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Fixes for Koch robot

This commit is contained in:
Simon Alibert 2025-03-03 20:19:23 +01:00
parent 5ab418dbeb
commit 418866007e
3 changed files with 7 additions and 10 deletions
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4
lerobot/common/constants.py
View File

@ -4,8 +4,8 @@ from pathlib import Path
from huggingface_hub.constants import HF_HOME from huggingface_hub.constants import HF_HOME
OBS_ENV = "observation.environment_state" OBS_ENV_STATE = "observation.environment_state"
OBS_ROBOT = "observation.state" OBS_STATE = "observation.state"
OBS_IMAGE = "observation.image" OBS_IMAGE = "observation.image"
OBS_IMAGES = "observation.images" OBS_IMAGES = "observation.images"
ACTION = "action" ACTION = "action"

4
lerobot/common/robots/koch/configuration_koch.py
View File

@ -16,10 +16,6 @@ class KochRobotConfig(RobotConfig):
# the number of motors in your follower arms. # the number of motors in your follower arms.
max_relative_target: int | None = None max_relative_target: int | None = None
# 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: float = 35.156
mock: bool = False mock: bool = False
# motors # motors

9
lerobot/common/robots/koch/robot_koch.py
View File

@ -21,6 +21,7 @@ import time
import numpy as np 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.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.common.motors.dynamixel import ( from lerobot.common.motors.dynamixel import (
DynamixelMotorsBus, DynamixelMotorsBus,
@ -118,8 +119,8 @@ class KochRobot(Robot):
self.arm.read("Present_Position") self.arm.read("Present_Position")
# Connect the cameras # Connect the cameras
for name in self.cameras: for cam in self.cameras.values():
self.cameras[name].connect() cam.connect()
self.is_connected = True self.is_connected = True
@ -156,13 +157,13 @@ class KochRobot(Robot):
# Read arm position # Read arm position
before_read_t = time.perf_counter() before_read_t = time.perf_counter()
obs_dict["observation.state"] = self.arm.read("Present_Position") obs_dict[OBS_STATE] = self.arm.read("Present_Position")
self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
# Capture images from cameras # Capture images from cameras
for cam_key, cam in self.cameras.items(): for cam_key, cam in self.cameras.items():
before_camread_t = time.perf_counter() before_camread_t = time.perf_counter()
obs_dict[f"observation.images.{cam_key}"] = cam.async_read() obs_dict[f"{OBS_IMAGES}.{cam_key}"] = cam.async_read()
self.logs[f"read_camera_{cam_key}_dt_s"] = cam.logs["delta_timestamp_s"] self.logs[f"read_camera_{cam_key}_dt_s"] = cam.logs["delta_timestamp_s"]
self.logs[f"async_read_camera_{cam_key}_dt_s"] = time.perf_counter() - before_camread_t self.logs[f"async_read_camera_{cam_key}_dt_s"] = time.perf_counter() - before_camread_t