet
+    motorsbus.write("Lock", 1)
+
+    # For each motor, set the 'Offset' parameter
+    for m_name, old_offset in zip(motor_names, homing_offsets, strict=False):
+        # If bus doesn’t have a motor named m_name, skip
+        if m_name not in motorsbus.motors:
+            print(f"Warning: '{m_name}' not found in motorsbus.motors; skipping offset.")
+            continue
+
+        if m_name == "gripper":
+            old_offset = start_pos  # If gripper set the offset to the start position of the gripper
+            continue
+
+        # Shift the offset so the homed position reads 2047
+        new_offset = old_offset - 2047
+
+        # Clamp to [-2047..+2047]
+        if new_offset > 2047:
+            new_offset = 2047
+            print(
+                f"Warning: '{new_offset}' is getting clamped because its larger then 2047; This should not happen!"
+            )
+        elif new_offset < -2047:
+            new_offset = -2047
+            print(
+                f"Warning: '{new_offset}' is getting clamped because its smaller then -2047; This should not happen!"
+            )
+
+        # Determine the direction (sign) bit and magnitude
+        direction_bit = 1 if new_offset < 0 else 0
+        magnitude = abs(new_offset)
+
+        # Combine sign bit (bit 11) with the magnitude (bits 0..10)
+        servo_offset = (direction_bit << 11) | magnitude
+
+        # Write offset to servo
+        motorsbus.write("Offset", servo_offset, motor_names=m_name)
+        print(
+            f"Set offset for {m_name}: "
+            f"old_offset={old_offset}, new_offset={new_offset}, servo_encoded={magnitude} + direction={direction_bit}"
+        )
+
+    motorsbus.write("Lock", 0)
+    print("Offsets have been saved to EEPROM successfully.")
+
+
 class ManipulatorRobot:
     # TODO(rcadene): Implement force feedback
     """This class allows to control any manipulator robot of various number of motors.
@@ -342,10 +409,10 @@ class ManipulatorRobot:
 
                 elif self.robot_type in ["so100", "moss", "lekiwi"]:
                     from lerobot.common.motors.feetech.feetech_calibration import (
-                        run_arm_manual_calibration,
+                        run_full_arm_calibration,
                     )
 
-                    calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
+                    calibration = run_full_arm_calibration(arm, self.robot_type, name, arm_type)
 
                 print(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
                 arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
@@ -354,12 +421,24 @@ class ManipulatorRobot:
 
             return calibration
 
-        for name, arm in self.follower_arms.items():
-            calibration = load_or_run_calibration_(name, arm, "follower")
-            arm.set_calibration(calibration)
-        for name, arm in self.leader_arms.items():
-            calibration = load_or_run_calibration_(name, arm, "leader")
-            arm.set_calibration(calibration)
+            # For each follower arm
+
+        for name, arm_bus in self.follower_arms.items():
+            calibration = load_or_run_calibration_(name, arm_bus, "follower")
+            arm_bus.set_calibration(calibration)
+
+            # If this is a Feetech robot, also set the servo offset into EEPROM
+            if self.robot_type in ["so100", "lekiwi"]:
+                apply_feetech_offsets_from_calibration(arm_bus, calibration)
+
+        # For each leader arm
+        for name, arm_bus in self.leader_arms.items():
+            calibration = load_or_run_calibration_(name, arm_bus, "leader")
+            arm_bus.set_calibration(calibration)
+
+            # Optionally also set offset for leader if you want the servo offsets as well
+            if self.robot_type in ["so100", "lekiwi"]:
+                apply_feetech_offsets_from_calibration(arm_bus, calibration)
 
     def set_koch_robot_preset(self):
         def set_operating_mode_(arm):

lerobot/common/robots/mobile_manipulator.py

@@ -26,7 +26,7 @@ import zmq
 from lerobot.common.cameras.utils import make_cameras_from_configs
 from lerobot.common.errors import DeviceNotConnectedError
 from lerobot.common.motors.feetech.feetech import TorqueMode
-from lerobot.common.motors.feetech.feetech_calibration import run_arm_manual_calibration
+from lerobot.common.motors.feetech.feetech_calibration import run_full_arm_calibration
 from lerobot.common.motors.motors_bus import MotorsBus
 from lerobot.common.motors.utils import make_motors_buses_from_configs
 from lerobot.common.robots.lekiwi.configuration_lekiwi import LeKiwiRobotConfig
@@ -267,7 +267,7 @@ class MobileManipulator:
                 calibration = json.load(f)
         else:
             print(f"Missing calibration file '{arm_calib_path}'")
-            calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
+            calibration = run_full_arm_calibration(arm, self.robot_type, name, arm_type)
             print(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
             arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
             with open(arm_calib_path, "w") as f:

lerobot/common/robots/moss/README.md

@@ -176,8 +176,8 @@ Next, you'll need to calibrate your Moss v1 robot to ensure that the leader and
 
 You will need to move the follower arm to these positions sequentially:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                              | 2. Rotated position                                                                                                                                                    | 3. Rest position                                                                                                                                              |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <img src="../media/moss/follower_zero.webp?raw=true" alt="Moss v1 follower arm zero position" title="Moss v1 follower arm zero position" style="width:100%;"> | <img src="../media/moss/follower_rotated.webp?raw=true" alt="Moss v1 follower arm rotated position" title="Moss v1 follower arm rotated position" style="width:100%;"> | <img src="../media/moss/follower_rest.webp?raw=true" alt="Moss v1 follower arm rest position" title="Moss v1 follower arm rest position" style="width:100%;"> |
 
 Make sure both arms are connected and run this script to launch manual calibration:
@@ -192,8 +192,8 @@ python lerobot/scripts/control_robot.py \
 **Manual calibration of leader arm**
 Follow step 6 of the [assembly video](https://www.youtube.com/watch?v=DA91NJOtMic) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                        | 2. Rotated position                                                                                                                                              | 3. Rest position                                                                                                                                        |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <img src="../media/moss/leader_zero.webp?raw=true" alt="Moss v1 leader arm zero position" title="Moss v1 leader arm zero position" style="width:100%;"> | <img src="../media/moss/leader_rotated.webp?raw=true" alt="Moss v1 leader arm rotated position" title="Moss v1 leader arm rotated position" style="width:100%;"> | <img src="../media/moss/leader_rest.webp?raw=true" alt="Moss v1 leader arm rest position" title="Moss v1 leader arm rest position" style="width:100%;"> |
 
 Run this script to launch manual calibration:
@@ -293,14 +293,14 @@ python lerobot/scripts/train.py \
   --policy.type=act \
   --output_dir=outputs/train/act_moss_test \
   --job_name=act_moss_test \
-  --device=cuda \
+  --policy.device=cuda \
   --wandb.enable=true
 ```
 
 Let's explain it:
 1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/moss_test`.
 2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor sates, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `device=cuda` since we are training on a Nvidia GPU, but you could use `device=mps` to train on Apple silicon.
+4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
 5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
 
 Training should take several hours. You will find checkpoints in `outputs/train/act_moss_test/checkpoints`.

lerobot/common/robots/moss/robot_moss.py

@@ -26,7 +26,8 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte
 from lerobot.common.motors.feetech import (
     FeetechMotorsBus,
     TorqueMode,
-    run_arm_manual_calibration,
+    apply_feetech_offsets_from_calibration,
+    run_full_arm_calibration,
 )
 
 from ..robot import Robot
@@ -46,7 +47,6 @@ class MossRobot(Robot):
         super().__init__(config)
         self.config = config
         self.robot_type = config.type
-        self.id = config.id
 
         self.arm = FeetechMotorsBus(
             port=self.config.port,
@@ -133,22 +133,21 @@ class MossRobot(Robot):
         Rotations are expressed in degrees in nominal range of [-180, 180],
         and linear motions (like gripper of Aloha) in nominal range of [0, 100].
         """
-        arm_calib_path = self.calibration_dir / f"{self.config.id}.json"
-
-        if arm_calib_path.exists():
-            with open(arm_calib_path) as f:
+        if self.calibration_fpath.exists():
+            with open(self.calibration_fpath) as f:
                 calibration = json.load(f)
         else:
             # TODO(rcadene): display a warning in __init__ if calibration file not available
-            logging.info(f"Missing calibration file '{arm_calib_path}'")
-            calibration = run_arm_manual_calibration(self.arm, self.robot_type, self.name, "follower")
+            logging.info(f"Missing calibration file '{self.calibration_fpath}'")
+            calibration = run_full_arm_calibration(self.arm, self.robot_type, self.name, "follower")
 
-            logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
-            arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
-            with open(arm_calib_path, "w") as f:
+            logging.info(f"Calibration is done! Saving calibration file '{self.calibration_fpath}'")
+            self.calibration_fpath.parent.mkdir(parents=True, exist_ok=True)
+            with open(self.calibration_fpath, "w") as f:
                 json.dump(calibration, f)
 
         self.arm.set_calibration(calibration)
+        apply_feetech_offsets_from_calibration(self.arm, calibration)
 
     def get_observation(self) -> dict[str, np.ndarray]:
         """The returned observations do not have a batch dimension."""

lerobot/common/robots/robot.py

@@ -1,12 +1,13 @@
 import abc
-
-import numpy as np
+from typing import Any
 
 from lerobot.common.constants import HF_LEROBOT_CALIBRATION, ROBOTS
 
 from .config import RobotConfig
 
 
+# TODO(aliberts): action/obs typing such as Generic[ObsType, ActType] similar to gym.Env ?
+# https://github.com/Farama-Foundation/Gymnasium/blob/3287c869f9a48d99454306b0d4b4ec537f0f35e3/gymnasium/core.py#L23
 class Robot(abc.ABC):
     """The main LeRobot class for implementing robots."""
 
@@ -16,10 +17,12 @@ class Robot(abc.ABC):
 
     def __init__(self, config: RobotConfig):
         self.robot_type = self.name
+        self.id = config.id
         self.calibration_dir = (
             config.calibration_dir if config.calibration_dir else HF_LEROBOT_CALIBRATION / ROBOTS / self.name
         )
         self.calibration_dir.mkdir(parents=True, exist_ok=True)
+        self.calibration_fpath = self.calibration_dir / f"{self.id}.json"
 
     # TODO(aliberts): create a proper Feature class for this that links with datasets
     @abc.abstractproperty
@@ -45,12 +48,12 @@ class Robot(abc.ABC):
         pass
 
     @abc.abstractmethod
-    def get_observation(self) -> dict[str, np.ndarray]:
+    def get_observation(self) -> dict[str, Any]:
         """Gets observation from the robot."""
         pass
 
     @abc.abstractmethod
-    def send_action(self, action: np.ndarray) -> np.ndarray:
+    def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
         """Sends actions to the robot."""
         pass
 

lerobot/common/robots/so100/README.md

@@ -454,8 +454,8 @@ Next, you'll need to calibrate your SO-100 robot to ensure that the leader and f
 
 You will need to move the follower arm to these positions sequentially:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                             | 2. Rotated position                                                                                                                                                   | 3. Rest position                                                                                                                                             |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------ |
 | <img src="../media/so100/follower_zero.webp?raw=true" alt="SO-100 follower arm zero position" title="SO-100 follower arm zero position" style="width:100%;"> | <img src="../media/so100/follower_rotated.webp?raw=true" alt="SO-100 follower arm rotated position" title="SO-100 follower arm rotated position" style="width:100%;"> | <img src="../media/so100/follower_rest.webp?raw=true" alt="SO-100 follower arm rest position" title="SO-100 follower arm rest position" style="width:100%;"> |
 
 Make sure both arms are connected and run this script to launch manual calibration:
@@ -470,8 +470,8 @@ python lerobot/scripts/control_robot.py \
 #### b. Manual calibration of leader arm
 Follow step 6 of the [assembly video](https://youtu.be/FioA2oeFZ5I?t=724) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially:
 
-| 1. Zero position | 2. Rotated position | 3. Rest position |
-|---|---|---|
+| 1. Zero position                                                                                                                                       | 2. Rotated position                                                                                                                                             | 3. Rest position                                                                                                                                       |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
 | <img src="../media/so100/leader_zero.webp?raw=true" alt="SO-100 leader arm zero position" title="SO-100 leader arm zero position" style="width:100%;"> | <img src="../media/so100/leader_rotated.webp?raw=true" alt="SO-100 leader arm rotated position" title="SO-100 leader arm rotated position" style="width:100%;"> | <img src="../media/so100/leader_rest.webp?raw=true" alt="SO-100 leader arm rest position" title="SO-100 leader arm rest position" style="width:100%;"> |
 
 Run this script to launch manual calibration:
@@ -571,14 +571,14 @@ python lerobot/scripts/train.py \
   --policy.type=act \
   --output_dir=outputs/train/act_so100_test \
   --job_name=act_so100_test \
-  --device=cuda \
+  --policy.device=cuda \
   --wandb.enable=true
 ```
 
 Let's explain it:
 1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/so100_test`.
 2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor sates, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `device=cuda` since we are training on a Nvidia GPU, but you could use `device=mps` to train on Apple silicon.
+4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
 5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
 
 Training should take several hours. You will find checkpoints in `outputs/train/act_so100_test/checkpoints`.

lerobot/common/robots/so100/__init__.py

@@ -1,4 +1,4 @@
-from .configuration_so100 import So100RobotConfig
-from .robot_so100 import So100Robot
+from .configuration_so100 import SO100RobotConfig
+from .robot_so100 import SO100Robot
 
-__all__ = ["So100RobotConfig", "So100Robot"]
+__all__ = ["SO100RobotConfig", "SO100Robot"]

lerobot/common/robots/so100/configuration_so100.py

@@ -7,7 +7,7 @@ from ..config import RobotConfig
 
 @RobotConfig.register_subclass("so100")
 @dataclass
-class So100RobotConfig(RobotConfig):
+class SO100RobotConfig(RobotConfig):
     # Port to connect to the robot
     port: str
 
@@ -16,15 +16,5 @@ class So100RobotConfig(RobotConfig):
     # the number of motors in your follower arms.
     max_relative_target: int | None = None
 
-    mock: bool = False
-
-    # motors
-    shoulder_pan: tuple = (1, "sts3215")
-    shoulder_lift: tuple = (2, "sts3215")
-    elbow_flex: tuple = (3, "sts3215")
-    wrist_flex: tuple = (4, "sts3215")
-    wrist_roll: tuple = (5, "sts3215")
-    gripper: tuple = (6, "sts3215")
-
     # cameras
     cameras: dict[str, CameraConfig] = field(default_factory=dict)

lerobot/common/robots/so100/robot_so100.py

@@ -26,37 +26,37 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte
 from lerobot.common.motors.feetech import (
     FeetechMotorsBus,
     TorqueMode,
-    run_arm_manual_calibration,
+    apply_feetech_offsets_from_calibration,
+    run_full_arm_calibration,
 )
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position
-from .configuration_so100 import So100RobotConfig
+from .configuration_so100 import SO100RobotConfig
 
 
-class So100Robot(Robot):
+class SO100Robot(Robot):
     """
-    [SO-100 Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
+    [SO-100 Follower Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
     """
 
-    config_class = So100RobotConfig
-    name = "koch"
+    config_class = SO100RobotConfig
+    name = "so100"
 
-    def __init__(self, config: So100RobotConfig):
+    def __init__(self, config: SO100RobotConfig):
         super().__init__(config)
         self.config = config
         self.robot_type = config.type
-        self.id = config.id
 
         self.arm = FeetechMotorsBus(
             port=self.config.port,
             motors={
-                "shoulder_pan": config.shoulder_pan,
-                "shoulder_lift": config.shoulder_lift,
-                "elbow_flex": config.elbow_flex,
-                "wrist_flex": config.wrist_flex,
-                "wrist_roll": config.wrist_roll,
-                "gripper": config.gripper,
+                "shoulder_pan": (1, "sts3215"),
+                "shoulder_lift": (2, "sts3215"),
+                "elbow_flex": (3, "sts3215"),
+                "wrist_flex": (4, "sts3215"),
+                "wrist_roll": (5, "sts3215"),
+                "gripper": (6, "sts3215"),
             },
         )
         self.cameras = make_cameras_from_configs(config.cameras)
@@ -133,22 +133,21 @@ class So100Robot(Robot):
         Rotations are expressed in degrees in nominal range of [-180, 180],
         and linear motions (like gripper of Aloha) in nominal range of [0, 100].
         """
-        arm_calib_path = self.calibration_dir / f"{self.config.id}.json"
-
-        if arm_calib_path.exists():
-            with open(arm_calib_path) as f:
+        if self.calibration_fpath.exists():
+            with open(self.calibration_fpath) as f:
                 calibration = json.load(f)
         else:
             # TODO(rcadene): display a warning in __init__ if calibration file not available
-            logging.info(f"Missing calibration file '{arm_calib_path}'")
-            calibration = run_arm_manual_calibration(self.arm, self.robot_type, self.name, "follower")
+            logging.info(f"Missing calibration file '{self.calibration_fpath}'")
+            calibration = run_full_arm_calibration(self.arm, self.robot_type, self.name, "follower")
 
-            logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
-            arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
-            with open(arm_calib_path, "w") as f:
+            logging.info(f"Calibration is done! Saving calibration file '{self.calibration_fpath}'")
+            self.calibration_fpath.parent.mkdir(parents=True, exist_ok=True)
+            with open(self.calibration_fpath, "w") as f:
                 json.dump(calibration, f)
 
         self.arm.set_calibration(calibration)
+        apply_feetech_offsets_from_calibration(self.arm, calibration)
 
     def get_observation(self) -> dict[str, np.ndarray]:
         """The returned observations do not have a batch dimension."""

lerobot/common/robots/utils.py

@@ -42,9 +42,9 @@ def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
 
         return MossRobotConfig(**kwargs)
     elif robot_type == "so100":
-        from .so100.configuration_so100 import So100RobotConfig
+        from .so100.configuration_so100 import SO100RobotConfig
 
-        return So100RobotConfig(**kwargs)
+        return SO100RobotConfig(**kwargs)
     elif robot_type == "stretch":
         from .stretch3.configuration_stretch3 import Stretch3RobotConfig
 

lerobot/common/robots/viperx/README.md

@@ -135,14 +135,14 @@ python lerobot/scripts/train.py \
   --policy.type=act \
   --output_dir=outputs/train/act_aloha_test \
   --job_name=act_aloha_test \
-  --device=cuda \
+  --policy.device=cuda \
   --wandb.enable=true
 ```
 
 Let's explain it:
 1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/aloha_test`.
 2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor sates, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
-4. We provided `device=cuda` since we are training on a Nvidia GPU, but you could use `device=mps` to train on Apple silicon.
+4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
 5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
 
 For more information on the `train` script see the previous tutorial: [`examples/4_train_policy_with_script.md`](../examples/4_train_policy_with_script.md)

lerobot/common/robots/viperx/robot_viperx.py

@@ -39,7 +39,6 @@ class ViperXRobot(Robot):
         super().__init__(config)
         self.config = config
         self.robot_type = config.type
-        self.id = config.id
 
         self.arm = DynamixelMotorsBus(
             port=self.config.port,
@@ -150,19 +149,17 @@ class ViperXRobot(Robot):
         Rotations are expressed in degrees in nominal range of [-180, 180],
         and linear motions (like gripper of Aloha) in nominal range of [0, 100].
         """
-        arm_calib_path = self.calibration_dir / f"{self.config.id}.json"
-
-        if arm_calib_path.exists():
-            with open(arm_calib_path) as f:
+        if self.calibration_fpath.exists():
+            with open(self.calibration_fpath) as f:
                 calibration = json.load(f)
         else:
             # TODO(rcadene): display a warning in __init__ if calibration file not available
-            logging.info(f"Missing calibration file '{arm_calib_path}'")
+            logging.info(f"Missing calibration file '{self.calibration_fpath}'")
             calibration = run_arm_calibration(self.arm, self.robot_type, self.name, "follower")
 
-            logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
-            arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
-            with open(arm_calib_path, "w") as f:
+            logging.info(f"Calibration is done! Saving calibration file '{self.calibration_fpath}'")
+            self.calibration_fpath.parent.mkdir(parents=True, exist_ok=True)
+            with open(self.calibration_fpath, "w") as f:
                 json.dump(calibration, f)
 
         self.arm.set_calibration(calibration)

lerobot/common/teleoperators/keyboard/teleop_keyboard.py

@@ -55,7 +55,6 @@ class KeyboardTeleop(Teleoperator):
         super().__init__(config)
         self.config = config
         self.robot_type = config.type
-        self.id = config.id
 
         self.pressed_keys = {}
         self.listener = None

lerobot/common/teleoperators/koch/teleop_koch.py

@@ -46,7 +46,6 @@ class KochTeleop(Teleoperator):
         super().__init__(config)
         self.config = config
         self.robot_type = config.type
-        self.id = config.id
 
         self.arm = DynamixelMotorsBus(
             port=self.config.port,
@@ -106,19 +105,17 @@ class KochTeleop(Teleoperator):
         Rotations are expressed in degrees in nominal range of [-180, 180],
         and linear motions (like gripper of Aloha) in nominal range of [0, 100].
         """
-        arm_calib_path = self.calibration_dir / f"{self.id}.json"
-
-        if arm_calib_path.exists():
-            with open(arm_calib_path) as f:
+        if self.calibration_fpath.exists():
+            with open(self.calibration_fpath) as f:
                 calibration = json.load(f)
         else:
             # TODO(rcadene): display a warning in __init__ if calibration file not available
-            logging.info(f"Missing calibration file '{arm_calib_path}'")
+            logging.info(f"Missing calibration file '{self.calibration_fpath}'")
             calibration = run_arm_calibration(self.arm, self.robot_type, self.name, "leader")
 
-            logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
-            arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
-            with open(arm_calib_path, "w") as f:
+            logging.info(f"Calibration is done! Saving calibration file '{self.calibration_fpath}'")
+            self.calibration_fpath.parent.mkdir(parents=True, exist_ok=True)
+            with open(self.calibration_fpath, "w") as f:
                 json.dump(calibration, f)
 
         self.arm.set_calibration(calibration)

lerobot/common/teleoperators/so100/configuration_so100.py

@@ -24,13 +24,3 @@ from ..config import TeleoperatorConfig
 class SO100TeleopConfig(TeleoperatorConfig):
     # Port to connect to the teloperator
     port: str
-
-    mock: bool = False
-
-    # motors
-    shoulder_pan: tuple = (1, "sts3215")
-    shoulder_lift: tuple = (2, "sts3215")
-    elbow_flex: tuple = (3, "sts3215")
-    wrist_flex: tuple = (4, "sts3215")
-    wrist_roll: tuple = (5, "sts3215")
-    gripper: tuple = (6, "sts3215")

lerobot/common/teleoperators/so100/teleop_so100.py

@@ -24,7 +24,8 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte
 from lerobot.common.motors.feetech import (
     FeetechMotorsBus,
     TorqueMode,
-    run_arm_manual_calibration,
+    apply_feetech_offsets_from_calibration,
+    run_full_arm_calibration,
 )
 
 from ..teleoperator import Teleoperator
@@ -33,7 +34,7 @@ from .configuration_so100 import SO100TeleopConfig
 
 class SO100Teleop(Teleoperator):
     """
-    [SO-100 Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
+    [SO-100 Leader Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
     """
 
     config_class = SO100TeleopConfig
@@ -43,17 +44,16 @@ class SO100Teleop(Teleoperator):
         super().__init__(config)
         self.config = config
         self.robot_type = config.type
-        self.id = config.id
 
         self.arm = FeetechMotorsBus(
             port=self.config.port,
             motors={
-                "shoulder_pan": config.shoulder_pan,
-                "shoulder_lift": config.shoulder_lift,
-                "elbow_flex": config.elbow_flex,
-                "wrist_flex": config.wrist_flex,
-                "wrist_roll": config.wrist_roll,
-                "gripper": config.gripper,
+                "shoulder_pan": (1, "sts3215"),
+                "shoulder_lift": (2, "sts3215"),
+                "elbow_flex": (3, "sts3215"),
+                "wrist_flex": (4, "sts3215"),
+                "wrist_roll": (5, "sts3215"),
+                "gripper": (6, "sts3215"),
             },
         )
 
@@ -86,11 +86,6 @@ class SO100Teleop(Teleoperator):
         self.arm.write("Torque_Enable", TorqueMode.DISABLED.value)
         self.calibrate()
 
-        # Enable torque on the gripper and move it to 45 degrees so that we can use it as a trigger.
-        logging.info("Activating torque.")
-        self.arm.write("Torque_Enable", TorqueMode.ENABLED.value, "gripper")
-        self.arm.write("Goal_Position", self.config.gripper_open_degree, "gripper")
-
         # Check arm can be read
         self.arm.read("Present_Position")
 
@@ -101,22 +96,21 @@ class SO100Teleop(Teleoperator):
         Rotations are expressed in degrees in nominal range of [-180, 180],
         and linear motions (like gripper of Aloha) in nominal range of [0, 100].
         """
-        arm_calib_path = self.calibration_dir / f"{self.id}.json"
-
-        if arm_calib_path.exists():
-            with open(arm_calib_path) as f:
+        if self.calibration_fpath.exists():
+            with open(self.calibration_fpath) as f:
                 calibration = json.load(f)
         else:
             # TODO(rcadene): display a warning in __init__ if calibration file not available
-            logging.info(f"Missing calibration file '{arm_calib_path}'")
-            calibration = run_arm_manual_calibration(self.arm, self.robot_type, self.name, "leader")
+            logging.info(f"Missing calibration file '{self.calibration_fpath}'")
+            calibration = run_full_arm_calibration(self.arm, self.robot_type, self.name, "leader")
 
-            logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
-            arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
-            with open(arm_calib_path, "w") as f:
+            logging.info(f"Calibration is done! Saving calibration file '{self.calibration_fpath}'")
+            self.calibration_fpath.parent.mkdir(parents=True, exist_ok=True)
+            with open(self.calibration_fpath, "w") as f:
                 json.dump(calibration, f)
 
         self.arm.set_calibration(calibration)
+        apply_feetech_offsets_from_calibration(self.arm, calibration)
 
     def get_action(self) -> np.ndarray:
         """The returned action does not have a batch dimension."""

lerobot/common/teleoperators/teleoperator.py

@@ -1,6 +1,5 @@
 import abc
-
-import numpy as np
+from typing import Any
 
 from lerobot.common.constants import HF_LEROBOT_CALIBRATION, TELEOPERATORS
 
@@ -15,12 +14,14 @@ class Teleoperator(abc.ABC):
     name: str
 
     def __init__(self, config: TeleoperatorConfig):
+        self.id = config.id
         self.calibration_dir = (
             config.calibration_dir
             if config.calibration_dir
             else HF_LEROBOT_CALIBRATION / TELEOPERATORS / self.name
         )
         self.calibration_dir.mkdir(parents=True, exist_ok=True)
+        self.calibration_fpath = self.calibration_dir / f"{self.id}.json"
 
     @abc.abstractproperty
     def action_feature(self) -> dict:
@@ -41,12 +42,12 @@ class Teleoperator(abc.ABC):
         pass
 
     @abc.abstractmethod
-    def get_action(self) -> np.ndarray:
+    def get_action(self) -> dict[str, Any]:
         """Gets the action to send to a teleoperator."""
         pass
 
     @abc.abstractmethod
-    def send_feedback(self, feedback: np.ndarray) -> None:
+    def send_feedback(self, feedback: dict[str, Any]) -> None:
         """Sends feedback captured from a robot to the teleoperator."""
         pass
 

lerobot/common/teleoperators/widowx/teleop_widowx.py

@@ -43,7 +43,6 @@ class WidowXTeleop(Teleoperator):
         super().__init__(config)
         self.config = config
         self.robot_type = config.type
-        self.id = config.id
 
         self.arm = DynamixelMotorsBus(
             port=self.config.port,
@@ -120,19 +119,17 @@ class WidowXTeleop(Teleoperator):
         Rotations are expressed in degrees in nominal range of [-180, 180],
         and linear motions (like gripper of Aloha) in nominal range of [0, 100].
         """
-        arm_calib_path = self.calibration_dir / f"{self.id}.json"
-
-        if arm_calib_path.exists():
-            with open(arm_calib_path) as f:
+        if self.calibration_fpath.exists():
+            with open(self.calibration_fpath) as f:
                 calibration = json.load(f)
         else:
             # TODO(rcadene): display a warning in __init__ if calibration file not available
-            logging.info(f"Missing calibration file '{arm_calib_path}'")
+            logging.info(f"Missing calibration file '{self.calibration_fpath}'")
             calibration = run_arm_calibration(self.arm, self.robot_type, self.name, "leader")
 
-            logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
-            arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
-            with open(arm_calib_path, "w") as f:
+            logging.info(f"Calibration is done! Saving calibration file '{self.calibration_fpath}'")
+            self.calibration_fpath.parent.mkdir(parents=True, exist_ok=True)
+            with open(self.calibration_fpath, "w") as f:
                 json.dump(calibration, f)
 
         self.arm.set_calibration(calibration)

lerobot/scripts/calibration_visualization_so100.py

@@ -0,0 +1,100 @@
+"""
+usage:
+
+```python
+python lerobot/scripts/calibration_visualization_so100.py \
+    --teleop.type=so100 \
+    --teleop.port=/dev/tty.usbmodem58760430541
+
+python lerobot/scripts/calibration_visualization_so100.py \
+    --robot.type=so100 \
+    --robot.port=/dev/tty.usbmodem585A0084711
+```
+"""
+
+import time
+from dataclasses import dataclass
+
+import draccus
+
+from lerobot.common.motors.feetech.feetech import (
+    adjusted_to_homing_ticks,
+    adjusted_to_motor_ticks,
+    convert_degrees_to_ticks,
+    convert_ticks_to_degrees,
+)
+from lerobot.common.robots import RobotConfig
+from lerobot.common.robots.so100 import SO100Robot, SO100RobotConfig  # noqa: F401
+from lerobot.common.teleoperators import TeleoperatorConfig
+from lerobot.common.teleoperators.so100 import SO100Teleop, SO100TeleopConfig  # noqa: F401
+
+
+@dataclass
+class DebugFeetechConfig:
+    teleop: TeleoperatorConfig | None = None
+    robot: RobotConfig | None = None
+
+    def __post_init__(self):
+        if bool(self.teleop) == bool(self.robot):
+            raise ValueError("Select a single device.")
+
+
+@draccus.wrap()
+def debug_feetech_positions(cfg: DebugFeetechConfig):
+    """
+    Reads each joint's (1) raw ticks, (2) homed ticks, (3) degrees, and (4) invert-adjusted ticks.
+    """
+    device = SO100Teleop(cfg.teleop) if cfg.teleop else SO100Robot(cfg.robot)
+    device.connect()
+
+    # Disable torque on all motors so you can move them freely by hand
+    device.arm.write("Torque_Enable", 0, motor_names=device.arm.motor_names)
+    print("Torque disabled on all joints.")
+
+    try:
+        print("\nPress Ctrl+C to quit.\n")
+        while True:
+            # Read *raw* positions (no calibration).
+            raw_positions = device.arm.read_with_motor_ids(
+                device.arm.motor_models, device.arm.motor_indices, data_name="Present_Position"
+            )
+
+            # Read *already-homed* positions
+            homed_positions = device.arm.read("Present_Position")
+
+            for i, name in enumerate(device.arm.motor_names):
+                motor_idx, model = device.arm.motors[name]
+
+                raw_ticks = raw_positions[i]  # 0..4095
+                homed_val = homed_positions[i]  # degrees or % if linear
+
+                # Manually compute "adjusted ticks" from raw ticks
+                manual_adjusted = adjusted_to_homing_ticks(raw_ticks, model, device.arm, motor_idx)
+                # Convert to degrees
+                manual_degs = convert_ticks_to_degrees(manual_adjusted, model)
+
+                # Convert that deg back to ticks
+                manual_ticks = convert_degrees_to_ticks(manual_degs, model)
+                # Then invert them using offset & bus drive mode
+                inv_ticks = adjusted_to_motor_ticks(manual_ticks, model, device.arm, motor_idx)
+
+                print(
+                    f"{name:15s} | "
+                    f"RAW={raw_ticks:4d} | "
+                    f"HOMED_FROM_READ={homed_val:7.2f} | "
+                    f"HOMED_TICKS={manual_adjusted:6d} | "
+                    f"MANUAL_ADJ_DEG={manual_degs:7.2f} | "
+                    f"MANUAL_ADJ_TICKS={manual_ticks:6d} | "
+                    f"INV_TICKS={inv_ticks:4d} "
+                )
+            print("----------------------------------------------------")
+            time.sleep(0.25)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        print("\nExiting. Disconnecting bus...")
+        device.disconnect()
+
+
+if __name__ == "__main__":
+    debug_feetech_positions()

lerobot/scripts/configure_motor.py

@@ -145,13 +145,12 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
             # the motors. Note: this configuration is not in the official STS3215 Memory Table
             motor_bus.write("Lock", 0)
             motor_bus.write("Maximum_Acceleration", 254)
-
-            motor_bus.write("Goal_Position", 2048)
-            time.sleep(4)
-            print("Present Position", motor_bus.read("Present_Position"))
-
+            motor_bus.write("Max_Angle_Limit", 4095)  # default 4095
+            motor_bus.write("Min_Angle_Limit", 0)  # default 0
             motor_bus.write("Offset", 0)
-            time.sleep(4)
+            motor_bus.write("Mode", 0)
+            motor_bus.write("Goal_Position", 2048)
+            motor_bus.write("Lock", 1)
             print("Offset", motor_bus.read("Offset"))
 
     except Exception as e:

lerobot/scripts/visualize_dataset.py

@@ -265,13 +265,25 @@ def main():
         ),
     )
 
+    parser.add_argument(
+        "--tolerance-s",
+        type=float,
+        default=1e-4,
+        help=(
+            "Tolerance in seconds used to ensure data timestamps respect the dataset fps value"
+            "This is argument passed to the constructor of LeRobotDataset and maps to its tolerance_s constructor argument"
+            "If not given, defaults to 1e-4."
+        ),
+    )
+
     args = parser.parse_args()
     kwargs = vars(args)
     repo_id = kwargs.pop("repo_id")
     root = kwargs.pop("root")
+    tolerance_s = kwargs.pop("tolerance_s")
 
     logging.info("Loading dataset")
-    dataset = LeRobotDataset(repo_id, root=root)
+    dataset = LeRobotDataset(repo_id, root=root, tolerance_s=tolerance_s)
 
     visualize_dataset(dataset, **vars(args))
 

lerobot/scripts/visualize_dataset_html.py

@@ -446,15 +446,31 @@ def main():
         help="Delete the output directory if it exists already.",
     )
 
+    parser.add_argument(
+        "--tolerance-s",
+        type=float,
+        default=1e-4,
+        help=(
+            "Tolerance in seconds used to ensure data timestamps respect the dataset fps value"
+            "This is argument passed to the constructor of LeRobotDataset and maps to its tolerance_s constructor argument"
+            "If not given, defaults to 1e-4."
+        ),
+    )
+
     args = parser.parse_args()
     kwargs = vars(args)
     repo_id = kwargs.pop("repo_id")
     load_from_hf_hub = kwargs.pop("load_from_hf_hub")
     root = kwargs.pop("root")
+    tolerance_s = kwargs.pop("tolerance_s")
 
     dataset = None
     if repo_id:
-        dataset = LeRobotDataset(repo_id, root=root) if not load_from_hf_hub else get_dataset_info(repo_id)
+        dataset = (
+            LeRobotDataset(repo_id, root=root, tolerance_s=tolerance_s)
+            if not load_from_hf_hub
+            else get_dataset_info(repo_id)
+        )
 
     visualize_dataset_html(dataset, **vars(args))
 

pyproject.toml

@@ -56,7 +56,6 @@ dependencies = [
     "gymnasium==0.29.1",                                                 # TODO(rcadene, aliberts): Make gym 1.0.0 work
     "h5py>=3.10.0",
     "huggingface-hub[hf-transfer,cli]>=0.27.1 ; python_version < '4.0'",
-    "hydra-core>=1.3.2",
     "imageio[ffmpeg]>=2.34.0",
     "jsonlines>=4.0.0",
     "numba>=0.59.0",
@@ -103,30 +102,7 @@ requires-poetry = ">=2.1"
 [tool.ruff]
 line-length = 110
 target-version = "py310"
-exclude = [
-    "tests/data",
-    ".bzr",
-    ".direnv",
-    ".eggs",
-    ".git",
-    ".git-rewrite",
-    ".hg",
-    ".mypy_cache",
-    ".nox",
-    ".pants.d",
-    ".pytype",
-    ".ruff_cache",
-    ".svn",
-    ".tox",
-    ".venv",
-    "__pypackages__",
-    "_build",
-    "buck-out",
-    "build",
-    "dist",
-    "node_modules",
-    "venv",
-]
+exclude = ["tests/artifacts/**/*.safetensors"]
 
 [tool.ruff.lint]
 select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]

tests/artifacts/datasets/save_dataset_to_safetensors.py

@@ -23,7 +23,7 @@ If you know that your change will break backward compatibility, you should write
 doesnt need to be merged into the `main` branch. Then you need to run this script and update the tests artifacts.
 
 Example usage:
-    `python tests/scripts/save_dataset_to_safetensors.py`
+    `python tests/artifacts/datasets/save_dataset_to_safetensors.py`
 """
 
 import shutil
@@ -88,4 +88,4 @@ if __name__ == "__main__":
         "lerobot/nyu_franka_play_dataset",
         "lerobot/cmu_stretch",
     ]:
-        save_dataset_to_safetensors("tests/data/save_dataset_to_safetensors", repo_id=dataset)
+        save_dataset_to_safetensors("tests/artifacts/datasets", repo_id=dataset)

tests/artifacts/image_transforms/save_image_transforms_to_safetensors.py

@@ -27,7 +27,7 @@ from lerobot.common.datasets.transforms import (
 )
 from lerobot.common.utils.random_utils import seeded_context
 
-ARTIFACT_DIR = Path("tests/data/save_image_transforms_to_safetensors")
+ARTIFACT_DIR = Path("tests/artifacts/image_transforms")
 DATASET_REPO_ID = "lerobot/aloha_mobile_shrimp"
 
 

tests/artifacts/policies/save_policy_to_safetensors.py

@@ -141,5 +141,5 @@ if __name__ == "__main__":
         raise RuntimeError("No policies were provided!")
     for ds_repo_id, policy, policy_kwargs, file_name_extra in artifacts_cfg:
         ds_name = ds_repo_id.split("/")[-1]
-        output_dir = Path("tests/data/save_policy_to_safetensors") / f"{ds_name}_{policy}_{file_name_extra}"
+        output_dir = Path("tests/artifacts/policies") / f"{ds_name}_{policy}_{file_name_extra}"
         save_policy_to_safetensors(output_dir, ds_repo_id, policy, policy_kwargs)

tests/cameras/test_cameras.py

@@ -146,7 +146,7 @@ def test_camera(request, camera_type, mock):
         camera.connect()
 
         if mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 

tests/datasets/test_datasets.py

@@ -473,12 +473,12 @@ def test_flatten_unflatten_dict():
 )
 @require_x86_64_kernel
 def test_backward_compatibility(repo_id):
-    """The artifacts for this test have been generated by `tests/scripts/save_dataset_to_safetensors.py`."""
+    """The artifacts for this test have been generated by `tests/artifacts/datasets/save_dataset_to_safetensors.py`."""
 
     # TODO(rcadene, aliberts): remove dataset download
     dataset = LeRobotDataset(repo_id, episodes=[0])
 
-    test_dir = Path("tests/data/save_dataset_to_safetensors") / repo_id
+    test_dir = Path("tests/artifacts/datasets") / repo_id
 
     def load_and_compare(i):
         new_frame = dataset[i]  # noqa: B023

tests/datasets/test_image_transforms.py

@@ -33,7 +33,7 @@ from lerobot.scripts.visualize_image_transforms import (
     save_all_transforms,
     save_each_transform,
 )
-from tests.scripts.save_image_transforms_to_safetensors import ARTIFACT_DIR
+from tests.artifacts.image_transforms.save_image_transforms_to_safetensors import ARTIFACT_DIR
 from tests.utils import require_x86_64_kernel
 
 

tests/datasets/test_utils.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python
+
 # Copyright 2024 The HuggingFace Inc. team. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -11,13 +13,32 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+
 import torch
 from datasets import Dataset
+from huggingface_hub import DatasetCard
 
 from lerobot.common.datasets.push_dataset_to_hub.utils import calculate_episode_data_index
-from lerobot.common.datasets.utils import (
-    hf_transform_to_torch,
-)
+from lerobot.common.datasets.utils import create_lerobot_dataset_card, hf_transform_to_torch
+
+
+def test_default_parameters():
+    card = create_lerobot_dataset_card()
+    assert isinstance(card, DatasetCard)
+    assert card.data.tags == ["LeRobot"]
+    assert card.data.task_categories == ["robotics"]
+    assert card.data.configs == [
+        {
+            "config_name": "default",
+            "data_files": "data/*/*.parquet",
+        }
+    ]
+
+
+def test_with_tags():
+    tags = ["tag1", "tag2"]
+    card = create_lerobot_dataset_card(tags=tags)
+    assert card.data.tags == ["LeRobot", "tag1", "tag2"]
 
 
 def test_calculate_episode_data_index():