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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import logging
from pprint import pformat
from typing import cast
from lerobot.utils.import_utils import make_device_from_device_class
from .config import RobotConfig
from .robot import Robot
def make_robot_from_config(config: RobotConfig) -> Robot:
# TODO(Steven): Consider just using the make_device_from_device_class for all types
if config.type == "koch_follower":
from .koch_follower import KochFollower
return KochFollower(config)
elif config.type == "so100_follower":
from .so100_follower import SO100Follower
return SO100Follower(config)
elif config.type == "so101_follower":
from .so101_follower import SO101Follower
return SO101Follower(config)
elif config.type == "lekiwi":
from .lekiwi import LeKiwi
return LeKiwi(config)
elif config.type == "hope_jr_hand":
from .hope_jr import HopeJrHand
return HopeJrHand(config)
elif config.type == "hope_jr_arm":
from .hope_jr import HopeJrArm
return HopeJrArm(config)
elif config.type == "bi_so100_follower":
from .bi_so100_follower import BiSO100Follower
return BiSO100Follower(config)
elif config.type == "reachy2":
from .reachy2 import Reachy2Robot
return Reachy2Robot(config)
elif config.type == "mock_robot":
from tests.mocks.mock_robot import MockRobot
return MockRobot(config)
else:
try:
return cast(Robot, make_device_from_device_class(config))
except Exception as e:
raise ValueError(f"Error creating robot with config {config}: {e}") from e
# TODO(pepijn): Move to pipeline step to make sure we don't have to do this in the robot code and send action to robot is clean for use in dataset
def ensure_safe_goal_position(
goal_present_pos: dict[str, tuple[float, float]], max_relative_target: float | dict[str, float]
) -> dict[str, float]:
"""Caps relative action target magnitude for safety."""
if isinstance(max_relative_target, float):
diff_cap = dict.fromkeys(goal_present_pos, max_relative_target)
elif isinstance(max_relative_target, dict):
if not set(goal_present_pos) == set(max_relative_target):
raise ValueError("max_relative_target keys must match those of goal_present_pos.")
diff_cap = max_relative_target
else:
raise TypeError(max_relative_target)
warnings_dict = {}
safe_goal_positions = {}
for key, (goal_pos, present_pos) in goal_present_pos.items():
diff = goal_pos - present_pos
max_diff = diff_cap[key]
safe_diff = min(diff, max_diff)
safe_diff = max(safe_diff, -max_diff)
safe_goal_pos = present_pos + safe_diff
safe_goal_positions[key] = safe_goal_pos
if abs(safe_goal_pos - goal_pos) > 1e-4:
warnings_dict[key] = {
"original goal_pos": goal_pos,
"safe goal_pos": safe_goal_pos,
}
if warnings_dict:
logging.warning(
"Relative goal position magnitude had to be clamped to be safe.\n"
f"{pformat(warnings_dict, indent=4)}"
)
return safe_goal_positions
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