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Add Motor in dxl robots

This commit is contained in:
Simon Alibert 2025-03-23 11:08:20 +01:00
parent e047074825
commit 1f1e1bcfe8
8 changed files with 38 additions and 61 deletions
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4
lerobot/common/motors/dynamixel/dynamixel.py
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@ -20,7 +20,7 @@
from copy import deepcopy from copy import deepcopy
from ..motors_bus import MotorsBus from ..motors_bus import Motor, MotorsBus
from .tables import MODEL_BAUDRATE_TABLE, MODEL_CONTROL_TABLE, MODEL_RESOLUTION from .tables import MODEL_BAUDRATE_TABLE, MODEL_CONTROL_TABLE, MODEL_RESOLUTION
PROTOCOL_VERSION = 2.0 PROTOCOL_VERSION = 2.0
@ -48,7 +48,7 @@ class DynamixelMotorsBus(MotorsBus):
def __init__( def __init__(
self, self,
port: str, port: str,
motors: dict[str, tuple[int, str]], motors: dict[str, Motor],
): ):
super().__init__(port, motors) super().__init__(port, motors)
import dynamixel_sdk as dxl import dynamixel_sdk as dxl

4
lerobot/common/motors/feetech/feetech.py
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@ -14,7 +14,7 @@
from copy import deepcopy from copy import deepcopy
from ..motors_bus import MotorsBus from ..motors_bus import Motor, MotorsBus
from .tables import ( from .tables import (
CALIBRATION_REQUIRED, CALIBRATION_REQUIRED,
MODEL_BAUDRATE_TABLE, MODEL_BAUDRATE_TABLE,
@ -44,7 +44,7 @@ class FeetechMotorsBus(MotorsBus):
def __init__( def __init__(
self, self,
port: str, port: str,
motors: dict[str, tuple[int, str]], motors: dict[str, Motor],
): ):
super().__init__(port, motors) super().__init__(port, motors)
import scservo_sdk as scs import scservo_sdk as scs

14
lerobot/common/robots/koch/robot_koch.py
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@ -23,7 +23,7 @@ import numpy as np
from lerobot.common.cameras.utils import make_cameras_from_configs from lerobot.common.cameras.utils import make_cameras_from_configs
from lerobot.common.constants import OBS_IMAGES, OBS_STATE from lerobot.common.constants import OBS_IMAGES, OBS_STATE
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import TorqueMode from lerobot.common.motors import CalibrationMode, Motor, TorqueMode
from lerobot.common.motors.dynamixel import ( from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus, DynamixelMotorsBus,
run_arm_calibration, run_arm_calibration,
@ -52,12 +52,12 @@ class KochRobot(Robot):
self.arm = DynamixelMotorsBus( self.arm = DynamixelMotorsBus(
port=self.config.port, port=self.config.port,
motors={ motors={
"shoulder_pan": (1, "xl430-w250"), "shoulder_pan": Motor(1, "xl430-w250", CalibrationMode.RANGE_M100_100),
"shoulder_lift": (2, "xl430-w250"), "shoulder_lift": Motor(2, "xl430-w250", CalibrationMode.RANGE_M100_100),
"elbow_flex": (3, "xl330-m288"), "elbow_flex": Motor(3, "xl330-m288", CalibrationMode.RANGE_M100_100),
"wrist_flex": (4, "xl330-m288"), "wrist_flex": Motor(4, "xl330-m288", CalibrationMode.RANGE_M100_100),
"wrist_roll": (5, "xl330-m288"), "wrist_roll": Motor(5, "xl330-m288", CalibrationMode.RANGE_M100_100),
"gripper": (6, "xl330-m288"), "gripper": Motor(6, "xl330-m288", CalibrationMode.RANGE_0_100),
}, },
) )
self.cameras = make_cameras_from_configs(config.cameras) self.cameras = make_cameras_from_configs(config.cameras)

12
lerobot/common/robots/viperx/configuration_viperx.py
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@ -20,20 +20,8 @@ class ViperXRobotConfig(RobotConfig):
# then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully # then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
max_relative_target: int | None = 5 max_relative_target: int | None = 5
waist: tuple = (1, "xm540-w270")
shoulder: tuple = (2, "xm540-w270")
shoulder_shadow: tuple = (3, "xm540-w270")
elbow: tuple = (4, "xm540-w270")
elbow_shadow: tuple = (5, "xm540-w270")
forearm_roll: tuple = (6, "xm540-w270")
wrist_angle: tuple = (7, "xm540-w270")
wrist_rotate: tuple = (8, "xm430-w350")
gripper: tuple = (9, "xm430-w350")
# cameras # cameras
cameras: dict[str, CameraConfig] = field(default_factory=dict) cameras: dict[str, CameraConfig] = field(default_factory=dict)
# Troubleshooting: If one of your IntelRealSense cameras freeze during # Troubleshooting: If one of your IntelRealSense cameras freeze during
# data recording due to bandwidth limit, you might need to plug the camera # data recording due to bandwidth limit, you might need to plug the camera
# on another USB hub or PCIe card. # on another USB hub or PCIe card.
mock: bool = False

20
lerobot/common/robots/viperx/robot_viperx.py
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@ -13,7 +13,7 @@ import numpy as np
from lerobot.common.cameras.utils import make_cameras_from_configs from lerobot.common.cameras.utils import make_cameras_from_configs
from lerobot.common.constants import OBS_IMAGES, OBS_STATE from lerobot.common.constants import OBS_IMAGES, OBS_STATE
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import TorqueMode from lerobot.common.motors import CalibrationMode, Motor, TorqueMode
from lerobot.common.motors.dynamixel import ( from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus, DynamixelMotorsBus,
run_arm_calibration, run_arm_calibration,
@ -43,15 +43,15 @@ class ViperXRobot(Robot):
self.arm = DynamixelMotorsBus( self.arm = DynamixelMotorsBus(
port=self.config.port, port=self.config.port,
motors={ motors={
"waist": config.waist, "waist": Motor(1, "xm540-w270", CalibrationMode.RANGE_M100_100),
"shoulder": config.shoulder, "shoulder": Motor(2, "xm540-w270", CalibrationMode.RANGE_M100_100),
"shoulder_shadow": config.shoulder_shadow, "shoulder_shadow": Motor(3, "xm540-w270", CalibrationMode.RANGE_M100_100),
"elbow": config.elbow, "elbow": Motor(4, "xm540-w270", CalibrationMode.RANGE_M100_100),
"elbow_shadow": config.elbow_shadow, "elbow_shadow": Motor(5, "xm540-w270", CalibrationMode.RANGE_M100_100),
"forearm_roll": config.forearm_roll, "forearm_roll": Motor(6, "xm540-w270", CalibrationMode.RANGE_M100_100),
"wrist_angle": config.wrist_angle, "wrist_angle": Motor(7, "xm540-w270", CalibrationMode.RANGE_M100_100),
"wrist_rotate": config.wrist_rotate, "wrist_rotate": Motor(8, "xm430-w350", CalibrationMode.RANGE_M100_100),
"gripper": config.gripper, "gripper": Motor(9, "xm430-w350", CalibrationMode.RANGE_0_100),
}, },
) )
self.cameras = make_cameras_from_configs(config.cameras) self.cameras = make_cameras_from_configs(config.cameras)

14
lerobot/common/teleoperators/koch/teleop_koch.py
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@ -21,7 +21,7 @@ import time
import numpy as np import numpy as np
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import TorqueMode from lerobot.common.motors import CalibrationMode, Motor, TorqueMode
from lerobot.common.motors.dynamixel import ( from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus, DynamixelMotorsBus,
run_arm_calibration, run_arm_calibration,
@ -49,12 +49,12 @@ class KochTeleop(Teleoperator):
self.arm = DynamixelMotorsBus( self.arm = DynamixelMotorsBus(
port=self.config.port, port=self.config.port,
motors={ motors={
"shoulder_pan": (1, "xl330-m077"), "shoulder_pan": Motor(1, "xl330-m077", CalibrationMode.RANGE_M100_100),
"shoulder_lift": (2, "xl330-m077"), "shoulder_lift": Motor(2, "xl330-m077", CalibrationMode.RANGE_M100_100),
"elbow_flex": (3, "xl330-m077"), "elbow_flex": Motor(3, "xl330-m077", CalibrationMode.RANGE_M100_100),
"wrist_flex": (4, "xl330-m077"), "wrist_flex": Motor(4, "xl330-m077", CalibrationMode.RANGE_M100_100),
"wrist_roll": (5, "xl330-m077"), "wrist_roll": Motor(5, "xl330-m077", CalibrationMode.RANGE_M100_100),
"gripper": (6, "xl330-m077"), "gripper": Motor(6, "xl330-m077", CalibrationMode.RANGE_0_100),
}, },
) )

11
lerobot/common/teleoperators/widowx/configuration_widowx.py
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@ -36,14 +36,3 @@ class WidowXTeleopConfig(TeleoperatorConfig):
# first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml), # 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 # then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
max_relative_target: int | None = 5 max_relative_target: int | None = 5
# motors
waist: tuple = (1, "xm430-w350")
shoulder: tuple = (2, "xm430-w350")
shoulder_shadow: tuple = (3, "xm430-w350")
elbow: tuple = (4, "xm430-w350")
elbow_shadow: tuple = (5, "xm430-w350")
forearm_roll: tuple = (6, "xm430-w350")
wrist_angle: tuple = (7, "xm430-w350")
wrist_rotate: tuple = (8, "xl430-w250")
gripper: tuple = (9, "xc430-w150")

20
lerobot/common/teleoperators/widowx/teleop_widowx.py
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@ -21,7 +21,7 @@ import time
import numpy as np import numpy as np
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors import TorqueMode from lerobot.common.motors import CalibrationMode, Motor, TorqueMode
from lerobot.common.motors.dynamixel import ( from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus, DynamixelMotorsBus,
run_arm_calibration, run_arm_calibration,
@ -47,15 +47,15 @@ class WidowXTeleop(Teleoperator):
self.arm = DynamixelMotorsBus( self.arm = DynamixelMotorsBus(
port=self.config.port, port=self.config.port,
motors={ motors={
"waist": config.waist, "waist": Motor(1, "xm430-w350", CalibrationMode.RANGE_M100_100),
"shoulder": config.shoulder, "shoulder": Motor(2, "xm430-w350", CalibrationMode.RANGE_M100_100),
"shoulder_shadow": config.shoulder_shadow, "shoulder_shadow": Motor(3, "xm430-w350", CalibrationMode.RANGE_M100_100),
"elbow": config.elbow, "elbow": Motor(4, "xm430-w350", CalibrationMode.RANGE_M100_100),
"elbow_shadow": config.elbow_shadow, "elbow_shadow": Motor(5, "xm430-w350", CalibrationMode.RANGE_M100_100),
"forearm_roll": config.forearm_roll, "forearm_roll": Motor(6, "xm430-w350", CalibrationMode.RANGE_M100_100),
"wrist_angle": config.wrist_angle, "wrist_angle": Motor(7, "xm430-w350", CalibrationMode.RANGE_M100_100),
"wrist_rotate": config.wrist_rotate, "wrist_rotate": Motor(8, "xl430-w250", CalibrationMode.RANGE_M100_100),
"gripper": config.gripper, "gripper": Motor(9, "xc430-w150", CalibrationMode.RANGE_0_100),
}, },
) )