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Rename arm -> hand

This commit is contained in:
Simon Alibert 2025-04-03 20:20:57 +02:00
parent 6bb883ea1a
commit 34afe28ae9
1 changed files with 21 additions and 25 deletions
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46
lerobot/common/robots/hope_jr/hope_jr_hand.py
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@ -40,7 +40,7 @@ class HopeJrHand(Robot):
def __init__(self, config: HopeJrHandConfig): def __init__(self, config: HopeJrHandConfig):
super().__init__(config) super().__init__(config)
self.config = config self.config = config
self.arm = FeetechMotorsBus( self.hand = FeetechMotorsBus(
port=self.config.port, port=self.config.port,
motors={ motors={
# Thumb # Thumb
@ -72,8 +72,8 @@ class HopeJrHand(Robot):
def state_feature(self) -> dict: def state_feature(self) -> dict:
return { return {
"dtype": "float32", "dtype": "float32",
"shape": (len(self.arm),), "shape": (len(self.hand),),
"names": {"motors": list(self.arm.motors)}, "names": {"motors": list(self.hand.motors)},
} }
@property @property
@ -94,17 +94,13 @@ class HopeJrHand(Robot):
@property @property
def is_connected(self) -> bool: def is_connected(self) -> bool:
# TODO(aliberts): add cam.is_connected for cam in self.cameras # TODO(aliberts): add cam.is_connected for cam in self.cameras
return self.arm.is_connected return self.hand.is_connected
def connect(self) -> None: def connect(self) -> 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: if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected") raise DeviceAlreadyConnectedError(f"{self} already connected")
self.arm.connect() self.hand.connect()
if not self.is_calibrated: if not self.is_calibrated:
self.calibrate() self.calibrate()
@ -117,30 +113,30 @@ class HopeJrHand(Robot):
@property @property
def is_calibrated(self) -> bool: def is_calibrated(self) -> bool:
return self.arm.is_calibrated return self.hand.is_calibrated
def calibrate(self) -> None: def calibrate(self) -> None:
raise NotImplementedError # TODO(aliberts): adapt code below (copied from koch) raise NotImplementedError # TODO(aliberts): adapt code below (copied from koch)
logger.info(f"\nRunning calibration of {self}") logger.info(f"\nRunning calibration of {self}")
self.arm.disable_torque() self.hand.disable_torque()
for name in self.arm.names: for name in self.hand.names:
self.arm.write("Operating_Mode", name, OperatingMode.POSITION.value) self.hand.write("Operating_Mode", name, OperatingMode.POSITION.value)
input("Move robot to the middle of its range of motion and press ENTER....") input("Move robot to the middle of its range of motion and press ENTER....")
homing_offsets = self.arm.set_half_turn_homings() homing_offsets = self.hand.set_half_turn_homings()
full_turn_motor = "wrist_roll" full_turn_motor = "wrist_roll"
unknown_range_motors = [name for name in self.arm.names if name != full_turn_motor] unknown_range_motors = [name for name in self.hand.names if name != full_turn_motor]
logger.info( logger.info(
f"Move all joints except '{full_turn_motor}' sequentially through their " f"Move all joints except '{full_turn_motor}' sequentially through their "
"entire ranges of motion.\nRecording positions. Press ENTER to stop..." "entire ranges of motion.\nRecording positions. Press ENTER to stop..."
) )
range_mins, range_maxes = self.arm.record_ranges_of_motion(unknown_range_motors) range_mins, range_maxes = self.hand.record_ranges_of_motion(unknown_range_motors)
range_mins[full_turn_motor] = 0 range_mins[full_turn_motor] = 0
range_maxes[full_turn_motor] = 4095 range_maxes[full_turn_motor] = 4095
self.calibration = {} self.calibration = {}
for name, motor in self.arm.motors.items(): for name, motor in self.hand.motors.items():
self.calibration[name] = MotorCalibration( self.calibration[name] = MotorCalibration(
id=motor.id, id=motor.id,
drive_mode=0, drive_mode=0,
@ -149,15 +145,15 @@ class HopeJrHand(Robot):
range_max=range_maxes[name], range_max=range_maxes[name],
) )
self.arm.write_calibration(self.calibration) self.hand.write_calibration(self.calibration)
self._save_calibration() self._save_calibration()
print("Calibration saved to", self.calibration_fpath) print("Calibration saved to", self.calibration_fpath)
def configure(self) -> None: def configure(self) -> None:
self.arm.disable_torque() self.hand.disable_torque()
self.arm.configure_motors() self.hand.configure_motors()
# TODO # TODO
self.arm.enable_torque() self.hand.enable_torque()
def get_observation(self) -> dict[str, Any]: def get_observation(self) -> dict[str, Any]:
if not self.is_connected: if not self.is_connected:
@ -165,9 +161,9 @@ class HopeJrHand(Robot):
obs_dict = {} obs_dict = {}
# Read arm position # Read hand position
start = time.perf_counter() start = time.perf_counter()
obs_dict[OBS_STATE] = self.arm.sync_read("Present_Position") obs_dict[OBS_STATE] = self.hand.sync_read("Present_Position")
dt_ms = (time.perf_counter() - start) * 1e3 dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read state: {dt_ms:.1f}ms") logger.debug(f"{self} read state: {dt_ms:.1f}ms")
@ -184,14 +180,14 @@ class HopeJrHand(Robot):
if not self.is_connected: if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.") raise DeviceNotConnectedError(f"{self} is not connected.")
self.arm.sync_write("Goal_Position", action) self.hand.sync_write("Goal_Position", action)
return action return action
def disconnect(self): def disconnect(self):
if not self.is_connected: if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.") raise DeviceNotConnectedError(f"{self} is not connected.")
self.arm.disconnect(self.config.disable_torque_on_disconnect) self.hand.disconnect(self.config.disable_torque_on_disconnect)
for cam in self.cameras.values(): for cam in self.cameras.values():
cam.disconnect() cam.disconnect()