lerobot-teleoperator-arx5 0.1.0__py3-none-any.whl

lerobot_teleoperator_arx5/__init__.py

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+from .config_arx5_leader import ARX5LeaderConfig
+from .arx5_leader import ARX5Leader
+
+__all__ = [
+    "ARX5LeaderConfig",
+    "ARX5Leader",
+]

lerobot_teleoperator_arx5/arx5_leader.py

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+"""
+ARX5 Leader Teleoperator implementation.
+
+This module provides the ARX5Leader class which implements the LeRobot Teleoperator
+interface for ARX5 robot arms acting as leaders (producing actions from human input).
+"""
+
+from functools import cached_property
+import logging
+import time
+
+from lerobot.teleoperators.teleoperator import Teleoperator
+
+from arx5_common import ARX5Arm, MOTOR_NAMES, EEF_ACTION_KEYS
+
+from .config_arx5_leader import ARX5LeaderConfig
+
+logger = logging.getLogger(__name__)
+
+
+class ARX5Leader(Teleoperator):
+    """
+    ARX5 leader arm teleoperator for LeRobot.
+    
+    This teleoperator reads the position of a physical ARX5 arm that a human
+    operator manipulates, producing actions that can be sent to a follower robot.
+    """
+    
+    config_class = ARX5LeaderConfig
+    name = "arx5_leader"
+    
+    def __init__(self, config: ARX5LeaderConfig):
+        super().__init__(config)
+        self.config = config
+        
+        # Create the low-level arm controller
+        self.arm = ARX5Arm(
+            control_mode=config.control_mode,
+            config=config.arm_config,
+            is_leader=True,
+        )
+
+    @cached_property
+    def _motor_pos_ft(self) -> dict[str, type]:
+        """Motor position feature types."""
+        return {f"{name}.pos": float for name in MOTOR_NAMES}
+
+    @cached_property
+    def _motor_vel_ft(self) -> dict[str, type]:
+        """Motor velocity feature types."""
+        return {f"{name}.velocity": float for name in MOTOR_NAMES}
+
+    @cached_property
+    def _motor_eff_ft(self) -> dict[str, type]:
+        """Motor effort/torque feature types."""
+        return {f"{name}.effort": float for name in MOTOR_NAMES}
+
+    @cached_property
+    def _eef_ft(self) -> dict[str, type]:
+        """End-effector pose feature types."""
+        return {key: float for key in EEF_ACTION_KEYS}
+    
+    @cached_property
+    def motor_names(self) -> dict[str, type]:
+        return MOTOR_NAMES
+
+    @cached_property
+    def action_features(self) -> dict[str, type]:
+        """
+        Features produced by this teleoperator (sent to follower robot).
+        
+        Includes motor positions, velocities, efforts, and EEF pose.
+        """
+        return {
+            **self._motor_pos_ft,
+            **self._motor_vel_ft,
+            **self._motor_eff_ft,
+            **self._eef_ft,
+        }
+
+    @cached_property
+    def feedback_features(self) -> dict[str, type]:
+        """Features that can be sent back to this teleoperator as feedback."""
+        # ARX5 doesn't currently support force feedback
+        return {}
+
+    @property
+    def is_connected(self) -> bool:
+        """Whether the teleoperator hardware is connected."""
+        return self.arm.is_connected
+
+    def connect(self, calibrate: bool = True) -> None:
+        """
+        Connect to the teleoperator hardware.
+        
+        Args:
+            calibrate: Whether to run calibration (ARX5 doesn't require manual calibration)
+        """
+        if self.is_connected:
+            raise RuntimeError(f"{self} is already connected")
+        
+        logger.info(f"Connecting {self}...")
+        self.arm.connect()
+        time.sleep(0.2)
+        
+        # Configure the arm for leader operation (low resistance for manual manipulation)
+        self.configure()
+        logger.info(f"{self} connected.")
+
+    @property
+    def is_calibrated(self) -> bool:
+        """ARX5 arms are factory calibrated."""
+        return True
+
+    def calibrate(self) -> None:
+        """ARX5 arms don't require manual calibration."""
+        pass
+
+    def configure(self) -> None:
+        """Configure the arm for leader/teleoperator operation."""
+        self.arm.configure()
+
+    def reset(self):
+        if not self.is_connected:
+            raise RuntimeError(f"{self} is not connected.")
+        self.arm.reset_to_home()
+
+    def get_action(self) -> dict[str, float]:
+        """
+        Read the current state of the leader arm as an action.
+        
+        Returns:
+            Dictionary with motor positions, velocities, efforts, and EEF pose
+            that can be sent to a follower robot.
+        """
+        if not self.is_connected:
+            raise RuntimeError(f"{self} is not connected.")
+        
+        start = time.perf_counter()
+        pos, vel, effort, eef_pose = self.arm.get_observation()
+        dt_ms = (time.perf_counter() - start) * 1e3
+        logger.debug(f"{self} read action: {dt_ms:.1f}ms")
+        
+        action = {}
+        
+        # Motor positions
+        for i, name in enumerate(MOTOR_NAMES):
+            action[f"{name}.pos"] = float(pos[i])
+        
+        # Motor velocities
+        for i, name in enumerate(MOTOR_NAMES):
+            action[f"{name}.velocity"] = float(vel[i])
+        
+        # Motor efforts (torques)
+        for i, name in enumerate(MOTOR_NAMES):
+            action[f"{name}.effort"] = float(effort[i])
+        
+        # End-effector pose (x, y, z, roll, pitch, yaw, gripper)
+        action["eef.x"] = float(eef_pose[0])
+        action["eef.y"] = float(eef_pose[1])
+        action["eef.z"] = float(eef_pose[2])
+        action["eef.roll"] = float(eef_pose[3])
+        action["eef.pitch"] = float(eef_pose[4])
+        action["eef.yaw"] = float(eef_pose[5])
+        action["eef.gripper"] = float(pos[6])  # Gripper from joint state
+        
+        return action
+
+    def send_feedback(self, feedback: dict[str, float]) -> None:
+        """
+        Send feedback to the teleoperator (e.g., force feedback).
+        
+        ARX5 doesn't currently support force feedback.
+        """
+        raise NotImplementedError("ARX5 does not support force feedback")
+
+    def disconnect(self) -> None:
+        """Disconnect from the teleoperator hardware."""
+        if not self.is_connected:
+            raise RuntimeError(f"{self} is not connected.")
+        
+        self.arm.disconnect()
+        logger.info(f"{self} disconnected.")

lerobot_teleoperator_arx5/config_arx5_leader.py

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+"""
+Configuration for ARX5 leader teleoperator.
+"""
+
+from dataclasses import dataclass
+
+from lerobot.teleoperators.config import TeleoperatorConfig
+
+from arx5_common import ARXArmModel, ARXControlMode, ARX5ArmConfig
+
+
+@TeleoperatorConfig.register_subclass("arx5_leader")
+@dataclass
+class ARX5LeaderConfig(TeleoperatorConfig):
+    """
+    Configuration for a single ARX5 leader arm teleoperator.
+    
+    Usage:
+        lerobot-teleoperate --teleop.type=arx5_leader --teleop.interface_name=enx6c6e0711f4e2
+    """
+    # Arm hardware configuration
+    arm_model: ARXArmModel = ARXArmModel.L5
+    interface_name: str = "can0"
+    control_mode: ARXControlMode = ARXControlMode.JOINT_CONTROLLER
+
+    @property
+    def arm_config(self) -> ARX5ArmConfig:
+        """Generate ARX5ArmConfig from this teleoperator config."""
+        return ARX5ArmConfig(
+            model=self.arm_model,
+            interface_name=self.interface_name,
+        )

lerobot_teleoperator_arx5-0.1.0.dist-info/METADATA

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+Metadata-Version: 2.4
+Name: lerobot_teleoperator_arx5
+Version: 0.1.0
+Summary: ARX5 robot arm leader/teleoperator plugin for LeRobot
+Author-email: Ville Kuosmanen <ville@villekuosmanen.com>
+License: MIT License
+        
+        Copyright (c) 2025 Ville Kuosmanen
+        
+        Permission is hereby granted, free of charge, to any person obtaining a copy
+        of this software and associated documentation files (the "Software"), to deal
+        in the Software without restriction, including without limitation the rights
+        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+        copies of the Software, and to permit persons to whom the Software is
+        furnished to do so, subject to the following conditions:
+        
+        The above copyright notice and this permission notice shall be included in all
+        copies or substantial portions of the Software.
+        
+        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+        SOFTWARE.
+        
+Classifier: Programming Language :: Python :: 3
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Operating System :: OS Independent
+Requires-Python: >=3.10
+License-File: LICENSE
+Requires-Dist: arx5-common
+Requires-Dist: lerobot>=0.4
+Dynamic: license-file

lerobot_teleoperator_arx5-0.1.0.dist-info/RECORD

@@ -0,0 +1,8 @@
+lerobot_teleoperator_arx5/__init__.py,sha256=Fxb4A4ubFAp0F_4RBt82LeeJ0096Z8qH8g4CKiuv_Cg,142
+lerobot_teleoperator_arx5/arx5_leader.py,sha256=66lX3RnlUxUlEgZCRA74AIGAuSKP876iHpkUgh5msbA,5912
+lerobot_teleoperator_arx5/config_arx5_leader.py,sha256=UVguFxQbtMCxlrfB0wawekHzF44yK2jXvcmiIx-UYe8,938
+lerobot_teleoperator_arx5-0.1.0.dist-info/licenses/LICENSE,sha256=h2OIPyHQwutQ7oGpGcEZ7uWUCmQIfCjf0hF9HKOM6NQ,1072
+lerobot_teleoperator_arx5-0.1.0.dist-info/METADATA,sha256=FKsrAZjayd4EpxMMknLL8MsdOSmy8BaT6W7yirRDh4s,1720
+lerobot_teleoperator_arx5-0.1.0.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+lerobot_teleoperator_arx5-0.1.0.dist-info/top_level.txt,sha256=voUvtvVwwfuPg57MfwGUJMyZp0YvA4MZydf0I7399Fo,26
+lerobot_teleoperator_arx5-0.1.0.dist-info/RECORD,,

lerobot_teleoperator_arx5-0.1.0.dist-info/WHEEL

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+Wheel-Version: 1.0
+Generator: setuptools (80.9.0)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

lerobot_teleoperator_arx5-0.1.0.dist-info/licenses/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 Ville Kuosmanen
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

lerobot_teleoperator_arx5-0.1.0.dist-info/top_level.txt

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+lerobot_teleoperator_arx5