Solo AI Configuration (#8)

* Solo AI Configuration

* Fix reviewed code

lerobot/common/robot_devices/robots/configs.py

@@ -685,3 +685,61 @@ class TrossenAIBimanualRobotConfig(ManipulatorRobotConfig):
     )
 
     mock: bool = False
+
+
+@RobotConfig.register_subclass("trossen_ai_solo")
+@dataclass
+class TrossenAISoloRobotConfig(ManipulatorRobotConfig):
+
+    # /!\ 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 Trossen AI Arms, 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
+
+    leader_arms: dict[str, MotorsBusConfig] = field(
+        default_factory=lambda: {
+            "main": TrossenArmDriverConfig(
+                # wxai
+                ip="192.168.1.2",
+                model="V0_LEADER",
+            ),
+        }
+    )
+
+    follower_arms: dict[str, MotorsBusConfig] = field(
+        default_factory=lambda: {
+            "main": TrossenArmDriverConfig(
+                ip="192.168.1.3",
+                model="V0_FOLLOWER",
+            ),
+        }
+    )
+
+    # Troubleshooting: If one of your IntelRealSense cameras freeze during
+    # data recording due to bandwidth limit, you might need to plug the camera
+    # on another USB hub or PCIe card.
+    cameras: dict[str, CameraConfig] = field(
+        default_factory=lambda: {
+            "cam_high": IntelRealSenseCameraConfig(
+                serial_number=130322270184,
+                fps=30,
+                width=640,
+                height=480,
+            ),
+            "cam_left_wrist": IntelRealSenseCameraConfig(
+                serial_number=218622274938,
+                fps=30,
+                width=640,
+                height=480,
+            ),
+        }
+    )
+
+    mock: bool = False

lerobot/common/robot_devices/robots/manipulator.py

@@ -160,7 +160,7 @@ class ManipulatorRobot:
     ):
         self.config = config
         self.robot_type = self.config.type
-        if not self.robot_type =="trossen_ai_bimanual":
+        if not self.robot_type in ["trossen_ai_bimanual", "trosssen_ai_solo"]:
             self.calibration_dir = Path(self.config.calibration_dir)
         self.leader_arms = make_motors_buses_from_configs(self.config.leader_arms)
         self.follower_arms = make_motors_buses_from_configs(self.config.follower_arms)
@@ -224,7 +224,7 @@ class ManipulatorRobot:
         return available_arms
 
     def teleop_safety_stop(self):
-        if self.robot_type in ["trossen_ai_bimanual"]:
+        if self.robot_type in ["trossen_ai_bimanual", "trossen_ai_solo"]:
             for arms in self.follower_arms:
                 self.follower_arms[arms].write("Reset", 1)
                 self.follower_arms[arms].write("Torque_Enable", 1)
@@ -251,7 +251,7 @@ class ManipulatorRobot:
             print(f"Connecting {name} leader arm.")
             self.leader_arms[name].connect()
 
-        if self.robot_type in ["koch", "koch_bimanual", "aloha", "trossen_ai_bimanual"]:
+        if self.robot_type in ["koch", "koch_bimanual", "aloha", "trossen_ai_bimanual", "trossen_ai_solo"]:
             from lerobot.common.robot_devices.motors.dynamixel import TorqueMode
         elif self.robot_type in ["so100", "moss", "lekiwi"]:
             from lerobot.common.robot_devices.motors.feetech import TorqueMode
@@ -263,7 +263,7 @@ class ManipulatorRobot:
         for name in self.leader_arms:
             self.leader_arms[name].write("Torque_Enable", TorqueMode.DISABLED.value)
 
-        if not self.robot_type == "trossen_ai_bimanual":
+        if not self.robot_type in ["trossen_ai_bimanual", "trossen_ai_solo"]:
             print("Checking if calibration is needed.")
             self.activate_calibration()
 

lerobot/common/robot_devices/robots/utils.py

@@ -25,6 +25,7 @@ from lerobot.common.robot_devices.robots.configs import (
     So100RobotConfig,
     StretchRobotConfig,
     TrossenAIBimanualRobotConfig,
+    TrossenAISoloRobotConfig,
 )
 
 
@@ -65,6 +66,8 @@ def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
         return LeKiwiRobotConfig(**kwargs)
     elif robot_type == "trossen_ai_bimanual":
         return TrossenAIBimanualRobotConfig(**kwargs)
+    elif robot_type == "trossen_ai_solo":
+        return TrossenAISoloRobotConfig(**kwargs)
     else:
         raise ValueError(f"Robot type '{robot_type}' is not available.")