Update viperx & widowx
This commit is contained in:
Simon Alibert
parent
e393af2d88
commit
f7672e14c7
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@ -8,6 +8,10 @@ from ..config import RobotConfig
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@RobotConfig.register_subclass("viperx")
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@dataclass
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class ViperXRobotConfig(RobotConfig):
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port: str # Port to connect to the arm
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disable_torque_on_disconnect: bool = True
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# /!\ FOR SAFETY, READ THIS /!\
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# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
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# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
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@ -4,25 +4,25 @@ and send orders to its motors.
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# TODO(rcadene, aliberts): reorganize the codebase into one file per robot, with the associated
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# calibration procedure, to make it easy for people to add their own robot.
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import json
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import logging
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import time
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import numpy as np
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from typing import Any
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from lerobot.common.cameras.utils import make_cameras_from_configs
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from lerobot.common.constants import OBS_IMAGES, OBS_STATE
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from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
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from lerobot.common.motors import Motor, MotorNormMode, TorqueMode
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from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode
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from lerobot.common.motors.dynamixel import (
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DynamixelMotorsBus,
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run_arm_calibration,
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OperatingMode,
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)
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from ..robot import Robot
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from ..utils import ensure_safe_goal_position
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from .configuration_viperx import ViperXRobotConfig
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logger = logging.getLogger(__name__)
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class ViperXRobot(Robot):
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"""
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@ -38,8 +38,6 @@ class ViperXRobot(Robot):
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):
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super().__init__(config)
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self.config = config
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self.robot_type = config.type
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self.arm = DynamixelMotorsBus(
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port=self.config.port,
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motors={
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@ -56,9 +54,6 @@ class ViperXRobot(Robot):
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)
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self.cameras = make_cameras_from_configs(config.cameras)
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self.is_connected = False
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self.logs = {}
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@property
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def state_feature(self) -> dict:
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return {
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@ -83,111 +78,119 @@ class ViperXRobot(Robot):
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}
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return cam_ft
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def _set_shadow_motors(self):
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"""
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Set secondary/shadow ID for shoulder and elbow. These joints have two motors.
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As a result, if only one of them is required to move to a certain position,
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the other will follow. This is to avoid breaking the motors.
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"""
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shoulder_idx = self.config.shoulder[0]
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self.arm.write("Secondary_ID", shoulder_idx, "shoulder_shadow")
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@property
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def is_connected(self) -> bool:
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# TODO(aliberts): add cam.is_connected for cam in self.cameras
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return self.arm.is_connected
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elbow_idx = self.config.elbow[0]
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self.arm.write("Secondary_ID", elbow_idx, "elbow_shadow")
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def connect(self):
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def connect(self) -> None:
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"""
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We assume that at connection time, arm is in a rest position,
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and torque can be safely disabled to run calibration.
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"""
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if self.is_connected:
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raise DeviceAlreadyConnectedError(
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"ManipulatorRobot is already connected. Do not run `robot.connect()` twice."
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raise DeviceAlreadyConnectedError(f"{self} already connected")
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self.arm.connect()
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if not self.is_calibrated:
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self.calibrate()
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for cam in self.cameras.values():
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cam.connect()
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self.configure()
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logger.info(f"{self} connected.")
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@property
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def is_calibrated(self) -> bool:
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return self.arm.is_calibrated
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def calibrate(self) -> None:
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raise NotImplementedError # TODO(aliberts): adapt code below (copied from koch
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logger.info(f"\nRunning calibration of {self}")
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self.arm.disable_torque()
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for name in self.arm.names:
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self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
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input("Move robot to the middle of its range of motion and press ENTER....")
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homing_offsets = self.arm.set_half_turn_homings()
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full_turn_motors = ["shoulder_pan", "wrist_roll"]
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unknown_range_motors = [name for name in self.arm.names if name not in full_turn_motors]
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logger.info(
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f"Move all joints except {full_turn_motors} sequentially through their entire "
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"ranges of motion.\nRecording positions. Press ENTER to stop..."
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)
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range_mins, range_maxes = self.arm.record_ranges_of_motion(unknown_range_motors)
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for name in full_turn_motors:
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range_mins[name] = 0
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range_maxes[name] = 4095
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self.calibration = {}
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for name, motor in self.arm.motors.items():
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self.calibration[name] = MotorCalibration(
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id=motor.id,
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drive_mode=0,
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homing_offset=homing_offsets[name],
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range_min=range_mins[name],
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range_max=range_maxes[name],
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)
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logging.info("Connecting arm.")
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self.arm.connect()
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self.arm.write_calibration(self.calibration)
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self._save_calibration()
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logger.info(f"Calibration saved to {self.calibration_fpath}")
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# We assume that at connection time, arm is in a rest position,
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# and torque can be safely disabled to run calibration.
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self.arm.write("Torque_Enable", TorqueMode.DISABLED.value)
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self.calibrate()
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def configure(self) -> None:
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self.arm.disable_torque()
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self.arm.configure_motors()
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self._set_shadow_motors()
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# Set secondary/shadow ID for shoulder and elbow. These joints have two motors.
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# As a result, if only one of them is required to move to a certain position,
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# the other will follow. This is to avoid breaking the motors.
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self.arm.write("Secondary_ID", "shoulder_shadow", 2)
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self.arm.write("Secondary_ID", "elbow_shadow", 4)
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# Set a velocity limit of 131 as advised by Trossen Robotics
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# TODO(aliberts): remove as it's actually useless in position control
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self.arm.write("Velocity_Limit", 131)
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# Use 'extended position mode' for all motors except gripper, because in joint mode the servos can't
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# rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while assembling the arm,
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# you could end up with a servo with a position 0 or 4095 at a crucial point See [
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# https://emanual.robotis.com/docs/en/dxl/x/x_series/#operating-mode11]
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all_motors_except_gripper = [name for name in self.arm.motor_names if name != "gripper"]
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if len(all_motors_except_gripper) > 0:
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# 4 corresponds to Extended Position on Aloha motors
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self.arm.write("Operating_Mode", 4, all_motors_except_gripper)
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# you could end up with a servo with a position 0 or 4095 at a crucial point. See:
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# https://emanual.robotis.com/docs/en/dxl/x/x_series/#operating-mode11
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for name in self.arm.names:
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if name != "gripper":
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self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
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# Use 'position control current based' for follower gripper to be limited by the limit of the current.
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# It can grasp an object without forcing too much even tho,
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# it's goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
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# 5 corresponds to Current Controlled Position on Aloha gripper follower "xm430-w350"
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self.arm.write("Operating_Mode", 5, "gripper")
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# It can grasp an object without forcing too much even tho, it's goal position is a complete grasp
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# (both gripper fingers are ordered to join and reach a touch).
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self.arm.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
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self.arm.enable_torque()
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# Note: We can't enable torque on the leader gripper since "xc430-w150" doesn't have
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# a Current Controlled Position mode.
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logging.info("Activating torque.")
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self.arm.write("Torque_Enable", TorqueMode.ENABLED.value)
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# Check arm can be read
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self.arm.read("Present_Position")
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# Connect the cameras
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for cam in self.cameras.values():
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cam.connect()
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self.is_connected = True
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def calibrate(self):
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"""After calibration all motors function in human interpretable ranges.
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Rotations are expressed in degrees in nominal range of [-180, 180],
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and linear motions (like gripper of Aloha) in nominal range of [0, 100].
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"""
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if self.calibration_fpath.exists():
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with open(self.calibration_fpath) as f:
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calibration = json.load(f)
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else:
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# TODO(rcadene): display a warning in __init__ if calibration file not available
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logging.info(f"Missing calibration file '{self.calibration_fpath}'")
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calibration = run_arm_calibration(self.arm, self.robot_type, self.name, "follower")
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logging.info(f"Calibration is done! Saving calibration file '{self.calibration_fpath}'")
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self.calibration_fpath.parent.mkdir(parents=True, exist_ok=True)
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with open(self.calibration_fpath, "w") as f:
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json.dump(calibration, f)
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self.arm.set_calibration(calibration)
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def get_observation(self) -> dict[str, np.ndarray]:
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def get_observation(self) -> dict[str, Any]:
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"""The returned observations do not have a batch dimension."""
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if not self.is_connected:
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raise DeviceNotConnectedError(
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"ManipulatorRobot is not connected. You need to run `robot.connect()`."
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)
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raise DeviceNotConnectedError(f"{self} is not connected.")
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obs_dict = {}
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# Read arm position
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before_read_t = time.perf_counter()
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obs_dict[OBS_STATE] = self.arm.read("Present_Position")
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self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
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start = time.perf_counter()
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obs_dict[OBS_STATE] = self.arm.sync_read("Present_Position")
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dt_ms = (time.perf_counter() - start) * 1e3
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logger.debug(f"{self} read state: {dt_ms:.1f}ms")
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# Capture images from cameras
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for cam_key, cam in self.cameras.items():
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before_camread_t = time.perf_counter()
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start = time.perf_counter()
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obs_dict[f"{OBS_IMAGES}.{cam_key}"] = cam.async_read()
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self.logs[f"read_camera_{cam_key}_dt_s"] = cam.logs["delta_timestamp_s"]
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self.logs[f"async_read_camera_{cam_key}_dt_s"] = time.perf_counter() - before_camread_t
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dt_ms = (time.perf_counter() - start) * 1e3
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logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
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return obs_dict
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def send_action(self, action: np.ndarray) -> np.ndarray:
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def send_action(self, action: dict[str, float]) -> dict[str, float]:
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"""Command arm to move to a target joint configuration.
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The relative action magnitude may be clipped depending on the configuration parameter
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@ -195,44 +198,33 @@ class ViperXRobot(Robot):
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Thus, this function always returns the action actually sent.
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Args:
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action (np.ndarray): array containing the goal positions for the motors.
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Raises:
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RobotDeviceNotConnectedError: if robot is not connected.
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action (dict[str, float]): The goal positions for the motors.
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Returns:
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np.ndarray: the action sent to the motors, potentially clipped.
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dict[str, float]: The action sent to the motors, potentially clipped.
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"""
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if not self.is_connected:
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raise DeviceNotConnectedError(
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"ManipulatorRobot is not connected. You need to run `robot.connect()`."
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)
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raise DeviceNotConnectedError(f"{self} is not connected.")
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goal_pos = action
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# Cap goal position when too far away from present position.
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# /!\ Slower fps expected due to reading from the follower.
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if self.config.max_relative_target is not None:
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present_pos = self.arm.read("Present_Position")
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goal_pos = ensure_safe_goal_position(goal_pos, present_pos, self.config.max_relative_target)
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present_pos = self.arm.sync_read("Present_Position")
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goal_present_pos = {key: (g_pos, present_pos[key]) for key, g_pos in goal_pos.items()}
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goal_pos = ensure_safe_goal_position(goal_present_pos, self.config.max_relative_target)
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# Send goal position to the arm
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self.arm.write("Goal_Position", goal_pos.astype(np.int32))
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self.arm.sync_write("Goal_Position", goal_pos)
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return goal_pos
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def print_logs(self):
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# TODO(aliberts): move robot-specific logs logic here
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pass
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def disconnect(self):
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if not self.is_connected:
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raise DeviceNotConnectedError(
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"ManipulatorRobot is not connected. You need to run `robot.connect()` before disconnecting."
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)
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raise DeviceNotConnectedError(f"{self} is not connected.")
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self.arm.disconnect()
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self.arm.disconnect(self.config.disable_torque_on_disconnect)
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for cam in self.cameras.values():
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cam.disconnect()
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self.is_connected = False
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logger.info(f"{self} disconnected.")
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@ -22,17 +22,4 @@ from ..config import TeleoperatorConfig
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@TeleoperatorConfig.register_subclass("widowx")
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@dataclass
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class WidowXTeleopConfig(TeleoperatorConfig):
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port: str # Port to connect to the teloperator
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mock: bool = False
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# /!\ FOR SAFETY, READ THIS /!\
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# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
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# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
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# the number of motors in your follower arms.
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# For Aloha, for every goal position request, motor rotations are capped at 5 degrees by default.
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# When you feel more confident with teleoperation or running the policy, you can extend
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# this safety limit and even removing it by setting it to `null`.
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# Also, everything is expected to work safely out-of-the-box, but we highly advise to
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# first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml),
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# then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
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max_relative_target: int | None = 5
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port: str # Port to connect to the arm
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@ -14,22 +14,22 @@
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import json
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import logging
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import time
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import numpy as np
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from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
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from lerobot.common.motors import Motor, MotorNormMode, TorqueMode
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from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode
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from lerobot.common.motors.dynamixel import (
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DriveMode,
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DynamixelMotorsBus,
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run_arm_calibration,
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OperatingMode,
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)
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from ..teleoperator import Teleoperator
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from .configuration_widowx import WidowXTeleopConfig
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logger = logging.getLogger(__name__)
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class WidowXTeleop(Teleoperator):
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"""
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@ -42,8 +42,6 @@ class WidowXTeleop(Teleoperator):
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def __init__(self, config: WidowXTeleopConfig):
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super().__init__(config)
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self.config = config
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self.robot_type = config.type
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self.arm = DynamixelMotorsBus(
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port=self.config.port,
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motors={
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@ -59,9 +57,6 @@ class WidowXTeleop(Teleoperator):
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},
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)
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self.is_connected = False
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self.logs = {}
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@property
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def action_feature(self) -> dict:
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return {
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@ -74,84 +69,85 @@ class WidowXTeleop(Teleoperator):
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def feedback_feature(self) -> dict:
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return {}
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def _set_shadow_motors(self):
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"""
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Set secondary/shadow ID for shoulder and elbow. These joints have two motors.
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As a result, if only one of them is required to move to a certain position,
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the other will follow. This is to avoid breaking the motors.
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"""
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shoulder_idx = self.config.shoulder[0]
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self.arm.write("Secondary_ID", shoulder_idx, "shoulder_shadow")
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elbow_idx = self.config.elbow[0]
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self.arm.write("Secondary_ID", elbow_idx, "elbow_shadow")
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@property
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def is_connected(self) -> bool:
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return self.arm.is_connected
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def connect(self):
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if self.is_connected:
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raise DeviceAlreadyConnectedError(
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"ManipulatorRobot is already connected. Do not run `robot.connect()` twice."
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)
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raise DeviceAlreadyConnectedError(f"{self} already connected")
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logging.info("Connecting arm.")
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self.arm.connect()
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if not self.is_calibrated:
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self.calibrate()
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# We assume that at connection time, arm is in a rest position,
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# and torque can be safely disabled to run calibration.
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self.arm.write("Torque_Enable", TorqueMode.DISABLED.value)
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self.calibrate()
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self._set_shadow_motors()
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logging.info("Activating torque.")
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self.arm.write("Torque_Enable", TorqueMode.ENABLED.value)
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# Check arm can be read
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self.arm.read("Present_Position")
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# Connect the cameras
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for cam in self.cameras.values():
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cam.connect()
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self.is_connected = True
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self.configure()
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logger.info(f"{self} connected.")
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def calibrate(self) -> None:
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"""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].
|
||||
"""
|
||||
if self.calibration_fpath.exists():
|
||||
with open(self.calibration_fpath) 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 '{self.calibration_fpath}'")
|
||||
calibration = run_arm_calibration(self.arm, self.robot_type, self.name, "leader")
|
||||
raise NotImplementedError # TODO(aliberts): adapt code below (copied from koch)
|
||||
logger.info(f"\nRunning calibration of {self}")
|
||||
self.arm.disable_torque()
|
||||
for name in self.arm.names:
|
||||
self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
|
||||
|
||||
logging.info(f"Calibration is done! Saving calibration file '{self.calibration_fpath}'")
|
||||
self.calibration_fpath.parent.mkdir(parents=True, exist_ok=True)
|
||||
with open(self.calibration_fpath, "w") as f:
|
||||
json.dump(calibration, f)
|
||||
self.arm.write("Drive_Mode", "elbow_flex", DriveMode.INVERTED.value)
|
||||
drive_modes = {name: 1 if name == "elbow_flex" else 0 for name in self.arm.names}
|
||||
|
||||
self.arm.set_calibration(calibration)
|
||||
input("Move robot to the middle of its range of motion and press ENTER....")
|
||||
homing_offsets = self.arm.set_half_turn_homings()
|
||||
|
||||
def get_action(self) -> np.ndarray:
|
||||
"""The returned action does not have a batch dimension."""
|
||||
# Read arm position
|
||||
before_read_t = time.perf_counter()
|
||||
full_turn_motors = ["shoulder_pan", "wrist_roll"]
|
||||
unknown_range_motors = [name for name in self.arm.names if name not in full_turn_motors]
|
||||
logger.info(
|
||||
f"Move all joints except {full_turn_motors} sequentially through their "
|
||||
"entire ranges of motion.\nRecording positions. Press ENTER to stop..."
|
||||
)
|
||||
range_mins, range_maxes = self.arm.record_ranges_of_motion(unknown_range_motors)
|
||||
for name in full_turn_motors:
|
||||
range_mins[name] = 0
|
||||
range_maxes[name] = 4095
|
||||
|
||||
self.calibration = {}
|
||||
for name, motor in self.arm.motors.items():
|
||||
self.calibration[name] = MotorCalibration(
|
||||
id=motor.id,
|
||||
drive_mode=drive_modes[name],
|
||||
homing_offset=homing_offsets[name],
|
||||
range_min=range_mins[name],
|
||||
range_max=range_maxes[name],
|
||||
)
|
||||
|
||||
self.arm.write_calibration(self.calibration)
|
||||
self._save_calibration()
|
||||
logger.info(f"Calibration saved to {self.calibration_fpath}")
|
||||
|
||||
def configure(self) -> None:
|
||||
self.arm.disable_torque()
|
||||
self.arm.configure_motors()
|
||||
|
||||
# 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.
|
||||
self.arm.write("Secondary_ID", "shoulder_shadow", 2)
|
||||
self.arm.write("Secondary_ID", "elbow_shadow", 4)
|
||||
|
||||
def get_action(self) -> dict[str, float]:
|
||||
if not self.is_connected:
|
||||
raise DeviceNotConnectedError(f"{self} is not connected.")
|
||||
|
||||
start = time.perf_counter()
|
||||
action = self.arm.read("Present_Position")
|
||||
self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
|
||||
|
||||
dt_ms = (time.perf_counter() - start) * 1e3
|
||||
logger.debug(f"{self} read action: {dt_ms:.1f}ms")
|
||||
return action
|
||||
|
||||
def send_feedback(self, feedback: np.ndarray) -> None:
|
||||
# TODO(rcadene, aliberts): Implement force feedback
|
||||
pass
|
||||
def send_feedback(self, feedback: dict[str, float]) -> None:
|
||||
raise NotImplementedError
|
||||
|
||||
def disconnect(self) -> None:
|
||||
if not self.is_connected:
|
||||
raise DeviceNotConnectedError(
|
||||
"ManipulatorRobot is not connected. You need to run `robot.connect()` before disconnecting."
|
||||
)
|
||||
raise DeviceNotConnectedError(f"{self} is not connected.")
|
||||
|
||||
self.arm.disconnect()
|
||||
self.is_connected = False
|
||||
logger.info(f"{self} disconnected.")
|
||||
|
|
|
|||
Loading…
Reference in New Issue