236 lines
9.4 KiB
Python
236 lines
9.4 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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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 logging
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import time
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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, MotorCalibration, MotorNormMode
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from lerobot.common.motors.dynamixel import (
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DynamixelMotorsBus,
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OperatingMode,
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TorqueMode,
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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_koch import KochRobotConfig
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class KochRobot(Robot):
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"""
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- [Koch v1.0](https://github.com/AlexanderKoch-Koch/low_cost_robot), with and without the wrist-to-elbow
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expansion, developed by Alexander Koch from [Tau Robotics](https://tau-robotics.com)
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- [Koch v1.1](https://github.com/jess-moss/koch-v1-1) developed by Jess Moss
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"""
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config_class = KochRobotConfig
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name = "koch"
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def __init__(self, config: KochRobotConfig):
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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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"shoulder_pan": Motor(1, "xl430-w250", MotorNormMode.RANGE_M100_100),
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"shoulder_lift": Motor(2, "xl430-w250", MotorNormMode.RANGE_M100_100),
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"elbow_flex": Motor(3, "xl330-m288", MotorNormMode.RANGE_M100_100),
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"wrist_flex": Motor(4, "xl330-m288", MotorNormMode.RANGE_M100_100),
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"wrist_roll": Motor(5, "xl330-m288", MotorNormMode.RANGE_M100_100),
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"gripper": Motor(6, "xl330-m288", MotorNormMode.RANGE_0_100),
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},
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)
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self.cameras = make_cameras_from_configs(config.cameras)
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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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"dtype": "float32",
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"shape": (len(self.arm),),
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"names": {"motors": list(self.arm.motors)},
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}
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@property
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def action_feature(self) -> dict:
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return self.state_feature
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@property
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def camera_features(self) -> dict[str, dict]:
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cam_ft = {}
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for cam_key, cam in self.cameras.items():
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cam_ft[cam_key] = {
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"shape": (cam.height, cam.width, cam.channels),
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"names": ["height", "width", "channels"],
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"info": None,
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}
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return cam_ft
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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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def connect(self) -> None:
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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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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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self.configure()
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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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def configure(self) -> None:
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for name in self.arm.names:
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# Torque must be deactivated to change values in the motors' EEPROM area
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# We assume that at configuration 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", name, TorqueMode.DISABLED.value)
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if name != "gripper":
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# Use 'extended position mode' for all motors except gripper, because in joint mode the servos
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# can't rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while
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# assembling the arm, you could end up with a servo with a position 0 or 4095 at a crucial
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# point
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self.arm.write("Operating_Mode", name, OperatingMode.EXTENDED_POSITION.value)
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# Use 'position control current based' for gripper to be limited by the limit of the current.
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# For the follower gripper, it means it can grasp an object without forcing too much even tho,
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# its goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
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# For the leader gripper, it means we can use it as a physical trigger, since we can force with our finger
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# to make it move, and it will move back to its original target position when we release the force.
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self.arm.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
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# Set better PID values to close the gap between recorded states and actions
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# TODO(rcadene): Implement an automatic procedure to set optimal PID values for each motor
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self.arm.write("Position_P_Gain", "elbow_flex", 1500)
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self.arm.write("Position_I_Gain", "elbow_flex", 0)
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self.arm.write("Position_D_Gain", "elbow_flex", 600)
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for name in self.arm.names:
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self.arm.write("Torque_Enable", name, TorqueMode.ENABLED.value)
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logging.info("Torque enabled.")
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@property
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def is_calibrated(self) -> bool:
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motors_calibration = self.arm.get_calibration()
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return motors_calibration == self.calibration
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def calibrate(self) -> None:
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print(f"\nRunning calibration of {self.id} Koch robot")
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for name in self.arm.names:
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self.arm.write("Torque_Enable", name, TorqueMode.DISABLED.value)
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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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fixed_range = ["shoulder_pan", "wrist_roll"]
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auto_range_motors = [name for name in self.arm.names if name not in fixed_range]
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print(
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"Move all joints except 'wrist_roll' (id=5) sequentially through their entire ranges of motion."
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)
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print("Recording positions. Press ENTER to stop...")
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ranges = self.arm.register_ranges_of_motion(auto_range_motors)
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for name in fixed_range:
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ranges[name] = {"min": 0, "max": 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=ranges[name]["min"],
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range_max=ranges[name]["max"],
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)
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self._save_calibration()
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print("Calibration saved to", self.calibration_fpath)
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def get_observation(self) -> dict[str, Any]:
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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.sync_read("Present_Position")
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self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
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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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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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return obs_dict
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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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`max_relative_target`. In this case, the action sent differs from original action.
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Thus, this function always returns the action actually sent.
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Args:
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action (dict[str, float]): The goal positions for the motors.
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Returns:
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dict[str, float]: The action sent to the motors, potentially clipped.
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"""
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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.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.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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self.arm.disconnect()
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for cam in self.cameras.values():
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cam.disconnect()
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