feat(arx): support arx arm #364
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| if not self.camera.isOpened(): | ||
| raise OSError(f"Camera {self.camera_index} could not be opened.") |
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I was getting a strange issue where you could create the camera but it did not open. forgot why exactly but this helped debug it.
| @@ -88,12 +88,12 @@ def from_raw_to_lerobot_format( | |||
| raise NotImplementedError | |||
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| # sanity check | |||
| check_format(raw_dir) | |||
| check_format(videos_dir) | |||
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I think this was wrong before, though not sure if it is actually used. happy to revert it if necessary.
| if key != 'language_instruction': | ||
| batch[key] = batch[key].to(device, non_blocking=True) |
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This is probably a separate change, but how should we handle language instructions? We could either use a tokeniser or the languagew model itself here to ensure the data is placed into the device (GPU) from the start, or do it in the model though that may be less performant as not all instructions run in CUDA?
| leader_arms: | ||
| main: | ||
| model: L5 | ||
| interface_name: enx5c5310ecc0ec |
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these need to be set based on your own robot's serial number. I wonder if there is a way to allow a user to specify them without making edits to this file?
| <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) | ||
| Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578 | ||
| For more information, please see http://wiki.ros.org/sw_urdf_exporter --> | ||
| <robot name="ultron_v1.1_aa"> |
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needed for gravity compensation
lerobot/scripts/control_robot.py
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| @@ -605,7 +605,7 @@ def on_press(key): | |||
| ep_dict["next.done"] = done | |||
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| ep_path = episodes_dir / f"episode_{episode_index}.pth" | |||
| print("Saving episode dictionary...") | |||
| print(f"Saving episode dictionary {episode_index}...") | |||
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this helped me with logging
What this does
Adds the ARX5 arm integration, used as part of an older model of the AgileX Cobot Magic, as well as separately.
Uses the ARX5 SDK for communication between hardware devices.
Note that the ARX5 arms provide their own calibration when correctly installed so the calibration process used for koch arms should not be necessary.
How it was tested
I have tested it many times using both single-arm and bimanual data collection and inference. No unit tests though.
Would be cool if anyone who has the ARX5 arm could try and replicate it.
How to checkout & try? (for the reviewer)
You will need an arx 5 arm. You need to set the model type (X5 or L5) in the config, as well as the interface name (can be a CAN port or an EtherCat interface name, both are supported). Then run the following: