614 lines
22 KiB
Python
614 lines
22 KiB
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 abc
|
|
from dataclasses import dataclass, field
|
|
from typing import Sequence
|
|
|
|
import draccus
|
|
|
|
from lerobot.common.robot_devices.cameras.configs import (
|
|
CameraConfig,
|
|
IntelRealSenseCameraConfig,
|
|
OpenCVCameraConfig,
|
|
)
|
|
from lerobot.common.robot_devices.motors.configs import (
|
|
DynamixelMotorsBusConfig,
|
|
FeetechMotorsBusConfig,
|
|
MotorsBusConfig,
|
|
)
|
|
|
|
|
|
@dataclass
|
|
class RobotConfig(draccus.ChoiceRegistry, abc.ABC):
|
|
@property
|
|
def type(self) -> str:
|
|
return self.get_choice_name(self.__class__)
|
|
|
|
|
|
# TODO(rcadene, aliberts): remove ManipulatorRobotConfig abstraction
|
|
@dataclass
|
|
class ManipulatorRobotConfig(RobotConfig):
|
|
leader_arms: dict[str, MotorsBusConfig] = field(default_factory=lambda: {})
|
|
follower_arms: dict[str, MotorsBusConfig] = field(default_factory=lambda: {})
|
|
cameras: dict[str, CameraConfig] = field(default_factory=lambda: {})
|
|
|
|
# Optionally limit 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 (assumes all follower arms have the same number of
|
|
# motors).
|
|
max_relative_target: list[float] | float | None = None
|
|
|
|
# Optionally set 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. If None, the
|
|
# gripper is not put in torque mode.
|
|
gripper_open_degree: float | None = None
|
|
|
|
mock: bool = False
|
|
|
|
def __post_init__(self):
|
|
if self.mock:
|
|
for arm in self.leader_arms.values():
|
|
if not arm.mock:
|
|
arm.mock = True
|
|
for arm in self.follower_arms.values():
|
|
if not arm.mock:
|
|
arm.mock = True
|
|
for cam in self.cameras.values():
|
|
if not cam.mock:
|
|
cam.mock = True
|
|
|
|
if self.max_relative_target is not None and isinstance(self.max_relative_target, Sequence):
|
|
for name in self.follower_arms:
|
|
if len(self.follower_arms[name].motors) != len(self.max_relative_target):
|
|
raise ValueError(
|
|
f"len(max_relative_target)={len(self.max_relative_target)} but the follower arm with name {name} has "
|
|
f"{len(self.follower_arms[name].motors)} motors. Please make sure that the "
|
|
f"`max_relative_target` list has as many parameters as there are motors per arm. "
|
|
"Note: This feature does not yet work with robots where different follower arms have "
|
|
"different numbers of motors."
|
|
)
|
|
|
|
|
|
@RobotConfig.register_subclass("aloha")
|
|
@dataclass
|
|
class AlohaRobotConfig(ManipulatorRobotConfig):
|
|
# Specific to Aloha, LeRobot comes with default calibration files. Assuming the motors have been
|
|
# properly assembled, no manual calibration step is expected. If you need to run manual calibration,
|
|
# simply update this path to ".cache/calibration/aloha"
|
|
calibration_dir: str = ".cache/calibration/aloha_default"
|
|
|
|
# /!\ 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
|
|
|
|
leader_arms: dict[str, MotorsBusConfig] = field(
|
|
default_factory=lambda: {
|
|
"left": DynamixelMotorsBusConfig(
|
|
# window_x
|
|
port="/dev/ttyDXL_leader_left",
|
|
motors={
|
|
# name: (index, model)
|
|
"waist": [1, "xm430-w350"],
|
|
"shoulder": [2, "xm430-w350"],
|
|
"shoulder_shadow": [3, "xm430-w350"],
|
|
"elbow": [4, "xm430-w350"],
|
|
"elbow_shadow": [5, "xm430-w350"],
|
|
"forearm_roll": [6, "xm430-w350"],
|
|
"wrist_angle": [7, "xm430-w350"],
|
|
"wrist_rotate": [8, "xl430-w250"],
|
|
"gripper": [9, "xc430-w150"],
|
|
},
|
|
),
|
|
"right": DynamixelMotorsBusConfig(
|
|
# window_x
|
|
port="/dev/ttyDXL_leader_right",
|
|
motors={
|
|
# name: (index, model)
|
|
"waist": [1, "xm430-w350"],
|
|
"shoulder": [2, "xm430-w350"],
|
|
"shoulder_shadow": [3, "xm430-w350"],
|
|
"elbow": [4, "xm430-w350"],
|
|
"elbow_shadow": [5, "xm430-w350"],
|
|
"forearm_roll": [6, "xm430-w350"],
|
|
"wrist_angle": [7, "xm430-w350"],
|
|
"wrist_rotate": [8, "xl430-w250"],
|
|
"gripper": [9, "xc430-w150"],
|
|
},
|
|
),
|
|
}
|
|
)
|
|
|
|
follower_arms: dict[str, MotorsBusConfig] = field(
|
|
default_factory=lambda: {
|
|
"left": DynamixelMotorsBusConfig(
|
|
port="/dev/ttyDXL_follower_left",
|
|
motors={
|
|
# name: (index, model)
|
|
"waist": [1, "xm540-w270"],
|
|
"shoulder": [2, "xm540-w270"],
|
|
"shoulder_shadow": [3, "xm540-w270"],
|
|
"elbow": [4, "xm540-w270"],
|
|
"elbow_shadow": [5, "xm540-w270"],
|
|
"forearm_roll": [6, "xm540-w270"],
|
|
"wrist_angle": [7, "xm540-w270"],
|
|
"wrist_rotate": [8, "xm430-w350"],
|
|
"gripper": [9, "xm430-w350"],
|
|
},
|
|
),
|
|
"right": DynamixelMotorsBusConfig(
|
|
port="/dev/ttyDXL_follower_right",
|
|
motors={
|
|
# name: (index, model)
|
|
"waist": [1, "xm540-w270"],
|
|
"shoulder": [2, "xm540-w270"],
|
|
"shoulder_shadow": [3, "xm540-w270"],
|
|
"elbow": [4, "xm540-w270"],
|
|
"elbow_shadow": [5, "xm540-w270"],
|
|
"forearm_roll": [6, "xm540-w270"],
|
|
"wrist_angle": [7, "xm540-w270"],
|
|
"wrist_rotate": [8, "xm430-w350"],
|
|
"gripper": [9, "xm430-w350"],
|
|
},
|
|
),
|
|
}
|
|
)
|
|
|
|
# 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=128422271347,
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
"cam_low": IntelRealSenseCameraConfig(
|
|
serial_number=130322270656,
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
"cam_left_wrist": IntelRealSenseCameraConfig(
|
|
serial_number=218622272670,
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
"cam_right_wrist": IntelRealSenseCameraConfig(
|
|
serial_number=130322272300,
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
}
|
|
)
|
|
|
|
mock: bool = False
|
|
|
|
|
|
@RobotConfig.register_subclass("koch")
|
|
@dataclass
|
|
class KochRobotConfig(ManipulatorRobotConfig):
|
|
calibration_dir: str = ".cache/calibration/koch"
|
|
# `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.
|
|
max_relative_target: int | None = None
|
|
|
|
leader_arms: dict[str, MotorsBusConfig] = field(
|
|
default_factory=lambda: {
|
|
"main": DynamixelMotorsBusConfig(
|
|
port="/dev/tty.usbmodem585A0085511",
|
|
motors={
|
|
# name: (index, model)
|
|
"shoulder_pan": [1, "xl330-m077"],
|
|
"shoulder_lift": [2, "xl330-m077"],
|
|
"elbow_flex": [3, "xl330-m077"],
|
|
"wrist_flex": [4, "xl330-m077"],
|
|
"wrist_roll": [5, "xl330-m077"],
|
|
"gripper": [6, "xl330-m077"],
|
|
},
|
|
),
|
|
}
|
|
)
|
|
|
|
follower_arms: dict[str, MotorsBusConfig] = field(
|
|
default_factory=lambda: {
|
|
"main": DynamixelMotorsBusConfig(
|
|
port="/dev/tty.usbmodem585A0076891",
|
|
motors={
|
|
# name: (index, model)
|
|
"shoulder_pan": [1, "xl430-w250"],
|
|
"shoulder_lift": [2, "xl430-w250"],
|
|
"elbow_flex": [3, "xl330-m288"],
|
|
"wrist_flex": [4, "xl330-m288"],
|
|
"wrist_roll": [5, "xl330-m288"],
|
|
"gripper": [6, "xl330-m288"],
|
|
},
|
|
),
|
|
}
|
|
)
|
|
|
|
cameras: dict[str, CameraConfig] = field(
|
|
default_factory=lambda: {
|
|
"laptop": OpenCVCameraConfig(
|
|
camera_index=0,
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
"phone": OpenCVCameraConfig(
|
|
camera_index=1,
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
}
|
|
)
|
|
|
|
# ~ Koch specific settings ~
|
|
# 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
|
|
|
|
|
|
@RobotConfig.register_subclass("koch_bimanual")
|
|
@dataclass
|
|
class KochBimanualRobotConfig(ManipulatorRobotConfig):
|
|
calibration_dir: str = ".cache/calibration/koch_bimanual"
|
|
# `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.
|
|
max_relative_target: int | None = None
|
|
|
|
leader_arms: dict[str, MotorsBusConfig] = field(
|
|
default_factory=lambda: {
|
|
"left": DynamixelMotorsBusConfig(
|
|
port="/dev/tty.usbmodem585A0085511",
|
|
motors={
|
|
# name: (index, model)
|
|
"shoulder_pan": [1, "xl330-m077"],
|
|
"shoulder_lift": [2, "xl330-m077"],
|
|
"elbow_flex": [3, "xl330-m077"],
|
|
"wrist_flex": [4, "xl330-m077"],
|
|
"wrist_roll": [5, "xl330-m077"],
|
|
"gripper": [6, "xl330-m077"],
|
|
},
|
|
),
|
|
"right": DynamixelMotorsBusConfig(
|
|
port="/dev/tty.usbmodem575E0031751",
|
|
motors={
|
|
# name: (index, model)
|
|
"shoulder_pan": [1, "xl330-m077"],
|
|
"shoulder_lift": [2, "xl330-m077"],
|
|
"elbow_flex": [3, "xl330-m077"],
|
|
"wrist_flex": [4, "xl330-m077"],
|
|
"wrist_roll": [5, "xl330-m077"],
|
|
"gripper": [6, "xl330-m077"],
|
|
},
|
|
),
|
|
}
|
|
)
|
|
|
|
follower_arms: dict[str, MotorsBusConfig] = field(
|
|
default_factory=lambda: {
|
|
"left": DynamixelMotorsBusConfig(
|
|
port="/dev/tty.usbmodem585A0076891",
|
|
motors={
|
|
# name: (index, model)
|
|
"shoulder_pan": [1, "xl430-w250"],
|
|
"shoulder_lift": [2, "xl430-w250"],
|
|
"elbow_flex": [3, "xl330-m288"],
|
|
"wrist_flex": [4, "xl330-m288"],
|
|
"wrist_roll": [5, "xl330-m288"],
|
|
"gripper": [6, "xl330-m288"],
|
|
},
|
|
),
|
|
"right": DynamixelMotorsBusConfig(
|
|
port="/dev/tty.usbmodem575E0032081",
|
|
motors={
|
|
# name: (index, model)
|
|
"shoulder_pan": [1, "xl430-w250"],
|
|
"shoulder_lift": [2, "xl430-w250"],
|
|
"elbow_flex": [3, "xl330-m288"],
|
|
"wrist_flex": [4, "xl330-m288"],
|
|
"wrist_roll": [5, "xl330-m288"],
|
|
"gripper": [6, "xl330-m288"],
|
|
},
|
|
),
|
|
}
|
|
)
|
|
|
|
cameras: dict[str, CameraConfig] = field(
|
|
default_factory=lambda: {
|
|
"laptop": OpenCVCameraConfig(
|
|
camera_index=0,
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
"phone": OpenCVCameraConfig(
|
|
camera_index=1,
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
}
|
|
)
|
|
|
|
# ~ Koch specific settings ~
|
|
# 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
|
|
|
|
|
|
@RobotConfig.register_subclass("moss")
|
|
@dataclass
|
|
class MossRobotConfig(ManipulatorRobotConfig):
|
|
calibration_dir: str = ".cache/calibration/moss"
|
|
# `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.
|
|
max_relative_target: int | None = None
|
|
|
|
leader_arms: dict[str, MotorsBusConfig] = field(
|
|
default_factory=lambda: {
|
|
"main": FeetechMotorsBusConfig(
|
|
port="/dev/tty.usbmodem58760431091",
|
|
motors={
|
|
# name: (index, model)
|
|
"shoulder_pan": [1, "sts3215"],
|
|
"shoulder_lift": [2, "sts3215"],
|
|
"elbow_flex": [3, "sts3215"],
|
|
"wrist_flex": [4, "sts3215"],
|
|
"wrist_roll": [5, "sts3215"],
|
|
"gripper": [6, "sts3215"],
|
|
},
|
|
),
|
|
}
|
|
)
|
|
|
|
follower_arms: dict[str, MotorsBusConfig] = field(
|
|
default_factory=lambda: {
|
|
"main": FeetechMotorsBusConfig(
|
|
port="/dev/tty.usbmodem585A0076891",
|
|
motors={
|
|
# name: (index, model)
|
|
"shoulder_pan": [1, "sts3215"],
|
|
"shoulder_lift": [2, "sts3215"],
|
|
"elbow_flex": [3, "sts3215"],
|
|
"wrist_flex": [4, "sts3215"],
|
|
"wrist_roll": [5, "sts3215"],
|
|
"gripper": [6, "sts3215"],
|
|
},
|
|
),
|
|
}
|
|
)
|
|
|
|
cameras: dict[str, CameraConfig] = field(
|
|
default_factory=lambda: {
|
|
"laptop": OpenCVCameraConfig(
|
|
camera_index=0,
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
"phone": OpenCVCameraConfig(
|
|
camera_index=1,
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
}
|
|
)
|
|
|
|
mock: bool = False
|
|
|
|
|
|
@RobotConfig.register_subclass("so100")
|
|
@dataclass
|
|
class So100RobotConfig(ManipulatorRobotConfig):
|
|
calibration_dir: str = ".cache/calibration/so100"
|
|
# `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.
|
|
max_relative_target: int | None = None
|
|
|
|
leader_arms: dict[str, MotorsBusConfig] = field(
|
|
default_factory=lambda: {
|
|
"main": FeetechMotorsBusConfig(
|
|
port="/dev/tty.usbmodem58760431091",
|
|
motors={
|
|
# name: (index, model)
|
|
"shoulder_pan": [1, "sts3215"],
|
|
"shoulder_lift": [2, "sts3215"],
|
|
"elbow_flex": [3, "sts3215"],
|
|
"wrist_flex": [4, "sts3215"],
|
|
"wrist_roll": [5, "sts3215"],
|
|
"gripper": [6, "sts3215"],
|
|
},
|
|
),
|
|
}
|
|
)
|
|
|
|
follower_arms: dict[str, MotorsBusConfig] = field(
|
|
default_factory=lambda: {
|
|
"main": FeetechMotorsBusConfig(
|
|
port="/dev/tty.usbmodem585A0076891",
|
|
motors={
|
|
# name: (index, model)
|
|
"shoulder_pan": [1, "sts3215"],
|
|
"shoulder_lift": [2, "sts3215"],
|
|
"elbow_flex": [3, "sts3215"],
|
|
"wrist_flex": [4, "sts3215"],
|
|
"wrist_roll": [5, "sts3215"],
|
|
"gripper": [6, "sts3215"],
|
|
},
|
|
),
|
|
}
|
|
)
|
|
|
|
cameras: dict[str, CameraConfig] = field(
|
|
default_factory=lambda: {
|
|
"laptop": OpenCVCameraConfig(
|
|
camera_index=0,
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
"phone": OpenCVCameraConfig(
|
|
camera_index=1,
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
}
|
|
)
|
|
|
|
mock: bool = False
|
|
|
|
|
|
@RobotConfig.register_subclass("stretch")
|
|
@dataclass
|
|
class StretchRobotConfig(RobotConfig):
|
|
# `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.
|
|
max_relative_target: int | None = None
|
|
|
|
cameras: dict[str, CameraConfig] = field(
|
|
default_factory=lambda: {
|
|
"navigation": OpenCVCameraConfig(
|
|
camera_index="/dev/hello-nav-head-camera",
|
|
fps=10,
|
|
width=1280,
|
|
height=720,
|
|
rotation=-90,
|
|
),
|
|
"head": IntelRealSenseCameraConfig(
|
|
name="Intel RealSense D435I",
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
rotation=90,
|
|
),
|
|
"wrist": IntelRealSenseCameraConfig(
|
|
name="Intel RealSense D405",
|
|
fps=30,
|
|
width=640,
|
|
height=480,
|
|
),
|
|
}
|
|
)
|
|
|
|
mock: bool = False
|
|
|
|
|
|
@RobotConfig.register_subclass("lekiwi")
|
|
@dataclass
|
|
class LeKiwiRobotConfig(RobotConfig):
|
|
# `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.
|
|
max_relative_target: int | None = None
|
|
|
|
# Network Configuration
|
|
ip: str = "192.168.0.193"
|
|
port: int = 5555
|
|
video_port: int = 5556
|
|
|
|
cameras: dict[str, CameraConfig] = field(
|
|
default_factory=lambda: {
|
|
"front": OpenCVCameraConfig(
|
|
camera_index="/dev/video0", fps=30, width=640, height=480, rotation=90
|
|
),
|
|
"wrist": OpenCVCameraConfig(
|
|
camera_index="/dev/video2", fps=30, width=640, height=480, rotation=180
|
|
),
|
|
}
|
|
)
|
|
|
|
calibration_dir: str = ".cache/calibration/lekiwi"
|
|
|
|
leader_arms: dict[str, MotorsBusConfig] = field(
|
|
default_factory=lambda: {
|
|
"main": FeetechMotorsBusConfig(
|
|
port="/dev/tty.usbmodem585A0077581",
|
|
motors={
|
|
# name: (index, model)
|
|
"shoulder_pan": [1, "sts3215"],
|
|
"shoulder_lift": [2, "sts3215"],
|
|
"elbow_flex": [3, "sts3215"],
|
|
"wrist_flex": [4, "sts3215"],
|
|
"wrist_roll": [5, "sts3215"],
|
|
"gripper": [6, "sts3215"],
|
|
},
|
|
),
|
|
}
|
|
)
|
|
|
|
follower_arms: dict[str, MotorsBusConfig] = field(
|
|
default_factory=lambda: {
|
|
"main": FeetechMotorsBusConfig(
|
|
port="/dev/ttyACM0",
|
|
motors={
|
|
# name: (index, model)
|
|
"shoulder_pan": [1, "sts3215"],
|
|
"shoulder_lift": [2, "sts3215"],
|
|
"elbow_flex": [3, "sts3215"],
|
|
"wrist_flex": [4, "sts3215"],
|
|
"wrist_roll": [5, "sts3215"],
|
|
"gripper": [6, "sts3215"],
|
|
"left_wheel": (7, "sts3215"),
|
|
"back_wheel": (8, "sts3215"),
|
|
"right_wheel": (9, "sts3215"),
|
|
},
|
|
),
|
|
}
|
|
)
|
|
|
|
teleop_keys: dict[str, str] = field(
|
|
default_factory=lambda: {
|
|
# Movement
|
|
"forward": "w",
|
|
"backward": "s",
|
|
"left": "a",
|
|
"right": "d",
|
|
"rotate_left": "z",
|
|
"rotate_right": "x",
|
|
# Speed control
|
|
"speed_up": "r",
|
|
"speed_down": "f",
|
|
# quit teleop
|
|
"quit": "q",
|
|
}
|
|
)
|
|
|
|
mock: bool = False
|