From ac89c8d2261a484cbbe79c01770564673f43b273 Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Mon, 3 Mar 2025 18:58:54 +0100 Subject: [PATCH] Add Koch teleop --- lerobot/common/teleoperators/koch/__init__.py | 4 + .../teleoperators/koch/configuration_koch.py | 40 +++++ .../common/teleoperators/koch/teleop_koch.py | 146 ++++++++++++++++++ 3 files changed, 190 insertions(+) create mode 100644 lerobot/common/teleoperators/koch/__init__.py create mode 100644 lerobot/common/teleoperators/koch/configuration_koch.py create mode 100644 lerobot/common/teleoperators/koch/teleop_koch.py diff --git a/lerobot/common/teleoperators/koch/__init__.py b/lerobot/common/teleoperators/koch/__init__.py new file mode 100644 index 00000000..f86454d1 --- /dev/null +++ b/lerobot/common/teleoperators/koch/__init__.py @@ -0,0 +1,4 @@ +from .configuration_koch import KochTeleopConfig +from .teleop_koch import KochTeleop + +__all__ = ["KochTeleopConfig", "KochTeleop"] diff --git a/lerobot/common/teleoperators/koch/configuration_koch.py b/lerobot/common/teleoperators/koch/configuration_koch.py new file mode 100644 index 00000000..334c3134 --- /dev/null +++ b/lerobot/common/teleoperators/koch/configuration_koch.py @@ -0,0 +1,40 @@ +#!/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("koch") +@dataclass +class KochTeleopConfig(TeleoperatorConfig): + # Port to connect to the teloperator + port: str + + # Sets the 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 + + # motors + shoulder_pan: tuple = (1, "xl330-m077") + shoulder_lift: tuple = (2, "xl330-m077") + elbow_flex: tuple = (3, "xl330-m077") + wrist_flex: tuple = (4, "xl330-m077") + wrist_roll: tuple = (5, "xl330-m077") + gripper: tuple = (6, "xl330-m077") diff --git a/lerobot/common/teleoperators/koch/teleop_koch.py b/lerobot/common/teleoperators/koch/teleop_koch.py new file mode 100644 index 00000000..6146d9e1 --- /dev/null +++ b/lerobot/common/teleoperators/koch/teleop_koch.py @@ -0,0 +1,146 @@ +#!/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, + set_operating_mode, +) + +from ..teleoperator import Teleoperator +from .configuration_koch import KochTeleopConfig + + +class KochTeleop(Teleoperator): + """ + - [Koch v1.0](https://github.com/AlexanderKoch-Koch/low_cost_robot), with and without the wrist-to-elbow + expansion, developed by Alexander Koch from [Tau Robotics](https://tau-robotics.com) + - [Koch v1.1](https://github.com/jess-moss/koch-v1-1) developed by Jess Moss + """ + + config_class = KochTeleopConfig + name = "koch" + + def __init__(self, config: KochTeleopConfig): + super().__init__(config) + self.config = config + self.robot_type = config.type + self.id = config.id + + self.arm = DynamixelMotorsBus( + port=self.config.port, + motors={ + "shoulder_pan": config.shoulder_pan, + "shoulder_lift": config.shoulder_lift, + "elbow_flex": config.elbow_flex, + "wrist_flex": config.wrist_flex, + "wrist_roll": config.wrist_roll, + "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 connect(self) -> None: + 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() + + set_operating_mode(self.arm) + + # Enable torque on the gripper and move it to 45 degrees so that we can use it as a trigger. + logging.info("Activating torque.") + self.arm.write("Torque_Enable", TorqueMode.ENABLED.value, "gripper") + self.arm.write("Goal_Position", self.config.gripper_open_degree, "gripper") + + # Check arm can be read + self.arm.read("Present_Position") + + 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