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https://github.com/huggingface/lerobot.git
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fix(examples): wrap all of them into a main function (#2524)
This commit is contained in:
Steven Palma
@@ -37,77 +37,85 @@ from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
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FPS = 30
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# Initialize the robot and teleoperator
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robot_config = SO100FollowerConfig(
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port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", use_degrees=True
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)
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teleop_config = PhoneConfig(phone_os=PhoneOS.IOS) # or PhoneOS.ANDROID
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# Initialize the robot and teleoperator
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robot = SO100Follower(robot_config)
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teleop_device = Phone(teleop_config)
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def main():
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# Initialize the robot and teleoperator
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robot_config = SO100FollowerConfig(
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port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", use_degrees=True
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)
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teleop_config = PhoneConfig(phone_os=PhoneOS.IOS) # or PhoneOS.ANDROID
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# 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
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kinematics_solver = RobotKinematics(
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urdf_path="./SO101/so101_new_calib.urdf",
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target_frame_name="gripper_frame_link",
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joint_names=list(robot.bus.motors.keys()),
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)
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# Initialize the robot and teleoperator
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robot = SO100Follower(robot_config)
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teleop_device = Phone(teleop_config)
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# Build pipeline to convert phone action to ee pose action to joint action
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phone_to_robot_joints_processor = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
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steps=[
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MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
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EEReferenceAndDelta(
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kinematics=kinematics_solver,
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end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5},
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motor_names=list(robot.bus.motors.keys()),
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use_latched_reference=True,
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),
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EEBoundsAndSafety(
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end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
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max_ee_step_m=0.10,
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),
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GripperVelocityToJoint(
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speed_factor=20.0,
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),
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InverseKinematicsEEToJoints(
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kinematics=kinematics_solver,
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motor_names=list(robot.bus.motors.keys()),
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initial_guess_current_joints=True,
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),
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],
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to_transition=robot_action_observation_to_transition,
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to_output=transition_to_robot_action,
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)
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# 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
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kinematics_solver = RobotKinematics(
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urdf_path="./SO101/so101_new_calib.urdf",
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target_frame_name="gripper_frame_link",
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joint_names=list(robot.bus.motors.keys()),
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)
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# Connect to the robot and teleoperator
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robot.connect()
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teleop_device.connect()
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# Build pipeline to convert phone action to ee pose action to joint action
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phone_to_robot_joints_processor = RobotProcessorPipeline[
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tuple[RobotAction, RobotObservation], RobotAction
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](
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steps=[
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MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
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EEReferenceAndDelta(
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kinematics=kinematics_solver,
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end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5},
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motor_names=list(robot.bus.motors.keys()),
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use_latched_reference=True,
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),
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EEBoundsAndSafety(
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end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
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max_ee_step_m=0.10,
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),
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GripperVelocityToJoint(
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speed_factor=20.0,
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),
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InverseKinematicsEEToJoints(
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kinematics=kinematics_solver,
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motor_names=list(robot.bus.motors.keys()),
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initial_guess_current_joints=True,
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),
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],
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to_transition=robot_action_observation_to_transition,
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to_output=transition_to_robot_action,
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)
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# Init rerun viewer
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init_rerun(session_name="phone_so100_teleop")
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# Connect to the robot and teleoperator
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robot.connect()
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teleop_device.connect()
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if not robot.is_connected or not teleop_device.is_connected:
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raise ValueError("Robot or teleop is not connected!")
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# Init rerun viewer
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init_rerun(session_name="phone_so100_teleop")
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print("Starting teleop loop. Move your phone to teleoperate the robot...")
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while True:
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t0 = time.perf_counter()
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if not robot.is_connected or not teleop_device.is_connected:
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raise ValueError("Robot or teleop is not connected!")
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# Get robot observation
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robot_obs = robot.get_observation()
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print("Starting teleop loop. Move your phone to teleoperate the robot...")
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while True:
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t0 = time.perf_counter()
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# Get teleop action
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phone_obs = teleop_device.get_action()
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# Get robot observation
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robot_obs = robot.get_observation()
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# Phone -> EE pose -> Joints transition
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joint_action = phone_to_robot_joints_processor((phone_obs, robot_obs))
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# Get teleop action
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phone_obs = teleop_device.get_action()
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# Send action to robot
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_ = robot.send_action(joint_action)
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# Phone -> EE pose -> Joints transition
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joint_action = phone_to_robot_joints_processor((phone_obs, robot_obs))
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# Visualize
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log_rerun_data(observation=phone_obs, action=joint_action)
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# Send action to robot
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_ = robot.send_action(joint_action)
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busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
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# Visualize
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log_rerun_data(observation=phone_obs, action=joint_action)
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busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
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if __name__ == "__main__":
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main()
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