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1f7ddc1d76
Co-authored-by: Pepijn <pepijn@huggingface.co> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
101 lines
3.3 KiB
Python
101 lines
3.3 KiB
Python
import logging
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from typing import Protocol
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import numpy as np
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from lerobot.common.robots import RobotConfig
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def get_arm_id(name, arm_type):
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"""Returns the string identifier of a robot arm. For instance, for a bimanual manipulator
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like Aloha, it could be left_follower, right_follower, left_leader, or right_leader.
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"""
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return f"{name}_{arm_type}"
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# TODO(aliberts): Remove and point to lerobot.common.robots.Robot
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class Robot(Protocol):
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robot_type: str
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features: dict
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def connect(self): ...
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def run_calibration(self): ...
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def teleop_step(self, record_data=False): ...
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def capture_observation(self): ...
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def send_action(self, action): ...
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def disconnect(self): ...
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def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
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if robot_type == "aloha":
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from .aloha.configuration_aloha import AlohaRobotConfig
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return AlohaRobotConfig(**kwargs)
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elif robot_type == "koch":
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from .koch.configuration_koch import KochRobotConfig
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return KochRobotConfig(**kwargs)
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# elif robot_type == "koch_bimanual":
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# return KochBimanualRobotConfig(**kwargs)
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elif robot_type == "moss":
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from .moss.configuration_moss import MossRobotConfig
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return MossRobotConfig(**kwargs)
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elif robot_type == "so100":
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from .so100.configuration_so100 import SO100RobotConfig
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return SO100RobotConfig(**kwargs)
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elif robot_type == "stretch":
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from .stretch3.configuration_stretch3 import Stretch3RobotConfig
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return Stretch3RobotConfig(**kwargs)
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elif robot_type == "lekiwi":
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from .lekiwi.configuration_lekiwi import LeKiwiRobotConfig
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return LeKiwiRobotConfig(**kwargs)
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else:
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raise ValueError(f"Robot type '{robot_type}' is not available.")
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def make_robot_from_config(config: RobotConfig):
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from .lekiwi.configuration_lekiwi import LeKiwiRobotConfig
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from .manipulator import ManipulatorRobotConfig
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if isinstance(config, ManipulatorRobotConfig):
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from lerobot.common.robots.manipulator import ManipulatorRobot
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return ManipulatorRobot(config)
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elif isinstance(config, LeKiwiRobotConfig):
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from lerobot.common.robots.mobile_manipulator import MobileManipulator
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return MobileManipulator(config)
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else:
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from lerobot.common.robots.stretch3.robot_stretch3 import Stretch3Robot
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return Stretch3Robot(config)
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def make_robot(robot_type: str, **kwargs) -> Robot:
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config = make_robot_config(robot_type, **kwargs)
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return make_robot_from_config(config)
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def ensure_safe_goal_position(
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goal_pos: np.ndarray, present_pos: np.ndarray, max_relative_target: float | list[float]
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):
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# Cap relative action target magnitude for safety.
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diff = goal_pos - present_pos
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max_relative_target = np.array(max_relative_target)
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safe_diff = np.min(diff, max_relative_target)
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safe_diff = np.max(safe_diff, -max_relative_target)
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safe_goal_pos = present_pos + safe_diff
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if not np.allclose(goal_pos, safe_goal_pos):
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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" requested relative goal position target: {diff}\n"
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f" clamped relative goal position target: {safe_diff}"
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)
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return safe_goal_pos
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