Address review with Simon

examples/10_use_so100.md

@@ -146,6 +146,13 @@ Follow step 6 of the [assembly video](https://youtu.be/ZqtPjuVFFpg) which illust
 |---|---|---|
 | <img src="../media/so100/leader_zero.webp?raw=true" alt="SO-100 leader arm zero position" title="SO-100 leader arm zero position" style="width:100%;"> | <img src="../media/so100/leader_rotated.webp?raw=true" alt="SO-100 leader arm rotated position" title="SO-100 leader arm rotated position" style="width:100%;"> | <img src="../media/so100/leader_rest.webp?raw=true" alt="SO-100 leader arm rest position" title="SO-100 leader arm rest position" style="width:100%;"> |
 
+Run this script to launch manual calibration:
+```bash
+python lerobot/scripts/control_robot.py calibrate \
+    --robot-path lerobot/configs/robot/so100.yaml \
+    --robot-overrides '~cameras' --arms main_leader
+```
+
 ## Teleoperate
 
 **Simple teleop**

examples/11_use_moss.md

@@ -146,6 +146,13 @@ Follow step 6 of the [assembly video](https://youtu.be/ZqtPjuVFFpg) which illust
 |---|---|---|
 | <img src="../media/moss/leader_zero.webp?raw=true" alt="Moss v1 leader arm zero position" title="Moss v1 leader arm zero position" style="width:100%;"> | <img src="../media/moss/leader_rotated.webp?raw=true" alt="Moss v1 leader arm rotated position" title="Moss v1 leader arm rotated position" style="width:100%;"> | <img src="../media/moss/leader_rest.webp?raw=true" alt="Moss v1 leader arm rest position" title="Moss v1 leader arm rest position" style="width:100%;"> |
 
+Run this script to launch manual calibration:
+```bash
+python lerobot/scripts/control_robot.py calibrate \
+    --robot-path lerobot/configs/robot/moss.yaml \
+    --robot-overrides '~cameras' --arms main_leader
+```
+
 ## Teleoperate
 
 **Simple teleop**

lerobot/common/robot_devices/cameras/intelrealsense.py

@@ -200,8 +200,7 @@ class IntelRealSenseCamera:
 
     To find the camera indices of your cameras, you can run our utility script that will save a few frames for each camera:
     ```bash
-    python lerobot/common/robot_devices/cameras/intelrealsense.py \
-    --images-dir outputs/images_from_intelrealsense_cameras
+    python lerobot/common/robot_devices/cameras/intelrealsense.py --images-dir outputs/images_from_intelrealsense_cameras
     ```
 
     When an IntelRealSenseCamera is instantiated, if no specific config is provided, the default fps, width, height and color_mode

lerobot/common/robot_devices/cameras/opencv.py

@@ -216,8 +216,7 @@ class OpenCVCamera:
 
     To find the camera indices of your cameras, you can run our utility script that will be save a few frames for each camera:
     ```bash
-    python lerobot/common/robot_devices/cameras/opencv.py \
-    --images-dir outputs/images_from_opencv_cameras
+    python lerobot/common/robot_devices/cameras/opencv.py --images-dir outputs/images_from_opencv_cameras
     ```
 
     When an OpenCVCamera is instantiated, if no specific config is provided, the default fps, width, height and color_mode
@@ -324,7 +323,7 @@ def connect(self):
             if self.camera_index not in available_cam_ids:
                 raise ValueError(
                     f"`camera_index` is expected to be one of these available cameras {available_cam_ids}, but {self.camera_index} is provided instead. "
-                    "To find the camera index you should use, run `python lerobot/lerobot/common/robot_devices/cameras/opencv.py`."
+                    "To find the camera index you should use, run `python lerobot/common/robot_devices/cameras/opencv.py`."
                 )
 
             raise OSError(f"Can't access OpenCVCamera({camera_idx}).")

lerobot/common/robot_devices/motors/feetech.py

@@ -298,16 +298,6 @@ def __init__(
         self.logs = {}
 
         self.track_positions = {}
-        self.present_pos = {
-            "prev": [None] * len(self.motor_names),
-            "below_zero": [None] * len(self.motor_names),
-            "above_max": [None] * len(self.motor_names),
-        }
-        self.goal_pos = {
-            "prev": [None] * len(self.motor_names),
-            "below_zero": [None] * len(self.motor_names),
-            "above_max": [None] * len(self.motor_names),
-        }
 
     def connect(self):
         if self.is_connected:

lerobot/common/robot_devices/robots/manipulator.py

@@ -51,7 +51,7 @@ class ManipulatorRobotConfig:
     """
 
     # Define all components of the robot
-    robot_type: str = "koch"
+    robot_type: str | None = None
     leader_arms: dict[str, MotorsBus] = field(default_factory=lambda: {})
     follower_arms: dict[str, MotorsBus] = field(default_factory=lambda: {})
     cameras: dict[str, Camera] = field(default_factory=lambda: {})
@@ -81,7 +81,7 @@ def __setattr__(self, prop: str, val):
         super().__setattr__(prop, val)
 
     def __post_init__(self):
-        if self.robot_type not in ["koch", "koch_bimanual", "aloha", "so100", "moss"]:
+        if self.robot_type is None or self.robot_type not in ["koch", "aloha", "so100", "moss"]:
             raise ValueError(f"Provided robot type ({self.robot_type}) is not supported.")
 
 
@@ -292,7 +292,7 @@ def connect(self):
             self.follower_arms[name].write("Torque_Enable", 1)
 
         if self.config.gripper_open_degree is not None:
-            if self.robot_type in ["aloha", "so100", "moss"]:
+            if self.robot_type != "koch":
                 raise NotImplementedError(
                     f"{self.robot_type} does not support position AND current control in the handle, which is require to set the gripper open."
                 )
@@ -328,6 +328,7 @@ def load_or_run_calibration_(name, arm, arm_type):
                 with open(arm_calib_path) as f:
                     calibration = json.load(f)
             else:
+                # TODO(rcadene): display a warning in __init__ if calibration file not available
                 print(f"Missing calibration file '{arm_calib_path}'")
 
                 if self.robot_type in ["koch", "aloha"]:

tests/test_control_robot.py

@@ -162,7 +162,7 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
     if robot_type == "aloha":
         env_name = "aloha_real"
         policy_name = "act_aloha_real"
-    elif robot_type in ["koch", "koch_bimanual", "so100", "moss"]:
+    elif robot_type in ["koch", "so100", "moss"]:
         env_name = "koch_real"
         policy_name = "act_koch_real"
     else: