212 lines
8.0 KiB
Python
212 lines
8.0 KiB
Python
#!/usr/bin/env python
|
|
|
|
# Copyright 2025 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
|
|
from functools import cached_property
|
|
from typing import Any
|
|
|
|
from lerobot.common.cameras.utils import make_cameras_from_configs
|
|
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
|
|
from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode
|
|
from lerobot.common.motors.feetech import (
|
|
FeetechMotorsBus,
|
|
OperatingMode,
|
|
)
|
|
|
|
from ..robot import Robot
|
|
from ..utils import ensure_safe_goal_position
|
|
from .config_so101_follower import SO101FollowerConfig
|
|
|
|
logger = logging.getLogger(__name__)
|
|
|
|
|
|
class SO101Follower(Robot):
|
|
"""
|
|
SO-101 Follower Arm designed by TheRobotStudio and Hugging Face.
|
|
"""
|
|
|
|
config_class = SO101FollowerConfig
|
|
name = "so101_follower"
|
|
|
|
def __init__(self, config: SO101FollowerConfig):
|
|
super().__init__(config)
|
|
self.config = config
|
|
self.bus = FeetechMotorsBus(
|
|
port=self.config.port,
|
|
motors={
|
|
"shoulder_pan": Motor(1, "sts3215", MotorNormMode.RANGE_M100_100),
|
|
"shoulder_lift": Motor(2, "sts3215", MotorNormMode.RANGE_M100_100),
|
|
"elbow_flex": Motor(3, "sts3215", MotorNormMode.RANGE_M100_100),
|
|
"wrist_flex": Motor(4, "sts3215", MotorNormMode.RANGE_M100_100),
|
|
"wrist_roll": Motor(5, "sts3215", MotorNormMode.RANGE_M100_100),
|
|
"gripper": Motor(6, "sts3215", MotorNormMode.RANGE_0_100),
|
|
},
|
|
calibration=self.calibration,
|
|
)
|
|
self.cameras = make_cameras_from_configs(config.cameras)
|
|
|
|
@property
|
|
def _motors_ft(self) -> dict[str, type]:
|
|
return {f"{motor}.pos": float for motor in self.bus.motors}
|
|
|
|
@property
|
|
def _cameras_ft(self) -> dict[str, tuple]:
|
|
return {
|
|
cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
|
|
}
|
|
|
|
@cached_property
|
|
def observation_features(self) -> dict[str, type | tuple]:
|
|
return {**self._motors_ft, **self._cameras_ft}
|
|
|
|
@cached_property
|
|
def action_features(self) -> dict[str, type]:
|
|
return self._motors_ft
|
|
|
|
@property
|
|
def is_connected(self) -> bool:
|
|
# TODO(aliberts): add cam.is_connected for cam in self.cameras
|
|
return self.bus.is_connected
|
|
|
|
def connect(self, calibrate: bool = True) -> None:
|
|
"""
|
|
We assume that at connection time, arm is in a rest position,
|
|
and torque can be safely disabled to run calibration.
|
|
"""
|
|
if self.is_connected:
|
|
raise DeviceAlreadyConnectedError(f"{self} already connected")
|
|
|
|
self.bus.connect()
|
|
if not self.is_calibrated and calibrate:
|
|
self.calibrate()
|
|
|
|
# Connect the cameras
|
|
for cam in self.cameras.values():
|
|
cam.connect()
|
|
|
|
self.configure()
|
|
logger.info(f"{self} connected.")
|
|
|
|
@property
|
|
def is_calibrated(self) -> bool:
|
|
return self.bus.is_calibrated
|
|
|
|
def calibrate(self) -> None:
|
|
logger.info(f"\nRunning calibration of {self}")
|
|
self.bus.disable_torque()
|
|
for motor in self.bus.motors:
|
|
self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
|
|
|
|
input(f"Move {self} to the middle of its range of motion and press ENTER....")
|
|
homing_offsets = self.bus.set_half_turn_homings()
|
|
|
|
print(
|
|
"Move all joints sequentially through their entire ranges "
|
|
"of motion.\nRecording positions. Press ENTER to stop..."
|
|
)
|
|
range_mins, range_maxes = self.bus.record_ranges_of_motion()
|
|
|
|
self.calibration = {}
|
|
for motor, m in self.bus.motors.items():
|
|
self.calibration[motor] = MotorCalibration(
|
|
id=m.id,
|
|
drive_mode=0,
|
|
homing_offset=homing_offsets[motor],
|
|
range_min=range_mins[motor],
|
|
range_max=range_maxes[motor],
|
|
)
|
|
|
|
self.bus.write_calibration(self.calibration)
|
|
self._save_calibration()
|
|
print("Calibration saved to", self.calibration_fpath)
|
|
|
|
def configure(self) -> None:
|
|
with self.bus.torque_disabled():
|
|
self.bus.configure_motors()
|
|
for motor in self.bus.motors:
|
|
self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
|
|
# Set P_Coefficient to lower value to avoid shakiness (Default is 32)
|
|
self.bus.write("P_Coefficient", motor, 16)
|
|
# Set I_Coefficient and D_Coefficient to default value 0 and 32
|
|
self.bus.write("I_Coefficient", motor, 0)
|
|
self.bus.write("D_Coefficient", motor, 32)
|
|
|
|
def setup_motors(self) -> None:
|
|
for motor in reversed(self.bus.motors):
|
|
input(f"Connect the controller board to the '{motor}' motor only and press enter.")
|
|
self.bus.setup_motor(motor)
|
|
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
|
|
|
|
def get_observation(self) -> dict[str, Any]:
|
|
if not self.is_connected:
|
|
raise DeviceNotConnectedError(f"{self} is not connected.")
|
|
|
|
# Read arm position
|
|
start = time.perf_counter()
|
|
obs_dict = self.bus.sync_read("Present_Position")
|
|
obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()}
|
|
dt_ms = (time.perf_counter() - start) * 1e3
|
|
logger.debug(f"{self} read state: {dt_ms:.1f}ms")
|
|
|
|
# Capture images from cameras
|
|
for cam_key, cam in self.cameras.items():
|
|
start = time.perf_counter()
|
|
obs_dict[cam_key] = cam.async_read()
|
|
dt_ms = (time.perf_counter() - start) * 1e3
|
|
logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
|
|
|
|
return obs_dict
|
|
|
|
def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
|
|
"""Command arm to move to a target joint configuration.
|
|
|
|
The relative action magnitude may be clipped depending on the configuration parameter
|
|
`max_relative_target`. In this case, the action sent differs from original action.
|
|
Thus, this function always returns the action actually sent.
|
|
|
|
Raises:
|
|
RobotDeviceNotConnectedError: if robot is not connected.
|
|
|
|
Returns:
|
|
the action sent to the motors, potentially clipped.
|
|
"""
|
|
if not self.is_connected:
|
|
raise DeviceNotConnectedError(f"{self} is not connected.")
|
|
|
|
goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
|
|
|
|
# Cap goal position when too far away from present position.
|
|
# /!\ Slower fps expected due to reading from the follower.
|
|
if self.config.max_relative_target is not None:
|
|
present_pos = self.bus.sync_read("Present_Position")
|
|
goal_present_pos = {key: (g_pos, present_pos[key]) for key, g_pos in goal_pos.items()}
|
|
goal_pos = ensure_safe_goal_position(goal_present_pos, self.config.max_relative_target)
|
|
|
|
# Send goal position to the arm
|
|
self.bus.sync_write("Goal_Position", goal_pos)
|
|
return {f"{motor}.pos": val for motor, val in goal_pos.items()}
|
|
|
|
def disconnect(self):
|
|
if not self.is_connected:
|
|
raise DeviceNotConnectedError(f"{self} is not connected.")
|
|
|
|
self.bus.disconnect(self.config.disable_torque_on_disconnect)
|
|
for cam in self.cameras.values():
|
|
cam.disconnect()
|
|
|
|
logger.info(f"{self} disconnected.")
|