mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-21 11:39:50 +00:00
fix(examples): wrap all of them into a main function (#2524)
This commit is contained in:
Steven Palma
+86
-80
@@ -33,83 +33,68 @@ TASK_DESCRIPTION = "My task description"
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HF_MODEL_ID = "<hf_username>/<model_repo_id>"
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HF_DATASET_ID = "<hf_username>/<eval_dataset_repo_id>"
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# Create the robot configuration & robot
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robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
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robot = LeKiwiClient(robot_config)
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def main():
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# Create the robot configuration & robot
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robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
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# Create policy
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policy = ACTPolicy.from_pretrained(HF_MODEL_ID)
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robot = LeKiwiClient(robot_config)
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# Configure the dataset features
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action_features = hw_to_dataset_features(robot.action_features, ACTION)
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obs_features = hw_to_dataset_features(robot.observation_features, OBS_STR)
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dataset_features = {**action_features, **obs_features}
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# Create policy
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policy = ACTPolicy.from_pretrained(HF_MODEL_ID)
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# Create the dataset
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dataset = LeRobotDataset.create(
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repo_id=HF_DATASET_ID,
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fps=FPS,
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features=dataset_features,
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robot_type=robot.name,
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use_videos=True,
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image_writer_threads=4,
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)
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# Configure the dataset features
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action_features = hw_to_dataset_features(robot.action_features, ACTION)
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obs_features = hw_to_dataset_features(robot.observation_features, OBS_STR)
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dataset_features = {**action_features, **obs_features}
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# Build Policy Processors
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preprocessor, postprocessor = make_pre_post_processors(
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policy_cfg=policy,
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pretrained_path=HF_MODEL_ID,
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dataset_stats=dataset.meta.stats,
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# The inference device is automatically set to match the detected hardware, overriding any previous device settings from training to ensure compatibility.
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preprocessor_overrides={"device_processor": {"device": str(policy.config.device)}},
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)
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# Connect the robot
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# To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
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robot.connect()
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# TODO(Steven): Update this example to use pipelines
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teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
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# Initialize the keyboard listener and rerun visualization
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listener, events = init_keyboard_listener()
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init_rerun(session_name="lekiwi_evaluate")
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if not robot.is_connected:
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raise ValueError("Robot is not connected!")
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print("Starting evaluate loop...")
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recorded_episodes = 0
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while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
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log_say(f"Running inference, recording eval episode {recorded_episodes} of {NUM_EPISODES}")
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# Main record loop
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record_loop(
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robot=robot,
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events=events,
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# Create the dataset
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dataset = LeRobotDataset.create(
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repo_id=HF_DATASET_ID,
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fps=FPS,
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policy=policy,
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preprocessor=preprocessor, # Pass the pre and post policy processors
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postprocessor=postprocessor,
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dataset=dataset,
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control_time_s=EPISODE_TIME_SEC,
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single_task=TASK_DESCRIPTION,
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display_data=True,
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teleop_action_processor=teleop_action_processor,
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robot_action_processor=robot_action_processor,
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robot_observation_processor=robot_observation_processor,
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features=dataset_features,
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robot_type=robot.name,
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use_videos=True,
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image_writer_threads=4,
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)
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# Reset the environment if not stopping or re-recording
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if not events["stop_recording"] and (
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(recorded_episodes < NUM_EPISODES - 1) or events["rerecord_episode"]
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):
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log_say("Reset the environment")
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# Build Policy Processors
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preprocessor, postprocessor = make_pre_post_processors(
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policy_cfg=policy,
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pretrained_path=HF_MODEL_ID,
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dataset_stats=dataset.meta.stats,
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# The inference device is automatically set to match the detected hardware, overriding any previous device settings from training to ensure compatibility.
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preprocessor_overrides={"device_processor": {"device": str(policy.config.device)}},
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)
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# Connect the robot
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# To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
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robot.connect()
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# TODO(Steven): Update this example to use pipelines
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teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
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# Initialize the keyboard listener and rerun visualization
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listener, events = init_keyboard_listener()
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init_rerun(session_name="lekiwi_evaluate")
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if not robot.is_connected:
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raise ValueError("Robot is not connected!")
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print("Starting evaluate loop...")
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recorded_episodes = 0
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while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
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log_say(f"Running inference, recording eval episode {recorded_episodes} of {NUM_EPISODES}")
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# Main record loop
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record_loop(
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robot=robot,
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events=events,
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fps=FPS,
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policy=policy,
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preprocessor=preprocessor, # Pass the pre and post policy processors
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postprocessor=postprocessor,
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dataset=dataset,
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control_time_s=EPISODE_TIME_SEC,
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single_task=TASK_DESCRIPTION,
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display_data=True,
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@@ -118,21 +103,42 @@ while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
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robot_observation_processor=robot_observation_processor,
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)
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if events["rerecord_episode"]:
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log_say("Re-record episode")
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events["rerecord_episode"] = False
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events["exit_early"] = False
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dataset.clear_episode_buffer()
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continue
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# Reset the environment if not stopping or re-recording
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if not events["stop_recording"] and (
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(recorded_episodes < NUM_EPISODES - 1) or events["rerecord_episode"]
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):
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log_say("Reset the environment")
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record_loop(
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robot=robot,
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events=events,
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fps=FPS,
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control_time_s=EPISODE_TIME_SEC,
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single_task=TASK_DESCRIPTION,
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display_data=True,
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teleop_action_processor=teleop_action_processor,
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robot_action_processor=robot_action_processor,
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robot_observation_processor=robot_observation_processor,
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)
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# Save episode
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dataset.save_episode()
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recorded_episodes += 1
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if events["rerecord_episode"]:
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log_say("Re-record episode")
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events["rerecord_episode"] = False
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events["exit_early"] = False
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dataset.clear_episode_buffer()
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continue
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# Clean up
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log_say("Stop recording")
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robot.disconnect()
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listener.stop()
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# Save episode
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dataset.save_episode()
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recorded_episodes += 1
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dataset.finalize()
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dataset.push_to_hub()
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# Clean up
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log_say("Stop recording")
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robot.disconnect()
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listener.stop()
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dataset.finalize()
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dataset.push_to_hub()
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if __name__ == "__main__":
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main()
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+82
-76
@@ -34,78 +34,62 @@ RESET_TIME_SEC = 10
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TASK_DESCRIPTION = "My task description"
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HF_REPO_ID = "<hf_username>/<dataset_repo_id>"
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# Create the robot and teleoperator configurations
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robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
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leader_arm_config = SO100LeaderConfig(port="/dev/tty.usbmodem585A0077581", id="my_awesome_leader_arm")
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keyboard_config = KeyboardTeleopConfig()
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# Initialize the robot and teleoperator
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robot = LeKiwiClient(robot_config)
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leader_arm = SO100Leader(leader_arm_config)
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keyboard = KeyboardTeleop(keyboard_config)
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def main():
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# Create the robot and teleoperator configurations
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robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
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leader_arm_config = SO100LeaderConfig(port="/dev/tty.usbmodem585A0077581", id="my_awesome_leader_arm")
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keyboard_config = KeyboardTeleopConfig()
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# TODO(Steven): Update this example to use pipelines
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teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
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# Initialize the robot and teleoperator
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robot = LeKiwiClient(robot_config)
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leader_arm = SO100Leader(leader_arm_config)
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keyboard = KeyboardTeleop(keyboard_config)
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# Configure the dataset features
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action_features = hw_to_dataset_features(robot.action_features, ACTION)
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obs_features = hw_to_dataset_features(robot.observation_features, OBS_STR)
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dataset_features = {**action_features, **obs_features}
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# TODO(Steven): Update this example to use pipelines
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teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
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# Create the dataset
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dataset = LeRobotDataset.create(
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repo_id=HF_REPO_ID,
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fps=FPS,
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features=dataset_features,
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robot_type=robot.name,
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use_videos=True,
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image_writer_threads=4,
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)
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# Configure the dataset features
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action_features = hw_to_dataset_features(robot.action_features, ACTION)
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obs_features = hw_to_dataset_features(robot.observation_features, OBS_STR)
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dataset_features = {**action_features, **obs_features}
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# Connect the robot and teleoperator
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# To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
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robot.connect()
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leader_arm.connect()
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keyboard.connect()
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# Initialize the keyboard listener and rerun visualization
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listener, events = init_keyboard_listener()
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init_rerun(session_name="lekiwi_record")
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if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
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raise ValueError("Robot or teleop is not connected!")
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print("Starting record loop...")
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recorded_episodes = 0
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while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
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log_say(f"Recording episode {recorded_episodes}")
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# Main record loop
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record_loop(
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robot=robot,
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events=events,
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# Create the dataset
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dataset = LeRobotDataset.create(
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repo_id=HF_REPO_ID,
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fps=FPS,
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dataset=dataset,
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teleop=[leader_arm, keyboard],
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control_time_s=EPISODE_TIME_SEC,
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single_task=TASK_DESCRIPTION,
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display_data=True,
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teleop_action_processor=teleop_action_processor,
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robot_action_processor=robot_action_processor,
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robot_observation_processor=robot_observation_processor,
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features=dataset_features,
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robot_type=robot.name,
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use_videos=True,
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image_writer_threads=4,
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)
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# Reset the environment if not stopping or re-recording
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if not events["stop_recording"] and (
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(recorded_episodes < NUM_EPISODES - 1) or events["rerecord_episode"]
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):
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log_say("Reset the environment")
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# Connect the robot and teleoperator
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# To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
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robot.connect()
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leader_arm.connect()
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keyboard.connect()
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# Initialize the keyboard listener and rerun visualization
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listener, events = init_keyboard_listener()
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init_rerun(session_name="lekiwi_record")
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if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
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raise ValueError("Robot or teleop is not connected!")
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print("Starting record loop...")
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recorded_episodes = 0
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while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
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log_say(f"Recording episode {recorded_episodes}")
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# Main record loop
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record_loop(
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robot=robot,
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events=events,
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fps=FPS,
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dataset=dataset,
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teleop=[leader_arm, keyboard],
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control_time_s=RESET_TIME_SEC,
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control_time_s=EPISODE_TIME_SEC,
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single_task=TASK_DESCRIPTION,
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display_data=True,
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teleop_action_processor=teleop_action_processor,
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@@ -113,23 +97,45 @@ while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
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robot_observation_processor=robot_observation_processor,
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)
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if events["rerecord_episode"]:
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log_say("Re-record episode")
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events["rerecord_episode"] = False
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events["exit_early"] = False
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dataset.clear_episode_buffer()
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continue
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# Reset the environment if not stopping or re-recording
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if not events["stop_recording"] and (
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(recorded_episodes < NUM_EPISODES - 1) or events["rerecord_episode"]
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):
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log_say("Reset the environment")
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record_loop(
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robot=robot,
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events=events,
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fps=FPS,
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teleop=[leader_arm, keyboard],
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control_time_s=RESET_TIME_SEC,
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single_task=TASK_DESCRIPTION,
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display_data=True,
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teleop_action_processor=teleop_action_processor,
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robot_action_processor=robot_action_processor,
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robot_observation_processor=robot_observation_processor,
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)
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# Save episode
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dataset.save_episode()
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recorded_episodes += 1
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if events["rerecord_episode"]:
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log_say("Re-record episode")
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events["rerecord_episode"] = False
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events["exit_early"] = False
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dataset.clear_episode_buffer()
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continue
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# Clean up
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log_say("Stop recording")
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robot.disconnect()
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leader_arm.disconnect()
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keyboard.disconnect()
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listener.stop()
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# Save episode
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dataset.save_episode()
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recorded_episodes += 1
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dataset.finalize()
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dataset.push_to_hub()
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# Clean up
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log_say("Stop recording")
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robot.disconnect()
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leader_arm.disconnect()
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keyboard.disconnect()
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listener.stop()
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dataset.finalize()
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dataset.push_to_hub()
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if __name__ == "__main__":
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main()
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+31
-25
@@ -25,37 +25,43 @@ from lerobot.utils.utils import log_say
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EPISODE_IDX = 0
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# Initialize the robot config
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robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
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# Initialize the robot
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robot = LeKiwiClient(robot_config)
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def main():
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# Initialize the robot config
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robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
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# Fetch the dataset to replay
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dataset = LeRobotDataset("<hf_username>/<dataset_repo_id>", episodes=[EPISODE_IDX])
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# Filter dataset to only include frames from the specified episode since episodes are chunked in dataset V3.0
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episode_frames = dataset.hf_dataset.filter(lambda x: x["episode_index"] == EPISODE_IDX)
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actions = episode_frames.select_columns(ACTION)
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# Initialize the robot
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robot = LeKiwiClient(robot_config)
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# Connect to the robot
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robot.connect()
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# Fetch the dataset to replay
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dataset = LeRobotDataset("<hf_username>/<dataset_repo_id>", episodes=[EPISODE_IDX])
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# Filter dataset to only include frames from the specified episode since episodes are chunked in dataset V3.0
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episode_frames = dataset.hf_dataset.filter(lambda x: x["episode_index"] == EPISODE_IDX)
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actions = episode_frames.select_columns(ACTION)
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if not robot.is_connected:
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raise ValueError("Robot is not connected!")
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# Connect to the robot
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robot.connect()
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print("Starting replay loop...")
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log_say(f"Replaying episode {EPISODE_IDX}")
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for idx in range(len(episode_frames)):
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t0 = time.perf_counter()
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if not robot.is_connected:
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raise ValueError("Robot is not connected!")
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# Get recorded action from dataset
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action = {
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name: float(actions[idx][ACTION][i]) for i, name in enumerate(dataset.features[ACTION]["names"])
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}
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print("Starting replay loop...")
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log_say(f"Replaying episode {EPISODE_IDX}")
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for idx in range(len(episode_frames)):
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t0 = time.perf_counter()
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# Send action to robot
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_ = robot.send_action(action)
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# Get recorded action from dataset
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action = {
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name: float(actions[idx][ACTION][i]) for i, name in enumerate(dataset.features[ACTION]["names"])
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}
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busy_wait(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
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# Send action to robot
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_ = robot.send_action(action)
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robot.disconnect()
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busy_wait(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
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robot.disconnect()
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if __name__ == "__main__":
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main()
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|
||||
@@ -24,49 +24,55 @@ from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
|
||||
|
||||
FPS = 30
|
||||
|
||||
# Create the robot and teleoperator configurations
|
||||
robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="my_lekiwi")
|
||||
teleop_arm_config = SO100LeaderConfig(port="/dev/tty.usbmodem585A0077581", id="my_awesome_leader_arm")
|
||||
keyboard_config = KeyboardTeleopConfig(id="my_laptop_keyboard")
|
||||
|
||||
# Initialize the robot and teleoperator
|
||||
robot = LeKiwiClient(robot_config)
|
||||
leader_arm = SO100Leader(teleop_arm_config)
|
||||
keyboard = KeyboardTeleop(keyboard_config)
|
||||
def main():
|
||||
# Create the robot and teleoperator configurations
|
||||
robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="my_lekiwi")
|
||||
teleop_arm_config = SO100LeaderConfig(port="/dev/tty.usbmodem585A0077581", id="my_awesome_leader_arm")
|
||||
keyboard_config = KeyboardTeleopConfig(id="my_laptop_keyboard")
|
||||
|
||||
# Connect to the robot and teleoperator
|
||||
# To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
|
||||
robot.connect()
|
||||
leader_arm.connect()
|
||||
keyboard.connect()
|
||||
# Initialize the robot and teleoperator
|
||||
robot = LeKiwiClient(robot_config)
|
||||
leader_arm = SO100Leader(teleop_arm_config)
|
||||
keyboard = KeyboardTeleop(keyboard_config)
|
||||
|
||||
# Init rerun viewer
|
||||
init_rerun(session_name="lekiwi_teleop")
|
||||
# Connect to the robot and teleoperator
|
||||
# To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
|
||||
robot.connect()
|
||||
leader_arm.connect()
|
||||
keyboard.connect()
|
||||
|
||||
if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
|
||||
raise ValueError("Robot or teleop is not connected!")
|
||||
# Init rerun viewer
|
||||
init_rerun(session_name="lekiwi_teleop")
|
||||
|
||||
print("Starting teleop loop...")
|
||||
while True:
|
||||
t0 = time.perf_counter()
|
||||
if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
|
||||
raise ValueError("Robot or teleop is not connected!")
|
||||
|
||||
# Get robot observation
|
||||
observation = robot.get_observation()
|
||||
print("Starting teleop loop...")
|
||||
while True:
|
||||
t0 = time.perf_counter()
|
||||
|
||||
# Get teleop action
|
||||
# Arm
|
||||
arm_action = leader_arm.get_action()
|
||||
arm_action = {f"arm_{k}": v for k, v in arm_action.items()}
|
||||
# Keyboard
|
||||
keyboard_keys = keyboard.get_action()
|
||||
base_action = robot._from_keyboard_to_base_action(keyboard_keys)
|
||||
# Get robot observation
|
||||
observation = robot.get_observation()
|
||||
|
||||
action = {**arm_action, **base_action} if len(base_action) > 0 else arm_action
|
||||
# Get teleop action
|
||||
# Arm
|
||||
arm_action = leader_arm.get_action()
|
||||
arm_action = {f"arm_{k}": v for k, v in arm_action.items()}
|
||||
# Keyboard
|
||||
keyboard_keys = keyboard.get_action()
|
||||
base_action = robot._from_keyboard_to_base_action(keyboard_keys)
|
||||
|
||||
# Send action to robot
|
||||
_ = robot.send_action(action)
|
||||
action = {**arm_action, **base_action} if len(base_action) > 0 else arm_action
|
||||
|
||||
# Visualize
|
||||
log_rerun_data(observation=observation, action=action)
|
||||
# Send action to robot
|
||||
_ = robot.send_action(action)
|
||||
|
||||
busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
|
||||
# Visualize
|
||||
log_rerun_data(observation=observation, action=action)
|
||||
|
||||
busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
Reference in New Issue
Block a user