234 lines
9.6 KiB
Python
234 lines
9.6 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 functools import cached_property
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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_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.dynamixel import (
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DynamixelMotorsBus,
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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_koch_follower import KochFollowerConfig
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logger = logging.getLogger(__name__)
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class KochFollower(Robot):
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"""
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- [Koch v1.0](https://github.com/AlexanderKoch-Koch/low_cost_robot), with and without the wrist-to-elbow
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expansion, developed by Alexander Koch from [Tau Robotics](https://tau-robotics.com)
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- [Koch v1.1](https://github.com/jess-moss/koch-v1-1) developed by Jess Moss
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"""
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config_class = KochFollowerConfig
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name = "koch_follower"
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def __init__(self, config: KochFollowerConfig):
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super().__init__(config)
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self.config = config
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self.bus = DynamixelMotorsBus(
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port=self.config.port,
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motors={
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"shoulder_pan": Motor(1, "xl430-w250", MotorNormMode.RANGE_M100_100),
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"shoulder_lift": Motor(2, "xl430-w250", MotorNormMode.RANGE_M100_100),
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"elbow_flex": Motor(3, "xl330-m288", MotorNormMode.RANGE_M100_100),
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"wrist_flex": Motor(4, "xl330-m288", MotorNormMode.RANGE_M100_100),
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"wrist_roll": Motor(5, "xl330-m288", MotorNormMode.RANGE_M100_100),
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"gripper": Motor(6, "xl330-m288", MotorNormMode.RANGE_0_100),
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},
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calibration=self.calibration,
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)
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self.cameras = make_cameras_from_configs(config.cameras)
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@property
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def _motors_ft(self) -> dict[str, type]:
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return {f"{motor}.pos": float for motor in self.bus.motors}
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@property
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def _cameras_ft(self) -> dict[str, tuple]:
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return {
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cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
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}
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@cached_property
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def observation_features(self) -> dict[str, type | tuple]:
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return {**self._motors_ft, **self._cameras_ft}
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@cached_property
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def action_features(self) -> dict[str, type]:
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return self._motors_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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"""
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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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"""
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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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self.bus.disable_torque()
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for motor in self.bus.motors:
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self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
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input(f"Move {self} to the middle of its range of motion and press ENTER....")
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homing_offsets = self.bus.set_half_turn_homings()
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full_turn_motors = ["shoulder_pan", "wrist_roll"]
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unknown_range_motors = [motor for motor in self.bus.motors if motor not in full_turn_motors]
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print(
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f"Move all joints except {full_turn_motors} sequentially through their entire "
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"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 motor in full_turn_motors:
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range_mins[motor] = 0
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range_maxes[motor] = 4095
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self.calibration = {}
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for motor, m in self.bus.motors.items():
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self.calibration[motor] = MotorCalibration(
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id=m.id,
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drive_mode=0,
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homing_offset=homing_offsets[motor],
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range_min=range_mins[motor],
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range_max=range_maxes[motor],
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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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logger.info(f"Calibration saved to {self.calibration_fpath}")
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def configure(self) -> None:
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with self.bus.torque_disabled():
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self.bus.configure_motors()
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# Use 'extended position mode' for all motors except gripper, because in joint mode the servos
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# can't rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while assembling
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# the arm, you could end up with a servo with a position 0 or 4095 at a crucial point
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for motor in self.bus.motors:
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if motor != "gripper":
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self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
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# Use 'position control current based' for gripper to be limited by the limit of the current. For
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# the follower gripper, it means it can grasp an object without forcing too much even tho, its
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# goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
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# For the leader gripper, it means we can use it as a physical trigger, since we can force with
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# our finger to make it move, and it will move back to its original target position when we
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# release the force.
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self.bus.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
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# Set better PID values to close the gap between recorded states and actions
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# TODO(rcadene): Implement an automatic procedure to set optimal PID values for each motor
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self.bus.write("Position_P_Gain", "elbow_flex", 1500)
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self.bus.write("Position_I_Gain", "elbow_flex", 0)
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self.bus.write("Position_D_Gain", "elbow_flex", 600)
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def setup_motors(self) -> None:
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for motor in reversed(self.bus.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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obs_dict = {}
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# Read arm position
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start = time.perf_counter()
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obs_dict[OBS_STATE] = self.bus.sync_read("Present_Position")
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obs_dict = {f"{motor}.pos": val for motor, val 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[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, float]) -> dict[str, float]:
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"""Command arm 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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Args:
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action (dict[str, float]): The goal positions for the motors.
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Returns:
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dict[str, float]: 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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goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
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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")
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goal_present_pos = {key: (g_pos, present_pos[key]) for key, g_pos in goal_pos.items()}
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goal_pos = ensure_safe_goal_position(goal_present_pos, self.config.max_relative_target)
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# Send goal position to the arm
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self.bus.sync_write("Goal_Position", goal_pos)
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return {f"{motor}.pos": val for motor, val in goal_pos.items()}
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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.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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