Control aloha robot natively

[Cadene]

What this does

• Refactor koch.py by replacing it with more general manipulator.py
• Add lerobot/configs/robot/aloha.yaml
• Add robot_type (e.g. koch, aloha) which enable custom robot settings (e.g. torque in leader trigger for koch)
• Fix unit tests for robot devices
• Add safety layer for Aloha by default
• Improve calibration code
  • Add CalibrationMode enum:
    • joints in DEGREE mode come with a nominal range [-180, +180] degrees
    • joints in LINEAR mode come with a nominal range [0, 100] % with 0% fully close, 100% fully open (used by Aloha gripper)
  • Replace pickle calibration file, by 1 json calibration file per arm (allows to recalibrate only one arm if needed) ---> BREAKING CHANGE: everyone will need to recalibrate <---
  • Auto adjust calibration when a jump of 4096 motor steps is detected (fix a common bug requiring recalibration with Koch robot)
  • Add images for manual calibration of Aloha (note: for Aloha, manual calibration is not needed ; it is triggered only if a motor was replaced and wrongly positioned)

zero	rotated	rest

TODO next PR:

• Add unit tests with pytest mocking: Enable CI for robot devices with mocked versions #398

How it was tested

On Koch + Koch bimanual + Aloha:

• Ran calibration
• Ran teleoperation
• Ran data recording (with 4 cameras for Aloha)
• Ran data visualization
• Ran replay

Also re-read the tutorial to make sure it is up-to-date and compatible with Aloha

How to checkout & try? (for the reviewer)

Koch

python lerobot/scripts/control_robot.py record \
    --robot-path lerobot/configs/robot/koch.yaml \
    --fps 30 \
    --root /tmp/data \
    --repo-id $USER/test \
    --num-episodes 1 \
    --run-compute-stats 0 \
    --warmup-time-s 2 \
    --episode-time-s 30 \
    --reset-time-s 1 \
    --force-override 1 \
    --push-to-hub 0

python lerobot/scripts/visualize_dataset_html.py \
  --root /tmp/data \
  --repo-id $USER/test

python lerobot/scripts/control_robot.py replay \
    --robot-path lerobot/configs/robot/koch.yaml \
    --fps 30 \
    --root /tmp/data \
    --repo-id $USER/test

Aloha

python lerobot/scripts/control_robot.py record \
    --robot-path lerobot/configs/robot/aloha.yaml \
    --fps 30 \
    --root /tmp/data \
    --repo-id $USER/test \
    --num-episodes 1 \
    --run-compute-stats 0 \
    --warmup-time-s 2 \
    --episode-time-s 30 \
    --reset-time-s 1 \
    --force-override 1 \
    --push-to-hub 0

python lerobot/scripts/visualize_dataset_html.py \
  --root /tmp/data \
  --repo-id $USER/test

python lerobot/scripts/control_robot.py replay \
    --robot-path lerobot/configs/robot/aloha.yaml \
    --fps 30 \
    --root /tmp/data \
    --repo-id $USER/test

[alexander-soare]

LGTM but I'm going a bit on trust that you've tested this thoroughly as I don't have a robot to try it with.

If there's something you'd like me too look at more deeply, please draw my attention to it.

[alexander-soare]

Approved based on the parts that I was tagged in. Allowing @aliberts to lead this review.

[aliberts]

Great additions, thanks @Cadene.

LGTM with 2 caveats:

• I couldn't try and run the code on any robots as I don't have access rn
• My review is rather shallow as I understand you that want this to be merged quickly

Left some comments, mostly non-blocking but with some questions

[Cadene]

Thanks!

[aliberts]

Thanks again!