mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-23 12:40:08 +00:00
fix(examples): wrap all of them into a main function (#2524)
This commit is contained in:
Steven Palma
+135
-127
@@ -52,125 +52,114 @@ TASK_DESCRIPTION = "My task description"
|
||||
HF_MODEL_ID = "<hf_username>/<model_repo_id>"
|
||||
HF_DATASET_ID = "<hf_username>/<dataset_repo_id>"
|
||||
|
||||
# Create the robot configuration & robot
|
||||
camera_config = {"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS)}
|
||||
robot_config = SO100FollowerConfig(
|
||||
port="/dev/tty.usbmodem58760434471",
|
||||
id="my_awesome_follower_arm",
|
||||
cameras=camera_config,
|
||||
use_degrees=True,
|
||||
)
|
||||
|
||||
robot = SO100Follower(robot_config)
|
||||
|
||||
# Create policy
|
||||
policy = ACTPolicy.from_pretrained(HF_MODEL_ID)
|
||||
|
||||
# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
|
||||
kinematics_solver = RobotKinematics(
|
||||
urdf_path="./SO101/so101_new_calib.urdf",
|
||||
target_frame_name="gripper_frame_link",
|
||||
joint_names=list(robot.bus.motors.keys()),
|
||||
)
|
||||
|
||||
# Build pipeline to convert EE action to joints action
|
||||
robot_ee_to_joints_processor = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
|
||||
steps=[
|
||||
InverseKinematicsEEToJoints(
|
||||
kinematics=kinematics_solver,
|
||||
motor_names=list(robot.bus.motors.keys()),
|
||||
initial_guess_current_joints=True,
|
||||
),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
|
||||
# Build pipeline to convert joints observation to EE observation
|
||||
robot_joints_to_ee_pose_processor = RobotProcessorPipeline[RobotObservation, RobotObservation](
|
||||
steps=[
|
||||
ForwardKinematicsJointsToEE(kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys()))
|
||||
],
|
||||
to_transition=observation_to_transition,
|
||||
to_output=transition_to_observation,
|
||||
)
|
||||
|
||||
# Create the dataset
|
||||
dataset = LeRobotDataset.create(
|
||||
repo_id=HF_DATASET_ID,
|
||||
fps=FPS,
|
||||
features=combine_feature_dicts(
|
||||
aggregate_pipeline_dataset_features(
|
||||
pipeline=robot_joints_to_ee_pose_processor,
|
||||
initial_features=create_initial_features(observation=robot.observation_features),
|
||||
use_videos=True,
|
||||
),
|
||||
# User for now should be explicit on the feature keys that were used for record
|
||||
# Alternatively, the user can pass the processor step that has the right features
|
||||
aggregate_pipeline_dataset_features(
|
||||
pipeline=make_default_teleop_action_processor(),
|
||||
initial_features=create_initial_features(
|
||||
action={
|
||||
f"ee.{k}": PolicyFeature(type=FeatureType.ACTION, shape=(1,))
|
||||
for k in ["x", "y", "z", "wx", "wy", "wz", "gripper_pos"]
|
||||
}
|
||||
),
|
||||
use_videos=True,
|
||||
),
|
||||
),
|
||||
robot_type=robot.name,
|
||||
use_videos=True,
|
||||
image_writer_threads=4,
|
||||
)
|
||||
|
||||
# Build Policy Processors
|
||||
preprocessor, postprocessor = make_pre_post_processors(
|
||||
policy_cfg=policy,
|
||||
pretrained_path=HF_MODEL_ID,
|
||||
dataset_stats=dataset.meta.stats,
|
||||
# The inference device is automatically set to match the detected hardware, overriding any previous device settings from training to ensure compatibility.
|
||||
preprocessor_overrides={"device_processor": {"device": str(policy.config.device)}},
|
||||
)
|
||||
|
||||
# Connect the robot
|
||||
robot.connect()
|
||||
|
||||
# Initialize the keyboard listener and rerun visualization
|
||||
listener, events = init_keyboard_listener()
|
||||
init_rerun(session_name="phone_so100_evaluate")
|
||||
|
||||
if not robot.is_connected:
|
||||
raise ValueError("Robot is not connected!")
|
||||
|
||||
print("Starting evaluate loop...")
|
||||
episode_idx = 0
|
||||
for episode_idx in range(NUM_EPISODES):
|
||||
log_say(f"Running inference, recording eval episode {episode_idx + 1} of {NUM_EPISODES}")
|
||||
|
||||
# Main record loop
|
||||
record_loop(
|
||||
robot=robot,
|
||||
events=events,
|
||||
fps=FPS,
|
||||
policy=policy,
|
||||
preprocessor=preprocessor, # Pass the pre and post policy processors
|
||||
postprocessor=postprocessor,
|
||||
dataset=dataset,
|
||||
control_time_s=EPISODE_TIME_SEC,
|
||||
single_task=TASK_DESCRIPTION,
|
||||
display_data=True,
|
||||
teleop_action_processor=make_default_teleop_action_processor(),
|
||||
robot_action_processor=robot_ee_to_joints_processor,
|
||||
robot_observation_processor=robot_joints_to_ee_pose_processor,
|
||||
def main():
|
||||
# Create the robot configuration & robot
|
||||
camera_config = {"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS)}
|
||||
robot_config = SO100FollowerConfig(
|
||||
port="/dev/tty.usbmodem58760434471",
|
||||
id="my_awesome_follower_arm",
|
||||
cameras=camera_config,
|
||||
use_degrees=True,
|
||||
)
|
||||
|
||||
# Reset the environment if not stopping or re-recording
|
||||
if not events["stop_recording"] and ((episode_idx < NUM_EPISODES - 1) or events["rerecord_episode"]):
|
||||
log_say("Reset the environment")
|
||||
robot = SO100Follower(robot_config)
|
||||
|
||||
# Create policy
|
||||
policy = ACTPolicy.from_pretrained(HF_MODEL_ID)
|
||||
|
||||
# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
|
||||
kinematics_solver = RobotKinematics(
|
||||
urdf_path="./SO101/so101_new_calib.urdf",
|
||||
target_frame_name="gripper_frame_link",
|
||||
joint_names=list(robot.bus.motors.keys()),
|
||||
)
|
||||
|
||||
# Build pipeline to convert EE action to joints action
|
||||
robot_ee_to_joints_processor = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
|
||||
steps=[
|
||||
InverseKinematicsEEToJoints(
|
||||
kinematics=kinematics_solver,
|
||||
motor_names=list(robot.bus.motors.keys()),
|
||||
initial_guess_current_joints=True,
|
||||
),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
|
||||
# Build pipeline to convert joints observation to EE observation
|
||||
robot_joints_to_ee_pose_processor = RobotProcessorPipeline[RobotObservation, RobotObservation](
|
||||
steps=[
|
||||
ForwardKinematicsJointsToEE(
|
||||
kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys())
|
||||
)
|
||||
],
|
||||
to_transition=observation_to_transition,
|
||||
to_output=transition_to_observation,
|
||||
)
|
||||
|
||||
# Create the dataset
|
||||
dataset = LeRobotDataset.create(
|
||||
repo_id=HF_DATASET_ID,
|
||||
fps=FPS,
|
||||
features=combine_feature_dicts(
|
||||
aggregate_pipeline_dataset_features(
|
||||
pipeline=robot_joints_to_ee_pose_processor,
|
||||
initial_features=create_initial_features(observation=robot.observation_features),
|
||||
use_videos=True,
|
||||
),
|
||||
# User for now should be explicit on the feature keys that were used for record
|
||||
# Alternatively, the user can pass the processor step that has the right features
|
||||
aggregate_pipeline_dataset_features(
|
||||
pipeline=make_default_teleop_action_processor(),
|
||||
initial_features=create_initial_features(
|
||||
action={
|
||||
f"ee.{k}": PolicyFeature(type=FeatureType.ACTION, shape=(1,))
|
||||
for k in ["x", "y", "z", "wx", "wy", "wz", "gripper_pos"]
|
||||
}
|
||||
),
|
||||
use_videos=True,
|
||||
),
|
||||
),
|
||||
robot_type=robot.name,
|
||||
use_videos=True,
|
||||
image_writer_threads=4,
|
||||
)
|
||||
|
||||
# Build Policy Processors
|
||||
preprocessor, postprocessor = make_pre_post_processors(
|
||||
policy_cfg=policy,
|
||||
pretrained_path=HF_MODEL_ID,
|
||||
dataset_stats=dataset.meta.stats,
|
||||
# The inference device is automatically set to match the detected hardware, overriding any previous device settings from training to ensure compatibility.
|
||||
preprocessor_overrides={"device_processor": {"device": str(policy.config.device)}},
|
||||
)
|
||||
|
||||
# Connect the robot
|
||||
robot.connect()
|
||||
|
||||
# Initialize the keyboard listener and rerun visualization
|
||||
listener, events = init_keyboard_listener()
|
||||
init_rerun(session_name="phone_so100_evaluate")
|
||||
|
||||
if not robot.is_connected:
|
||||
raise ValueError("Robot is not connected!")
|
||||
|
||||
print("Starting evaluate loop...")
|
||||
episode_idx = 0
|
||||
for episode_idx in range(NUM_EPISODES):
|
||||
log_say(f"Running inference, recording eval episode {episode_idx + 1} of {NUM_EPISODES}")
|
||||
|
||||
# Main record loop
|
||||
record_loop(
|
||||
robot=robot,
|
||||
events=events,
|
||||
fps=FPS,
|
||||
policy=policy,
|
||||
preprocessor=preprocessor, # Pass the pre and post policy processors
|
||||
postprocessor=postprocessor,
|
||||
dataset=dataset,
|
||||
control_time_s=EPISODE_TIME_SEC,
|
||||
single_task=TASK_DESCRIPTION,
|
||||
display_data=True,
|
||||
@@ -179,21 +168,40 @@ for episode_idx in range(NUM_EPISODES):
|
||||
robot_observation_processor=robot_joints_to_ee_pose_processor,
|
||||
)
|
||||
|
||||
if events["rerecord_episode"]:
|
||||
log_say("Re-record episode")
|
||||
events["rerecord_episode"] = False
|
||||
events["exit_early"] = False
|
||||
dataset.clear_episode_buffer()
|
||||
continue
|
||||
# Reset the environment if not stopping or re-recording
|
||||
if not events["stop_recording"] and ((episode_idx < NUM_EPISODES - 1) or events["rerecord_episode"]):
|
||||
log_say("Reset the environment")
|
||||
record_loop(
|
||||
robot=robot,
|
||||
events=events,
|
||||
fps=FPS,
|
||||
control_time_s=EPISODE_TIME_SEC,
|
||||
single_task=TASK_DESCRIPTION,
|
||||
display_data=True,
|
||||
teleop_action_processor=make_default_teleop_action_processor(),
|
||||
robot_action_processor=robot_ee_to_joints_processor,
|
||||
robot_observation_processor=robot_joints_to_ee_pose_processor,
|
||||
)
|
||||
|
||||
# Save episode
|
||||
dataset.save_episode()
|
||||
episode_idx += 1
|
||||
if events["rerecord_episode"]:
|
||||
log_say("Re-record episode")
|
||||
events["rerecord_episode"] = False
|
||||
events["exit_early"] = False
|
||||
dataset.clear_episode_buffer()
|
||||
continue
|
||||
|
||||
# Clean up
|
||||
log_say("Stop recording")
|
||||
robot.disconnect()
|
||||
listener.stop()
|
||||
# Save episode
|
||||
dataset.save_episode()
|
||||
episode_idx += 1
|
||||
|
||||
dataset.finalize()
|
||||
dataset.push_to_hub()
|
||||
# Clean up
|
||||
log_say("Stop recording")
|
||||
robot.disconnect()
|
||||
listener.stop()
|
||||
|
||||
dataset.finalize()
|
||||
dataset.push_to_hub()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+142
-133
@@ -50,133 +50,122 @@ RESET_TIME_SEC = 30
|
||||
TASK_DESCRIPTION = "My task description"
|
||||
HF_REPO_ID = "<hf_username>/<dataset_repo_id>"
|
||||
|
||||
# Create the robot and teleoperator configurations
|
||||
camera_config = {"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS)}
|
||||
robot_config = SO100FollowerConfig(
|
||||
port="/dev/tty.usbmodem5A460814411",
|
||||
id="my_awesome_follower_arm",
|
||||
cameras=camera_config,
|
||||
use_degrees=True,
|
||||
)
|
||||
teleop_config = PhoneConfig(phone_os=PhoneOS.IOS) # or PhoneOS.ANDROID
|
||||
|
||||
# Initialize the robot and teleoperator
|
||||
robot = SO100Follower(robot_config)
|
||||
phone = Phone(teleop_config)
|
||||
def main():
|
||||
# Create the robot and teleoperator configurations
|
||||
camera_config = {"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS)}
|
||||
robot_config = SO100FollowerConfig(
|
||||
port="/dev/tty.usbmodem5A460814411",
|
||||
id="my_awesome_follower_arm",
|
||||
cameras=camera_config,
|
||||
use_degrees=True,
|
||||
)
|
||||
teleop_config = PhoneConfig(phone_os=PhoneOS.IOS) # or PhoneOS.ANDROID
|
||||
|
||||
# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
|
||||
kinematics_solver = RobotKinematics(
|
||||
urdf_path="./SO101/so101_new_calib.urdf",
|
||||
target_frame_name="gripper_frame_link",
|
||||
joint_names=list(robot.bus.motors.keys()),
|
||||
)
|
||||
# Initialize the robot and teleoperator
|
||||
robot = SO100Follower(robot_config)
|
||||
phone = Phone(teleop_config)
|
||||
|
||||
# Build pipeline to convert phone action to EE action
|
||||
phone_to_robot_ee_pose_processor = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
|
||||
steps=[
|
||||
MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
|
||||
EEReferenceAndDelta(
|
||||
kinematics=kinematics_solver,
|
||||
end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5},
|
||||
motor_names=list(robot.bus.motors.keys()),
|
||||
use_latched_reference=True,
|
||||
),
|
||||
EEBoundsAndSafety(
|
||||
end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
|
||||
max_ee_step_m=0.20,
|
||||
),
|
||||
GripperVelocityToJoint(speed_factor=20.0),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
|
||||
# Build pipeline to convert EE action to joints action
|
||||
robot_ee_to_joints_processor = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
|
||||
steps=[
|
||||
InverseKinematicsEEToJoints(
|
||||
kinematics=kinematics_solver,
|
||||
motor_names=list(robot.bus.motors.keys()),
|
||||
initial_guess_current_joints=True,
|
||||
),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
|
||||
# Build pipeline to convert joint observation to EE observation
|
||||
robot_joints_to_ee_pose = RobotProcessorPipeline[RobotObservation, RobotObservation](
|
||||
steps=[
|
||||
ForwardKinematicsJointsToEE(kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys()))
|
||||
],
|
||||
to_transition=observation_to_transition,
|
||||
to_output=transition_to_observation,
|
||||
)
|
||||
|
||||
# Create the dataset
|
||||
dataset = LeRobotDataset.create(
|
||||
repo_id=HF_REPO_ID,
|
||||
fps=FPS,
|
||||
features=combine_feature_dicts(
|
||||
# Run the feature contract of the pipelines
|
||||
# This tells you how the features would look like after the pipeline steps
|
||||
aggregate_pipeline_dataset_features(
|
||||
pipeline=phone_to_robot_ee_pose_processor,
|
||||
initial_features=create_initial_features(action=phone.action_features),
|
||||
use_videos=True,
|
||||
),
|
||||
aggregate_pipeline_dataset_features(
|
||||
pipeline=robot_joints_to_ee_pose,
|
||||
initial_features=create_initial_features(observation=robot.observation_features),
|
||||
use_videos=True,
|
||||
),
|
||||
),
|
||||
robot_type=robot.name,
|
||||
use_videos=True,
|
||||
image_writer_threads=4,
|
||||
)
|
||||
|
||||
# Connect the robot and teleoperator
|
||||
robot.connect()
|
||||
phone.connect()
|
||||
|
||||
# Initialize the keyboard listener and rerun visualization
|
||||
listener, events = init_keyboard_listener()
|
||||
init_rerun(session_name="phone_so100_record")
|
||||
|
||||
if not robot.is_connected or not phone.is_connected:
|
||||
raise ValueError("Robot or teleop is not connected!")
|
||||
|
||||
|
||||
print("Starting record loop. Move your phone to teleoperate the robot...")
|
||||
episode_idx = 0
|
||||
while episode_idx < NUM_EPISODES and not events["stop_recording"]:
|
||||
log_say(f"Recording episode {episode_idx + 1} of {NUM_EPISODES}")
|
||||
|
||||
# Main record loop
|
||||
record_loop(
|
||||
robot=robot,
|
||||
events=events,
|
||||
fps=FPS,
|
||||
teleop=phone,
|
||||
dataset=dataset,
|
||||
control_time_s=EPISODE_TIME_SEC,
|
||||
single_task=TASK_DESCRIPTION,
|
||||
display_data=True,
|
||||
teleop_action_processor=phone_to_robot_ee_pose_processor,
|
||||
robot_action_processor=robot_ee_to_joints_processor,
|
||||
robot_observation_processor=robot_joints_to_ee_pose,
|
||||
# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
|
||||
kinematics_solver = RobotKinematics(
|
||||
urdf_path="./SO101/so101_new_calib.urdf",
|
||||
target_frame_name="gripper_frame_link",
|
||||
joint_names=list(robot.bus.motors.keys()),
|
||||
)
|
||||
|
||||
# Reset the environment if not stopping or re-recording
|
||||
if not events["stop_recording"] and (episode_idx < NUM_EPISODES - 1 or events["rerecord_episode"]):
|
||||
log_say("Reset the environment")
|
||||
# Build pipeline to convert phone action to EE action
|
||||
phone_to_robot_ee_pose_processor = RobotProcessorPipeline[
|
||||
tuple[RobotAction, RobotObservation], RobotAction
|
||||
](
|
||||
steps=[
|
||||
MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
|
||||
EEReferenceAndDelta(
|
||||
kinematics=kinematics_solver,
|
||||
end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5},
|
||||
motor_names=list(robot.bus.motors.keys()),
|
||||
use_latched_reference=True,
|
||||
),
|
||||
EEBoundsAndSafety(
|
||||
end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
|
||||
max_ee_step_m=0.20,
|
||||
),
|
||||
GripperVelocityToJoint(speed_factor=20.0),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
|
||||
# Build pipeline to convert EE action to joints action
|
||||
robot_ee_to_joints_processor = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
|
||||
steps=[
|
||||
InverseKinematicsEEToJoints(
|
||||
kinematics=kinematics_solver,
|
||||
motor_names=list(robot.bus.motors.keys()),
|
||||
initial_guess_current_joints=True,
|
||||
),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
|
||||
# Build pipeline to convert joint observation to EE observation
|
||||
robot_joints_to_ee_pose = RobotProcessorPipeline[RobotObservation, RobotObservation](
|
||||
steps=[
|
||||
ForwardKinematicsJointsToEE(
|
||||
kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys())
|
||||
)
|
||||
],
|
||||
to_transition=observation_to_transition,
|
||||
to_output=transition_to_observation,
|
||||
)
|
||||
|
||||
# Create the dataset
|
||||
dataset = LeRobotDataset.create(
|
||||
repo_id=HF_REPO_ID,
|
||||
fps=FPS,
|
||||
features=combine_feature_dicts(
|
||||
# Run the feature contract of the pipelines
|
||||
# This tells you how the features would look like after the pipeline steps
|
||||
aggregate_pipeline_dataset_features(
|
||||
pipeline=phone_to_robot_ee_pose_processor,
|
||||
initial_features=create_initial_features(action=phone.action_features),
|
||||
use_videos=True,
|
||||
),
|
||||
aggregate_pipeline_dataset_features(
|
||||
pipeline=robot_joints_to_ee_pose,
|
||||
initial_features=create_initial_features(observation=robot.observation_features),
|
||||
use_videos=True,
|
||||
),
|
||||
),
|
||||
robot_type=robot.name,
|
||||
use_videos=True,
|
||||
image_writer_threads=4,
|
||||
)
|
||||
|
||||
# Connect the robot and teleoperator
|
||||
robot.connect()
|
||||
phone.connect()
|
||||
|
||||
# Initialize the keyboard listener and rerun visualization
|
||||
listener, events = init_keyboard_listener()
|
||||
init_rerun(session_name="phone_so100_record")
|
||||
|
||||
if not robot.is_connected or not phone.is_connected:
|
||||
raise ValueError("Robot or teleop is not connected!")
|
||||
|
||||
print("Starting record loop. Move your phone to teleoperate the robot...")
|
||||
episode_idx = 0
|
||||
while episode_idx < NUM_EPISODES and not events["stop_recording"]:
|
||||
log_say(f"Recording episode {episode_idx + 1} of {NUM_EPISODES}")
|
||||
|
||||
# Main record loop
|
||||
record_loop(
|
||||
robot=robot,
|
||||
events=events,
|
||||
fps=FPS,
|
||||
teleop=phone,
|
||||
control_time_s=RESET_TIME_SEC,
|
||||
dataset=dataset,
|
||||
control_time_s=EPISODE_TIME_SEC,
|
||||
single_task=TASK_DESCRIPTION,
|
||||
display_data=True,
|
||||
teleop_action_processor=phone_to_robot_ee_pose_processor,
|
||||
@@ -184,22 +173,42 @@ while episode_idx < NUM_EPISODES and not events["stop_recording"]:
|
||||
robot_observation_processor=robot_joints_to_ee_pose,
|
||||
)
|
||||
|
||||
if events["rerecord_episode"]:
|
||||
log_say("Re-recording episode")
|
||||
events["rerecord_episode"] = False
|
||||
events["exit_early"] = False
|
||||
dataset.clear_episode_buffer()
|
||||
continue
|
||||
# Reset the environment if not stopping or re-recording
|
||||
if not events["stop_recording"] and (episode_idx < NUM_EPISODES - 1 or events["rerecord_episode"]):
|
||||
log_say("Reset the environment")
|
||||
record_loop(
|
||||
robot=robot,
|
||||
events=events,
|
||||
fps=FPS,
|
||||
teleop=phone,
|
||||
control_time_s=RESET_TIME_SEC,
|
||||
single_task=TASK_DESCRIPTION,
|
||||
display_data=True,
|
||||
teleop_action_processor=phone_to_robot_ee_pose_processor,
|
||||
robot_action_processor=robot_ee_to_joints_processor,
|
||||
robot_observation_processor=robot_joints_to_ee_pose,
|
||||
)
|
||||
|
||||
# Save episode
|
||||
dataset.save_episode()
|
||||
episode_idx += 1
|
||||
if events["rerecord_episode"]:
|
||||
log_say("Re-recording episode")
|
||||
events["rerecord_episode"] = False
|
||||
events["exit_early"] = False
|
||||
dataset.clear_episode_buffer()
|
||||
continue
|
||||
|
||||
# Clean up
|
||||
log_say("Stop recording")
|
||||
robot.disconnect()
|
||||
phone.disconnect()
|
||||
listener.stop()
|
||||
# Save episode
|
||||
dataset.save_episode()
|
||||
episode_idx += 1
|
||||
|
||||
dataset.finalize()
|
||||
dataset.push_to_hub()
|
||||
# Clean up
|
||||
log_say("Stop recording")
|
||||
robot.disconnect()
|
||||
phone.disconnect()
|
||||
listener.stop()
|
||||
|
||||
dataset.finalize()
|
||||
dataset.push_to_hub()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
@@ -35,66 +35,72 @@ from lerobot.utils.utils import log_say
|
||||
EPISODE_IDX = 0
|
||||
HF_REPO_ID = "<hf_username>/<dataset_repo_id>"
|
||||
|
||||
# Initialize the robot config
|
||||
robot_config = SO100FollowerConfig(
|
||||
port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", use_degrees=True
|
||||
)
|
||||
|
||||
# Initialize the robot
|
||||
robot = SO100Follower(robot_config)
|
||||
def main():
|
||||
# Initialize the robot config
|
||||
robot_config = SO100FollowerConfig(
|
||||
port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", use_degrees=True
|
||||
)
|
||||
|
||||
# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
|
||||
kinematics_solver = RobotKinematics(
|
||||
urdf_path="./SO101/so101_new_calib.urdf",
|
||||
target_frame_name="gripper_frame_link",
|
||||
joint_names=list(robot.bus.motors.keys()),
|
||||
)
|
||||
# Initialize the robot
|
||||
robot = SO100Follower(robot_config)
|
||||
|
||||
# Build pipeline to convert EE action to joints action
|
||||
robot_ee_to_joints_processor = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
|
||||
steps=[
|
||||
InverseKinematicsEEToJoints(
|
||||
kinematics=kinematics_solver,
|
||||
motor_names=list(robot.bus.motors.keys()),
|
||||
initial_guess_current_joints=False, # Because replay is open loop
|
||||
),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
|
||||
kinematics_solver = RobotKinematics(
|
||||
urdf_path="./SO101/so101_new_calib.urdf",
|
||||
target_frame_name="gripper_frame_link",
|
||||
joint_names=list(robot.bus.motors.keys()),
|
||||
)
|
||||
|
||||
# Fetch the dataset to replay
|
||||
dataset = LeRobotDataset(HF_REPO_ID, episodes=[EPISODE_IDX])
|
||||
# Filter dataset to only include frames from the specified episode since episodes are chunked in dataset V3.0
|
||||
episode_frames = dataset.hf_dataset.filter(lambda x: x["episode_index"] == EPISODE_IDX)
|
||||
actions = episode_frames.select_columns(ACTION)
|
||||
# Build pipeline to convert EE action to joints action
|
||||
robot_ee_to_joints_processor = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
|
||||
steps=[
|
||||
InverseKinematicsEEToJoints(
|
||||
kinematics=kinematics_solver,
|
||||
motor_names=list(robot.bus.motors.keys()),
|
||||
initial_guess_current_joints=False, # Because replay is open loop
|
||||
),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
|
||||
# Connect to the robot
|
||||
robot.connect()
|
||||
# Fetch the dataset to replay
|
||||
dataset = LeRobotDataset(HF_REPO_ID, episodes=[EPISODE_IDX])
|
||||
# Filter dataset to only include frames from the specified episode since episodes are chunked in dataset V3.0
|
||||
episode_frames = dataset.hf_dataset.filter(lambda x: x["episode_index"] == EPISODE_IDX)
|
||||
actions = episode_frames.select_columns(ACTION)
|
||||
|
||||
if not robot.is_connected:
|
||||
raise ValueError("Robot is not connected!")
|
||||
# Connect to the robot
|
||||
robot.connect()
|
||||
|
||||
print("Starting replay loop...")
|
||||
log_say(f"Replaying episode {EPISODE_IDX}")
|
||||
for idx in range(len(episode_frames)):
|
||||
t0 = time.perf_counter()
|
||||
if not robot.is_connected:
|
||||
raise ValueError("Robot is not connected!")
|
||||
|
||||
# Get recorded action from dataset
|
||||
ee_action = {
|
||||
name: float(actions[idx][ACTION][i]) for i, name in enumerate(dataset.features[ACTION]["names"])
|
||||
}
|
||||
print("Starting replay loop...")
|
||||
log_say(f"Replaying episode {EPISODE_IDX}")
|
||||
for idx in range(len(episode_frames)):
|
||||
t0 = time.perf_counter()
|
||||
|
||||
# Get robot observation
|
||||
robot_obs = robot.get_observation()
|
||||
# Get recorded action from dataset
|
||||
ee_action = {
|
||||
name: float(actions[idx][ACTION][i]) for i, name in enumerate(dataset.features[ACTION]["names"])
|
||||
}
|
||||
|
||||
# Dataset EE -> robot joints
|
||||
joint_action = robot_ee_to_joints_processor((ee_action, robot_obs))
|
||||
# Get robot observation
|
||||
robot_obs = robot.get_observation()
|
||||
|
||||
# Send action to robot
|
||||
_ = robot.send_action(joint_action)
|
||||
# Dataset EE -> robot joints
|
||||
joint_action = robot_ee_to_joints_processor((ee_action, robot_obs))
|
||||
|
||||
busy_wait(1.0 / dataset.fps - (time.perf_counter() - t0))
|
||||
# Send action to robot
|
||||
_ = robot.send_action(joint_action)
|
||||
|
||||
# Clean up
|
||||
robot.disconnect()
|
||||
busy_wait(1.0 / dataset.fps - (time.perf_counter() - t0))
|
||||
|
||||
# Clean up
|
||||
robot.disconnect()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
@@ -37,77 +37,85 @@ from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
|
||||
|
||||
FPS = 30
|
||||
|
||||
# Initialize the robot and teleoperator
|
||||
robot_config = SO100FollowerConfig(
|
||||
port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", use_degrees=True
|
||||
)
|
||||
teleop_config = PhoneConfig(phone_os=PhoneOS.IOS) # or PhoneOS.ANDROID
|
||||
|
||||
# Initialize the robot and teleoperator
|
||||
robot = SO100Follower(robot_config)
|
||||
teleop_device = Phone(teleop_config)
|
||||
def main():
|
||||
# Initialize the robot and teleoperator
|
||||
robot_config = SO100FollowerConfig(
|
||||
port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", use_degrees=True
|
||||
)
|
||||
teleop_config = PhoneConfig(phone_os=PhoneOS.IOS) # or PhoneOS.ANDROID
|
||||
|
||||
# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
|
||||
kinematics_solver = RobotKinematics(
|
||||
urdf_path="./SO101/so101_new_calib.urdf",
|
||||
target_frame_name="gripper_frame_link",
|
||||
joint_names=list(robot.bus.motors.keys()),
|
||||
)
|
||||
# Initialize the robot and teleoperator
|
||||
robot = SO100Follower(robot_config)
|
||||
teleop_device = Phone(teleop_config)
|
||||
|
||||
# Build pipeline to convert phone action to ee pose action to joint action
|
||||
phone_to_robot_joints_processor = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
|
||||
steps=[
|
||||
MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
|
||||
EEReferenceAndDelta(
|
||||
kinematics=kinematics_solver,
|
||||
end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5},
|
||||
motor_names=list(robot.bus.motors.keys()),
|
||||
use_latched_reference=True,
|
||||
),
|
||||
EEBoundsAndSafety(
|
||||
end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
|
||||
max_ee_step_m=0.10,
|
||||
),
|
||||
GripperVelocityToJoint(
|
||||
speed_factor=20.0,
|
||||
),
|
||||
InverseKinematicsEEToJoints(
|
||||
kinematics=kinematics_solver,
|
||||
motor_names=list(robot.bus.motors.keys()),
|
||||
initial_guess_current_joints=True,
|
||||
),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
|
||||
kinematics_solver = RobotKinematics(
|
||||
urdf_path="./SO101/so101_new_calib.urdf",
|
||||
target_frame_name="gripper_frame_link",
|
||||
joint_names=list(robot.bus.motors.keys()),
|
||||
)
|
||||
|
||||
# Connect to the robot and teleoperator
|
||||
robot.connect()
|
||||
teleop_device.connect()
|
||||
# Build pipeline to convert phone action to ee pose action to joint action
|
||||
phone_to_robot_joints_processor = RobotProcessorPipeline[
|
||||
tuple[RobotAction, RobotObservation], RobotAction
|
||||
](
|
||||
steps=[
|
||||
MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
|
||||
EEReferenceAndDelta(
|
||||
kinematics=kinematics_solver,
|
||||
end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5},
|
||||
motor_names=list(robot.bus.motors.keys()),
|
||||
use_latched_reference=True,
|
||||
),
|
||||
EEBoundsAndSafety(
|
||||
end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
|
||||
max_ee_step_m=0.10,
|
||||
),
|
||||
GripperVelocityToJoint(
|
||||
speed_factor=20.0,
|
||||
),
|
||||
InverseKinematicsEEToJoints(
|
||||
kinematics=kinematics_solver,
|
||||
motor_names=list(robot.bus.motors.keys()),
|
||||
initial_guess_current_joints=True,
|
||||
),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
|
||||
# Init rerun viewer
|
||||
init_rerun(session_name="phone_so100_teleop")
|
||||
# Connect to the robot and teleoperator
|
||||
robot.connect()
|
||||
teleop_device.connect()
|
||||
|
||||
if not robot.is_connected or not teleop_device.is_connected:
|
||||
raise ValueError("Robot or teleop is not connected!")
|
||||
# Init rerun viewer
|
||||
init_rerun(session_name="phone_so100_teleop")
|
||||
|
||||
print("Starting teleop loop. Move your phone to teleoperate the robot...")
|
||||
while True:
|
||||
t0 = time.perf_counter()
|
||||
if not robot.is_connected or not teleop_device.is_connected:
|
||||
raise ValueError("Robot or teleop is not connected!")
|
||||
|
||||
# Get robot observation
|
||||
robot_obs = robot.get_observation()
|
||||
print("Starting teleop loop. Move your phone to teleoperate the robot...")
|
||||
while True:
|
||||
t0 = time.perf_counter()
|
||||
|
||||
# Get teleop action
|
||||
phone_obs = teleop_device.get_action()
|
||||
# Get robot observation
|
||||
robot_obs = robot.get_observation()
|
||||
|
||||
# Phone -> EE pose -> Joints transition
|
||||
joint_action = phone_to_robot_joints_processor((phone_obs, robot_obs))
|
||||
# Get teleop action
|
||||
phone_obs = teleop_device.get_action()
|
||||
|
||||
# Send action to robot
|
||||
_ = robot.send_action(joint_action)
|
||||
# Phone -> EE pose -> Joints transition
|
||||
joint_action = phone_to_robot_joints_processor((phone_obs, robot_obs))
|
||||
|
||||
# Visualize
|
||||
log_rerun_data(observation=phone_obs, action=joint_action)
|
||||
# Send action to robot
|
||||
_ = robot.send_action(joint_action)
|
||||
|
||||
busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
|
||||
# Visualize
|
||||
log_rerun_data(observation=phone_obs, action=joint_action)
|
||||
|
||||
busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
Reference in New Issue
Block a user