Add WidowX
This commit is contained in:
Simon Alibert
parent
4214b01703
commit
5dc3c74e64
|
|
@ -0,0 +1,49 @@
|
|||
#!/usr/bin/env python
|
||||
|
||||
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
from dataclasses import dataclass
|
||||
|
||||
from ..config import TeleoperatorConfig
|
||||
|
||||
|
||||
@TeleoperatorConfig.register_subclass("widowx")
|
||||
@dataclass
|
||||
class WidowXTeleopConfig(TeleoperatorConfig):
|
||||
port: str # Port to connect to the teloperator
|
||||
mock: bool = False
|
||||
|
||||
# /!\ FOR SAFETY, READ THIS /!\
|
||||
# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
|
||||
# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
|
||||
# the number of motors in your follower arms.
|
||||
# For Aloha, for every goal position request, motor rotations are capped at 5 degrees by default.
|
||||
# When you feel more confident with teleoperation or running the policy, you can extend
|
||||
# this safety limit and even removing it by setting it to `null`.
|
||||
# Also, everything is expected to work safely out-of-the-box, but we highly advise to
|
||||
# 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")
|
||||
|
|
@ -0,0 +1,160 @@
|
|||
#!/usr/bin/env python
|
||||
|
||||
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import json
|
||||
import logging
|
||||
import time
|
||||
|
||||
import numpy as np
|
||||
|
||||
from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
|
||||
from lerobot.common.motors.dynamixel import (
|
||||
DynamixelMotorsBus,
|
||||
TorqueMode,
|
||||
run_arm_calibration,
|
||||
)
|
||||
|
||||
from ..teleoperator import Teleoperator
|
||||
from .configuration_widowx import WidowXTeleopConfig
|
||||
|
||||
|
||||
class WidowXTeleop(Teleoperator):
|
||||
"""
|
||||
[WidowX](https://www.trossenrobotics.com/widowx-250) developed by Trossen Robotics
|
||||
"""
|
||||
|
||||
config_class = WidowXTeleopConfig
|
||||
name = "widowx"
|
||||
|
||||
def __init__(self, config: WidowXTeleopConfig):
|
||||
super().__init__(config)
|
||||
self.config = config
|
||||
self.robot_type = config.type
|
||||
self.id = config.id
|
||||
|
||||
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,
|
||||
},
|
||||
)
|
||||
|
||||
self.is_connected = False
|
||||
self.logs = {}
|
||||
|
||||
@property
|
||||
def action_feature(self) -> dict:
|
||||
return {
|
||||
"dtype": "float32",
|
||||
"shape": (len(self.arm),),
|
||||
"names": {"motors": list(self.arm.motors)},
|
||||
}
|
||||
|
||||
@property
|
||||
def feedback_feature(self) -> dict:
|
||||
return {}
|
||||
|
||||
def _set_shadow_motors(self):
|
||||
"""
|
||||
Set secondary/shadow ID for shoulder and elbow. These joints have two motors.
|
||||
As a result, if only one of them is required to move to a certain position,
|
||||
the other will follow. This is to avoid breaking the motors.
|
||||
"""
|
||||
shoulder_idx = self.config.shoulder[0]
|
||||
self.arm.write("Secondary_ID", shoulder_idx, "shoulder_shadow")
|
||||
|
||||
elbow_idx = self.config.elbow[0]
|
||||
self.arm.write("Secondary_ID", elbow_idx, "elbow_shadow")
|
||||
|
||||
def connect(self):
|
||||
if self.is_connected:
|
||||
raise DeviceAlreadyConnectedError(
|
||||
"ManipulatorRobot is already connected. Do not run `robot.connect()` twice."
|
||||
)
|
||||
|
||||
logging.info("Connecting arm.")
|
||||
self.arm.connect()
|
||||
|
||||
# We assume that at connection time, arm is in a rest position,
|
||||
# and torque can be safely disabled to run calibration.
|
||||
self.arm.write("Torque_Enable", TorqueMode.DISABLED.value)
|
||||
self.calibrate()
|
||||
|
||||
self._set_shadow_motors()
|
||||
|
||||
logging.info("Activating torque.")
|
||||
self.arm.write("Torque_Enable", TorqueMode.ENABLED.value)
|
||||
|
||||
# Check arm can be read
|
||||
self.arm.read("Present_Position")
|
||||
|
||||
# Connect the cameras
|
||||
for cam in self.cameras.values():
|
||||
cam.connect()
|
||||
|
||||
self.is_connected = True
|
||||
|
||||
def calibrate(self) -> None:
|
||||
"""After calibration all motors function in human interpretable ranges.
|
||||
Rotations are expressed in degrees in nominal range of [-180, 180],
|
||||
and linear motions (like gripper of Aloha) in nominal range of [0, 100].
|
||||
"""
|
||||
arm_calib_path = self.calibration_dir / f"{self.id}.json"
|
||||
|
||||
if arm_calib_path.exists():
|
||||
with open(arm_calib_path) as f:
|
||||
calibration = json.load(f)
|
||||
else:
|
||||
# TODO(rcadene): display a warning in __init__ if calibration file not available
|
||||
logging.info(f"Missing calibration file '{arm_calib_path}'")
|
||||
calibration = run_arm_calibration(self.arm, self.robot_type, self.name, "leader")
|
||||
|
||||
logging.info(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
|
||||
arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
|
||||
with open(arm_calib_path, "w") as f:
|
||||
json.dump(calibration, f)
|
||||
|
||||
self.arm.set_calibration(calibration)
|
||||
|
||||
def get_action(self) -> np.ndarray:
|
||||
"""The returned action does not have a batch dimension."""
|
||||
# Read arm position
|
||||
before_read_t = time.perf_counter()
|
||||
action = self.arm.read("Present_Position")
|
||||
self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
|
||||
|
||||
return action
|
||||
|
||||
def send_feedback(self, feedback: np.ndarray) -> None:
|
||||
# TODO(rcadene, aliberts): Implement force feedback
|
||||
pass
|
||||
|
||||
def disconnect(self) -> None:
|
||||
if not self.is_connected:
|
||||
raise DeviceNotConnectedError(
|
||||
"ManipulatorRobot is not connected. You need to run `robot.connect()` before disconnecting."
|
||||
)
|
||||
|
||||
self.arm.disconnect()
|
||||
self.is_connected = False
|
||||
Loading…
Reference in New Issue