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Add typos checks (#770)

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This commit is contained in:
Simon Alibert
2025-02-25 23:51:15 +01:00
committed by GitHub
parent 8699a28be0
commit a1809ad3de
47 changed files with 114 additions and 82 deletions
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2
lerobot/common/robot_devices/control_configs.py
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@@ -66,7 +66,7 @@ class RecordControlConfig(ControlConfig):
private: bool = False
# Add tags to your dataset on the hub.
tags: list[str] | None = None
# Number of subprocesses handling the saving of frames as PNGs. Set to 0 to use threads only;
# Number of subprocesses handling the saving of frames as PNG. Set to 0 to use threads only;
# set to ≥1 to use subprocesses, each using threads to write images. The best number of processes
# and threads depends on your system. We recommend 4 threads per camera with 0 processes.
# If fps is unstable, adjust the thread count. If still unstable, try using 1 or more subprocesses.

4
lerobot/common/robot_devices/motors/dynamixel.py
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@@ -242,7 +242,7 @@ class DriveMode(enum.Enum):
class CalibrationMode(enum.Enum):
# Joints with rotational motions are expressed in degrees in nominal range of [-180, 180]
DEGREE = 0
# Joints with linear motions (like gripper of Aloha) are experessed in nominal range of [0, 100]
# Joints with linear motions (like gripper of Aloha) are expressed in nominal range of [0, 100]
LINEAR = 1
@@ -610,7 +610,7 @@ class DynamixelMotorsBus:
# 0-centered resolution range (e.g. [-2048, 2048] for resolution=4096)
values[i] = values[i] / HALF_TURN_DEGREE * (resolution // 2)
# Substract the homing offsets to come back to actual motor range of values
# Subtract the homing offsets to come back to actual motor range of values
# which can be arbitrary.
values[i] -= homing_offset

6
lerobot/common/robot_devices/motors/feetech.py
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@@ -221,7 +221,7 @@ class DriveMode(enum.Enum):
class CalibrationMode(enum.Enum):
# Joints with rotational motions are expressed in degrees in nominal range of [-180, 180]
DEGREE = 0
# Joints with linear motions (like gripper of Aloha) are experessed in nominal range of [0, 100]
# Joints with linear motions (like gripper of Aloha) are expressed in nominal range of [0, 100]
LINEAR = 1
@@ -591,7 +591,7 @@ class FeetechMotorsBus:
# 0-centered resolution range (e.g. [-2048, 2048] for resolution=4096)
values[i] = values[i] / HALF_TURN_DEGREE * (resolution // 2)
# Substract the homing offsets to come back to actual motor range of values
# Subtract the homing offsets to come back to actual motor range of values
# which can be arbitrary.
values[i] -= homing_offset
@@ -632,7 +632,7 @@ class FeetechMotorsBus:
track["prev"][idx] = values[i]
continue
# Detect a full rotation occured
# 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]:

4
lerobot/common/robot_devices/robots/dynamixel_calibration.py
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@@ -87,7 +87,7 @@ def run_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type
# 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 arbitrarely rotate clockwise from the point of view
# 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"))
@@ -115,7 +115,7 @@ def run_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type
# TODO(rcadene): make type of joints (DEGREE or LINEAR) configurable from yaml?
if robot_type in ["aloha"] and "gripper" in arm.motor_names:
# Joints with linear motions (like gripper of Aloha) are experessed in nominal range of [0, 100]
# Joints with linear motions (like gripper of Aloha) are expressed in nominal range of [0, 100]
calib_idx = arm.motor_names.index("gripper")
calib_mode[calib_idx] = CalibrationMode.LINEAR.name

2
lerobot/common/robot_devices/robots/feetech_calibration.py
View File

@@ -443,7 +443,7 @@ def run_arm_manual_calibration(arm: MotorsBus, robot_type: str, arm_name: str, a
# 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 arbitrarely rotate clockwise from the point of view
# 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"))

12
lerobot/common/robot_devices/robots/manipulator.py
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@@ -44,7 +44,7 @@ class ManipulatorRobot:
# TODO(rcadene): Implement force feedback
"""This class allows to control any manipulator robot of various number of motors.
Non exaustive list of robots:
Non exhaustive list of robots:
- [Koch v1.0](https://github.com/AlexanderKoch-Koch/low_cost_robot), with and without the wrist-to-elbow expansion, developed
by Alexander Koch from [Tau Robotics](https://tau-robotics.com)
- [Koch v1.1](https://github.com/jess-moss/koch-v1-1) developed by Jess Moss
@@ -55,7 +55,7 @@ class ManipulatorRobot:
robot = ManipulatorRobot(KochRobotConfig())
```
Example of overwritting motors during instantiation:
Example of overwriting motors during instantiation:
```python
# Defines how to communicate with the motors of the leader and follower arms
leader_arms = {
@@ -90,7 +90,7 @@ class ManipulatorRobot:
robot = ManipulatorRobot(robot_config)
```
Example of overwritting cameras during instantiation:
Example of overwriting cameras during instantiation:
```python
# Defines how to communicate with 2 cameras connected to the computer.
# Here, the webcam of the laptop and the phone (connected in USB to the laptop)
@@ -348,7 +348,7 @@ class ManipulatorRobot:
set_operating_mode_(self.follower_arms[name])
# Set better PID values to close the gap between recorded states and actions
# TODO(rcadene): Implement an automatic procedure to set optimial PID values for each motor
# TODO(rcadene): Implement an automatic procedure to set optimal PID values for each motor
self.follower_arms[name].write("Position_P_Gain", 1500, "elbow_flex")
self.follower_arms[name].write("Position_I_Gain", 0, "elbow_flex")
self.follower_arms[name].write("Position_D_Gain", 600, "elbow_flex")
@@ -500,7 +500,7 @@ class ManipulatorRobot:
self.logs[f"read_camera_{name}_dt_s"] = self.cameras[name].logs["delta_timestamp_s"]
self.logs[f"async_read_camera_{name}_dt_s"] = time.perf_counter() - before_camread_t
# Populate output dictionnaries
# Populate output dictionaries
obs_dict, action_dict = {}, {}
obs_dict["observation.state"] = state
action_dict["action"] = action
@@ -540,7 +540,7 @@ class ManipulatorRobot:
self.logs[f"read_camera_{name}_dt_s"] = self.cameras[name].logs["delta_timestamp_s"]
self.logs[f"async_read_camera_{name}_dt_s"] = time.perf_counter() - before_camread_t
# Populate output dictionnaries and format to pytorch
# Populate output dictionaries and format to pytorch
obs_dict = {}
obs_dict["observation.state"] = state
for name in self.cameras:

4
lerobot/common/robot_devices/robots/stretch.py
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@@ -108,7 +108,7 @@ class StretchRobot(StretchAPI):
self.logs[f"read_camera_{name}_dt_s"] = self.cameras[name].logs["delta_timestamp_s"]
self.logs[f"async_read_camera_{name}_dt_s"] = time.perf_counter() - before_camread_t
# Populate output dictionnaries
# Populate output dictionaries
obs_dict, action_dict = {}, {}
obs_dict["observation.state"] = state
action_dict["action"] = action
@@ -153,7 +153,7 @@ class StretchRobot(StretchAPI):
self.logs[f"read_camera_{name}_dt_s"] = self.cameras[name].logs["delta_timestamp_s"]
self.logs[f"async_read_camera_{name}_dt_s"] = time.perf_counter() - before_camread_t
# Populate output dictionnaries
# Populate output dictionaries
obs_dict = {}
obs_dict["observation.state"] = state
for name in self.cameras: