mirror of
https://github.com/huggingface/lerobot.git
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6a3d57031a
* Start adding Reachy 2 (no camera) * Fix joint shape * Remove print * Modify observation_features * Fix observation state * Try adding a fake Reachy teleoperator * Saving test scripts * Add reachy2camera to cameras * Add teleop_left camera to observation * Create test_reachy2_camera.py * Update utils.py * Add all rgb cameras * Future depth work * Try adding mobile_base velocity * Update tests * Update data_acquisition_server.py * Update with use_external_commands * Replay * Usable with or without mobile base * No need for new isntance * Use same ip for cameras * Remove useless imports * Add resume * Divide joints in multiple dicts * Divide joinits into several dicts in teleoperator * Fix forgotten method call * Create test_robot_client.py * Open gripper on start * Add arguments for cameras * Modify get_frame() requested size * Call generate_joints_dict on _init_ * black + isort * Add reachy2 in imports * Add reachy2 dependencies * Add documentation * Update reachy2.mdx * Update reachy2.mdx * Clean files and add types * Fix type in send_action * Remove print * Delete test files * Clean code * Update cameras * Disconnect from camera * Run pre-commit hooks * Update pyproject.toml * Create test_reachy2.py * Fix generate_joints * Update test_reachy2.py * Update send_action test * Update reachy2_cameras depth + CameraManager * Update reachy2_camera tests * Remove useless import and args * Rename reachy2_teleoperator * Create test_reachy2_teleoperator.py * Fix remainging fake_teleoperator * Remove useless elements * Mock cameras in test_reachy2 * Delete commented lines * Add use_present_position to teleoperator * Add cameras tests * Add check no part + test * Use disable_torque_on_disconnect * Use odometry for vel with present_position * Update documentation * Fix vel value type * Use ensure_safe_goal_position * Import joints dict from classes * Update reachy2.mdx * Update reachy2.mdx * Update minimal version * Update minimal version * fix(tests) fixes for reachy2 tests; removing reachy2 references from the script * Add reachy2_sdk fake as plugins --------- Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
112 lines
3.6 KiB
Python
112 lines
3.6 KiB
Python
# 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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from pprint import pformat
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from lerobot.robots import RobotConfig
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from .robot import Robot
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def make_robot_from_config(config: RobotConfig) -> Robot:
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if config.type == "koch_follower":
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from .koch_follower import KochFollower
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return KochFollower(config)
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elif config.type == "so100_follower":
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from .so100_follower import SO100Follower
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return SO100Follower(config)
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elif config.type == "so100_follower_end_effector":
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from .so100_follower import SO100FollowerEndEffector
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return SO100FollowerEndEffector(config)
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elif config.type == "so101_follower":
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from .so101_follower import SO101Follower
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return SO101Follower(config)
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elif config.type == "lekiwi":
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from .lekiwi import LeKiwi
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return LeKiwi(config)
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elif config.type == "stretch3":
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from .stretch3 import Stretch3Robot
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return Stretch3Robot(config)
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elif config.type == "viperx":
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from .viperx import ViperX
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return ViperX(config)
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elif config.type == "hope_jr_hand":
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from .hope_jr import HopeJrHand
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return HopeJrHand(config)
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elif config.type == "hope_jr_arm":
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from .hope_jr import HopeJrArm
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return HopeJrArm(config)
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elif config.type == "bi_so100_follower":
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from .bi_so100_follower import BiSO100Follower
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return BiSO100Follower(config)
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elif config.type == "reachy2":
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from .reachy2 import Reachy2Robot
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return Reachy2Robot(config)
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elif config.type == "mock_robot":
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from tests.mocks.mock_robot import MockRobot
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return MockRobot(config)
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else:
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raise ValueError(config.type)
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def ensure_safe_goal_position(
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goal_present_pos: dict[str, tuple[float, float]], max_relative_target: float | dict[str, float]
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) -> dict[str, float]:
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"""Caps relative action target magnitude for safety."""
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if isinstance(max_relative_target, float):
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diff_cap = dict.fromkeys(goal_present_pos, max_relative_target)
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elif isinstance(max_relative_target, dict):
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if not set(goal_present_pos) == set(max_relative_target):
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raise ValueError("max_relative_target keys must match those of goal_present_pos.")
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diff_cap = max_relative_target
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else:
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raise TypeError(max_relative_target)
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warnings_dict = {}
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safe_goal_positions = {}
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for key, (goal_pos, present_pos) in goal_present_pos.items():
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diff = goal_pos - present_pos
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max_diff = diff_cap[key]
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safe_diff = min(diff, max_diff)
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safe_diff = max(safe_diff, -max_diff)
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safe_goal_pos = present_pos + safe_diff
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safe_goal_positions[key] = safe_goal_pos
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if abs(safe_goal_pos - goal_pos) > 1e-4:
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warnings_dict[key] = {
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"original goal_pos": goal_pos,
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"safe goal_pos": safe_goal_pos,
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}
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if warnings_dict:
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logging.warning(
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"Relative goal position magnitude had to be clamped to be safe.\n"
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f"{pformat(warnings_dict, indent=4)}"
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)
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return safe_goal_positions
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