262 lines
10 KiB
Python
262 lines
10 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import logging
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import time
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from itertools import chain
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from typing import Any
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from lerobot.common.cameras.utils import make_cameras_from_configs
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from lerobot.common.constants import OBS_IMAGES, OBS_STATE
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from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
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from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode
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from lerobot.common.motors.feetech import (
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FeetechMotorsBus,
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OperatingMode,
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)
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from ..robot import Robot
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from ..utils import ensure_safe_goal_position
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from .config_lekiwi import LeKiwiConfig
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logger = logging.getLogger(__name__)
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class LeKiwi(Robot):
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"""
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The robot includes a three omniwheel mobile base and a remote follower arm.
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The leader arm is connected locally (on the laptop) and its joint positions are recorded and then
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forwarded to the remote follower arm (after applying a safety clamp).
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In parallel, keyboard teleoperation is used to generate raw velocity commands for the wheels.
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"""
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config_class = LeKiwiConfig
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name = "lekiwi"
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def __init__(self, config: LeKiwiConfig):
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super().__init__(config)
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self.config = config
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self.bus = FeetechMotorsBus(
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port=self.config.port,
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motors={
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# arm
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"arm_shoulder_pan": Motor(1, "sts3215", MotorNormMode.RANGE_M100_100),
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"arm_shoulder_lift": Motor(2, "sts3215", MotorNormMode.RANGE_M100_100),
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"arm_elbow_flex": Motor(3, "sts3215", MotorNormMode.RANGE_M100_100),
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"arm_wrist_flex": Motor(4, "sts3215", MotorNormMode.RANGE_M100_100),
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"arm_wrist_roll": Motor(5, "sts3215", MotorNormMode.RANGE_M100_100),
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"arm_gripper": Motor(6, "sts3215", MotorNormMode.RANGE_0_100),
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# base
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"base_left_wheel": Motor(7, "sts3215", MotorNormMode.RANGE_M100_100),
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"base_right_wheel": Motor(8, "sts3215", MotorNormMode.RANGE_M100_100),
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"base_back_wheel": Motor(9, "sts3215", MotorNormMode.RANGE_M100_100),
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},
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calibration=self.calibration,
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)
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self.arm_motors = [motor for motor in self.bus.motors if motor.startswith("arm")]
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self.base_motors = [motor for motor in self.bus.motors if motor.startswith("base")]
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self.cameras = make_cameras_from_configs(config.cameras)
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@property
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def state_feature(self) -> dict:
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state_ft = {
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"arm_shoulder_pan": {"dtype": "float32"},
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"arm_shoulder_lift": {"dtype": "float32"},
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"arm_elbow_flex": {"dtype": "float32"},
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"arm_wrist_flex": {"dtype": "float32"},
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"arm_wrist_roll": {"dtype": "float32"},
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"arm_gripper": {"dtype": "float32"},
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"base_left_wheel": {"dtype": "float32"},
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"base_right_wheel": {"dtype": "float32"},
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"base_back_wheel": {"dtype": "float32"},
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}
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return state_ft
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@property
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def action_feature(self) -> dict:
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return self.state_feature
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@property
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def camera_features(self) -> dict[str, dict]:
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cam_ft = {}
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for cam_key, cam in self.cameras.items():
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cam_ft[cam_key] = {
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"shape": (cam.height, cam.width, cam.channels),
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"names": ["height", "width", "channels"],
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"info": None,
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}
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return cam_ft
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@property
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def is_connected(self) -> bool:
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# TODO(aliberts): add cam.is_connected for cam in self.cameras
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return self.bus.is_connected
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def connect(self, calibrate: bool = True) -> None:
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if self.is_connected:
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raise DeviceAlreadyConnectedError(f"{self} already connected")
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self.bus.connect()
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if not self.is_calibrated and calibrate:
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self.calibrate()
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for cam in self.cameras.values():
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cam.connect()
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self.configure()
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logger.info(f"{self} connected.")
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@property
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def is_calibrated(self) -> bool:
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return self.bus.is_calibrated
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def calibrate(self) -> None:
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logger.info(f"\nRunning calibration of {self}")
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motors = self.arm_motors + self.base_motors
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self.bus.disable_torque(self.arm_motors)
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for name in self.arm_motors:
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self.bus.write("Operating_Mode", name, OperatingMode.POSITION.value)
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input("Move robot to the middle of its range of motion and press ENTER....")
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homing_offsets = self.bus.set_half_turn_homings(self.arm_motors)
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homing_offsets.update(dict.fromkeys(self.base_motors, 0))
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full_turn_motor = [
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motor for motor in motors if any(keyword in motor for keyword in ["wheel", "wrist"])
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]
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unknown_range_motors = [motor for motor in motors if motor not in full_turn_motor]
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print(
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f"Move all arm joints except '{full_turn_motor}' sequentially through their "
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"entire ranges of motion.\nRecording positions. Press ENTER to stop..."
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)
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range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
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for name in full_turn_motor:
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range_mins[name] = 0
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range_maxes[name] = 4095
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self.calibration = {}
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for name, motor in self.bus.motors.items():
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self.calibration[name] = MotorCalibration(
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id=motor.id,
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drive_mode=0,
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homing_offset=homing_offsets[name],
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range_min=range_mins[name],
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range_max=range_maxes[name],
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)
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self.bus.write_calibration(self.calibration)
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self._save_calibration()
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print("Calibration saved to", self.calibration_fpath)
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def configure(self):
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# Set-up arm actuators (position mode)
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# We assume that at connection time, arm is in a rest position,
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# and torque can be safely disabled to run calibration.
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self.bus.disable_torque()
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self.bus.configure_motors()
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for name in self.arm_motors:
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self.bus.write("Operating_Mode", name, OperatingMode.POSITION.value)
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# Set P_Coefficient to lower value to avoid shakiness (Default is 32)
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self.bus.write("P_Coefficient", name, 16)
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# Set I_Coefficient and D_Coefficient to default value 0 and 32
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self.bus.write("I_Coefficient", name, 0)
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self.bus.write("D_Coefficient", name, 32)
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for name in self.base_motors:
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self.bus.write("Operating_Mode", name, OperatingMode.VELOCITY.value)
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self.bus.enable_torque()
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def setup_motors(self) -> None:
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for motor in chain(reversed(self.arm_motors), reversed(self.base_motors)):
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input(f"Connect the controller board to the '{motor}' motor only and press enter.")
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self.bus.setup_motor(motor)
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print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
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def get_observation(self) -> dict[str, Any]:
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if not self.is_connected:
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raise DeviceNotConnectedError(f"{self} is not connected.")
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# Read actuators position for arm and vel for base
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start = time.perf_counter()
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arm_pos = self.bus.sync_read("Present_Position", self.arm_motors)
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base_vel = self.bus.sync_read("Present_Velocity", self.base_motors)
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obs_dict = {**arm_pos, **base_vel}
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obs_dict = {f"{OBS_STATE}." + key: value for key, value in obs_dict.items()}
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dt_ms = (time.perf_counter() - start) * 1e3
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logger.debug(f"{self} read state: {dt_ms:.1f}ms")
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# Capture images from cameras
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for cam_key, cam in self.cameras.items():
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start = time.perf_counter()
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obs_dict[f"{OBS_IMAGES}.{cam_key}"] = cam.async_read()
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dt_ms = (time.perf_counter() - start) * 1e3
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logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
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return obs_dict
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def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
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"""Command lekiwi to move to a target joint configuration.
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The relative action magnitude may be clipped depending on the configuration parameter
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`max_relative_target`. In this case, the action sent differs from original action.
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Thus, this function always returns the action actually sent.
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Raises:
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RobotDeviceNotConnectedError: if robot is not connected.
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Returns:
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np.ndarray: the action sent to the motors, potentially clipped.
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"""
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if not self.is_connected:
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raise DeviceNotConnectedError(f"{self} is not connected.")
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arm_goal_pos = {k: v for k, v in action.items() if k in self.arm_motors}
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base_goal_vel = {k: v for k, v in action.items() if k in self.base_motors}
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# Cap goal position when too far away from present position.
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# /!\ Slower fps expected due to reading from the follower.
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if self.config.max_relative_target is not None:
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present_pos = self.bus.sync_read("Present_Position", self.arm_motors)
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goal_present_pos = {key: (g_pos, present_pos[key]) for key, g_pos in arm_goal_pos.items()}
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arm_safe_goal_pos = ensure_safe_goal_position(goal_present_pos, self.config.max_relative_target)
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arm_goal_pos = arm_safe_goal_pos
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# Send goal position to the actuators
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self.bus.sync_write("Goal_Position", arm_goal_pos)
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self.bus.sync_write("Goal_Velocity", base_goal_vel)
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return {**arm_goal_pos, **base_goal_vel}
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def stop_base(self):
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self.bus.sync_write("Goal_Velocity", dict.fromkeys(self.base_motors, 0), num_retry=5)
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logger.info("Base motors stopped")
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def disconnect(self):
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if not self.is_connected:
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raise DeviceNotConnectedError(f"{self} is not connected.")
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self.stop_base()
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self.bus.disconnect(self.config.disable_torque_on_disconnect)
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for cam in self.cameras.values():
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cam.disconnect()
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logger.info(f"{self} disconnected.")
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