Control aloha robot natively (#316)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-09-04 19:28:05 +02:00
parent 27ba2951d1
commit 429a463aff
32 changed files with 898 additions and 390 deletions
--- a/lerobot/configs/robot/aloha.yaml
+++ b/lerobot/configs/robot/aloha.yaml
@@ -0,0 +1,107 @@
+_target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot
+robot_type: aloha
+# Specific to Aloha, LeRobot comes with default calibration files. Assuming the motors have been
+# properly assembled, no manual calibration step is expected. If you need to run manual calibration,
+# simply update this path to ".cache/calibration/aloha"
+calibration_dir: .cache/calibration/aloha_default
+
+# /!\ FOR SAFETY, READ THIS /!\
+# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
+# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+# the number of motors in your follower arms.
+# For Aloha, for every goal position request, motor rotations are capped at 5 degrees by default.
+# When you feel more confident with teleoperation or running the policy, you can extend
+# this safety limit and even removing it by setting it to `null`.
+# Also, everything is expected to work safely out-of-the-box, but we highly advise to
+# first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml),
+# then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
+max_relative_target: 5
+
+leader_arms:
+  left:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    port: /dev/ttyDXL_leader_left
+    motors:  # window_x
+      # name: (index, model)
+      waist: [1, xm430-w350]
+      shoulder: [2, xm430-w350]
+      shoulder_shadow: [3, xm430-w350]
+      elbow: [4, xm430-w350]
+      elbow_shadow: [5, xm430-w350]
+      forearm_roll: [6, xm430-w350]
+      wrist_angle: [7, xm430-w350]
+      wrist_rotate: [8, xl430-w250]
+      gripper: [9, xc430-w150]
+  right:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    port: /dev/ttyDXL_leader_right
+    motors:  # window_x
+      # name: (index, model)
+      waist: [1, xm430-w350]
+      shoulder: [2, xm430-w350]
+      shoulder_shadow: [3, xm430-w350]
+      elbow: [4, xm430-w350]
+      elbow_shadow: [5, xm430-w350]
+      forearm_roll: [6, xm430-w350]
+      wrist_angle: [7, xm430-w350]
+      wrist_rotate: [8, xl430-w250]
+      gripper: [9, xc430-w150]
+
+follower_arms:
+  left:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    port: /dev/ttyDXL_follower_left
+    motors:
+      # name: [index, model]
+      waist: [1, xm540-w270]
+      shoulder: [2, xm540-w270]
+      shoulder_shadow: [3, xm540-w270]
+      elbow: [4, xm540-w270]
+      elbow_shadow: [5, xm540-w270]
+      forearm_roll: [6, xm540-w270]
+      wrist_angle: [7, xm540-w270]
+      wrist_rotate: [8, xm430-w350]
+      gripper: [9, xm430-w350]
+  right:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    port: /dev/ttyDXL_follower_right
+    motors:
+      # name: [index, model]
+      waist: [1, xm540-w270]
+      shoulder: [2, xm540-w270]
+      shoulder_shadow: [3, xm540-w270]
+      elbow: [4, xm540-w270]
+      elbow_shadow: [5, xm540-w270]
+      forearm_roll: [6, xm540-w270]
+      wrist_angle: [7, xm540-w270]
+      wrist_rotate: [8, xm430-w350]
+      gripper: [9, xm430-w350]
+
+# Troubleshooting: If one of your IntelRealSense cameras freeze during
+# data recording due to bandwidth limit, you might need to plug the camera
+# on another USB hub or PCIe card.
+cameras:
+  cam_high:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 10
+    fps: 30
+    width: 640
+    height: 480
+  cam_low:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 22
+    fps: 30
+    width: 640
+    height: 480
+  cam_left_wrist:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 16
+    fps: 30
+    width: 640
+    height: 480
+  cam_right_wrist:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 4
+    fps: 30
+    width: 640
+    height: 480
--- a/lerobot/configs/robot/koch.yaml
+++ b/lerobot/configs/robot/koch.yaml
@@ -1,5 +1,12 @@
-_target_: lerobot.common.robot_devices.robots.koch.KochRobot
-calibration_path: .cache/calibration/koch.pkl
+_target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot
+robot_type: koch
+calibration_dir: .cache/calibration/koch
+
+# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
+# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+# the number of motors in your follower arms.
+max_relative_target: null
+
 leader_arms:
  main:
    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
@@ -12,6 +19,7 @@ leader_arms:
      wrist_flex: [4, "xl330-m077"]
      wrist_roll: [5, "xl330-m077"]
      gripper: [6, "xl330-m077"]
+
 follower_arms:
  main:
    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
@@ -24,6 +32,7 @@ follower_arms:
      wrist_flex: [4, "xl330-m288"]
      wrist_roll: [5, "xl330-m288"]
      gripper: [6, "xl330-m288"]
+
 cameras:
  laptop:
    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
@@ -37,10 +46,8 @@ cameras:
    fps: 30
    width: 640
    height: 480
-# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
-# the number of motors in your follower arms.
-max_relative_target: null
+
+# ~ Koch specific settings ~
 # Sets the leader arm in torque mode with the gripper motor set to this angle. This makes it possible
 # to squeeze the gripper and have it spring back to an open position on its own.
 gripper_open_degree: 35.156
--- a/lerobot/configs/robot/koch_bimanual.yaml
+++ b/lerobot/configs/robot/koch_bimanual.yaml
@@ -1,5 +1,12 @@
-_target_: lerobot.common.robot_devices.robots.koch.KochRobot
-calibration_path: .cache/calibration/koch_bimanual.pkl
+_target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot
+robot_type: koch
+calibration_dir: .cache/calibration/koch_bimanual
+
+# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
+# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+# the number of motors in your follower arms.
+max_relative_target: null
+
 leader_arms:
  left:
    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
@@ -23,6 +30,7 @@ leader_arms:
      wrist_flex: [4, "xl330-m077"]
      wrist_roll: [5, "xl330-m077"]
      gripper: [6, "xl330-m077"]
+
 follower_arms:
  left:
    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
@@ -46,6 +54,7 @@ follower_arms:
      wrist_flex: [4, "xl330-m288"]
      wrist_roll: [5, "xl330-m288"]
      gripper: [6, "xl330-m288"]
+
 cameras:
  laptop:
    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
@@ -59,10 +68,8 @@ cameras:
    fps: 30
    width: 640
    height: 480
-# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
-# the number of motors in your follower arms.
-max_relative_target: null
+
+# ~ Koch specific settings ~
 # Sets the leader arm in torque mode with the gripper motor set to this angle. This makes it possible
 # to squeeze the gripper and have it spring back to an open position on its own.
 gripper_open_degree: 35.156