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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
View File

@ -20,7 +20,7 @@
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
PROTOCOL_VERSION = 2.0
@ -48,7 +48,7 @@ class DynamixelMotorsBus(MotorsBus):
def __init__(
self,
port: str,
motors: dict[str, tuple[int, str]],
motors: dict[str, Motor],
):
super().__init__(port, motors)
import dynamixel_sdk as dxl

4
lerobot/common/motors/feetech/feetech.py
View File

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

14
lerobot/common/robots/koch/robot_koch.py
View File

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

12
lerobot/common/robots/viperx/configuration_viperx.py
View File

@ -20,20 +20,8 @@ class ViperXRobotConfig(RobotConfig):
# then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
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: dict[str, CameraConfig] = field(default_factory=dict)
# 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.
mock: bool = False

20
lerobot/common/robots/viperx/robot_viperx.py
View File

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

14
lerobot/common/teleoperators/koch/teleop_koch.py
View File

@ -21,7 +21,7 @@ import time
import numpy as np
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 (
DynamixelMotorsBus,
run_arm_calibration,
@ -49,12 +49,12 @@ class KochTeleop(Teleoperator):
self.arm = DynamixelMotorsBus(
port=self.config.port,
motors={
"shoulder_pan": (1, "xl330-m077"),
"shoulder_lift": (2, "xl330-m077"),
"elbow_flex": (3, "xl330-m077"),
"wrist_flex": (4, "xl330-m077"),
"wrist_roll": (5, "xl330-m077"),
"gripper": (6, "xl330-m077"),
"shoulder_pan": Motor(1, "xl330-m077", CalibrationMode.RANGE_M100_100),
"shoulder_lift": Motor(2, "xl330-m077", CalibrationMode.RANGE_M100_100),
"elbow_flex": Motor(3, "xl330-m077", CalibrationMode.RANGE_M100_100),
"wrist_flex": Motor(4, "xl330-m077", CalibrationMode.RANGE_M100_100),
"wrist_roll": Motor(5, "xl330-m077", CalibrationMode.RANGE_M100_100),
"gripper": Motor(6, "xl330-m077", CalibrationMode.RANGE_0_100),
},
)

11
lerobot/common/teleoperators/widowx/configuration_widowx.py
View File

@ -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),
# then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
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
View File

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