mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-23 04:30:10 +00:00
fix(examples): wrap all of them into a main function (#2524)
This commit is contained in:
Steven Palma
@@ -48,134 +48,122 @@ 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)}
|
||||
follower_config = SO100FollowerConfig(
|
||||
port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", cameras=camera_config, use_degrees=True
|
||||
)
|
||||
leader_config = SO100LeaderConfig(port="/dev/tty.usbmodem5A460819811", id="my_awesome_leader_arm")
|
||||
|
||||
# Initialize the robot and teleoperator
|
||||
follower = SO100Follower(follower_config)
|
||||
leader = SO100Leader(leader_config)
|
||||
def main():
|
||||
# Create the robot and teleoperator configurations
|
||||
camera_config = {"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS)}
|
||||
follower_config = SO100FollowerConfig(
|
||||
port="/dev/tty.usbmodem5A460814411",
|
||||
id="my_awesome_follower_arm",
|
||||
cameras=camera_config,
|
||||
use_degrees=True,
|
||||
)
|
||||
leader_config = SO100LeaderConfig(port="/dev/tty.usbmodem5A460819811", id="my_awesome_leader_arm")
|
||||
|
||||
# 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
|
||||
follower_kinematics_solver = RobotKinematics(
|
||||
urdf_path="./SO101/so101_new_calib.urdf",
|
||||
target_frame_name="gripper_frame_link",
|
||||
joint_names=list(follower.bus.motors.keys()),
|
||||
)
|
||||
# Initialize the robot and teleoperator
|
||||
follower = SO100Follower(follower_config)
|
||||
leader = SO100Leader(leader_config)
|
||||
|
||||
# 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
|
||||
leader_kinematics_solver = RobotKinematics(
|
||||
urdf_path="./SO101/so101_new_calib.urdf",
|
||||
target_frame_name="gripper_frame_link",
|
||||
joint_names=list(leader.bus.motors.keys()),
|
||||
)
|
||||
|
||||
# Build pipeline to convert follower joints to EE observation
|
||||
follower_joints_to_ee = RobotProcessorPipeline[RobotObservation, RobotObservation](
|
||||
steps=[
|
||||
ForwardKinematicsJointsToEE(
|
||||
kinematics=follower_kinematics_solver, motor_names=list(follower.bus.motors.keys())
|
||||
),
|
||||
],
|
||||
to_transition=observation_to_transition,
|
||||
to_output=transition_to_observation,
|
||||
)
|
||||
|
||||
# Build pipeline to convert leader joints to EE action
|
||||
leader_joints_to_ee = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
|
||||
steps=[
|
||||
ForwardKinematicsJointsToEE(
|
||||
kinematics=leader_kinematics_solver, motor_names=list(leader.bus.motors.keys())
|
||||
),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
|
||||
# Build pipeline to convert EE action to follower joints
|
||||
ee_to_follower_joints = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
|
||||
[
|
||||
EEBoundsAndSafety(
|
||||
end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
|
||||
max_ee_step_m=0.10,
|
||||
),
|
||||
InverseKinematicsEEToJoints(
|
||||
kinematics=follower_kinematics_solver,
|
||||
motor_names=list(follower.bus.motors.keys()),
|
||||
initial_guess_current_joints=True,
|
||||
),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
|
||||
# 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=leader_joints_to_ee,
|
||||
initial_features=create_initial_features(action=leader.action_features),
|
||||
use_videos=True,
|
||||
),
|
||||
aggregate_pipeline_dataset_features(
|
||||
pipeline=follower_joints_to_ee,
|
||||
initial_features=create_initial_features(observation=follower.observation_features),
|
||||
use_videos=True,
|
||||
),
|
||||
),
|
||||
robot_type=follower.name,
|
||||
use_videos=True,
|
||||
image_writer_threads=4,
|
||||
)
|
||||
|
||||
|
||||
# Connect the robot and teleoperator
|
||||
leader.connect()
|
||||
follower.connect()
|
||||
|
||||
# Initialize the keyboard listener and rerun visualization
|
||||
listener, events = init_keyboard_listener()
|
||||
init_rerun(session_name="recording_phone")
|
||||
|
||||
if not leader.is_connected or not follower.is_connected:
|
||||
raise ValueError("Robot or teleop is not connected!")
|
||||
|
||||
print("Starting record loop...")
|
||||
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=follower,
|
||||
events=events,
|
||||
fps=FPS,
|
||||
teleop=leader,
|
||||
dataset=dataset,
|
||||
control_time_s=EPISODE_TIME_SEC,
|
||||
single_task=TASK_DESCRIPTION,
|
||||
display_data=True,
|
||||
teleop_action_processor=leader_joints_to_ee,
|
||||
robot_action_processor=ee_to_follower_joints,
|
||||
robot_observation_processor=follower_joints_to_ee,
|
||||
# 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
|
||||
follower_kinematics_solver = RobotKinematics(
|
||||
urdf_path="./SO101/so101_new_calib.urdf",
|
||||
target_frame_name="gripper_frame_link",
|
||||
joint_names=list(follower.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")
|
||||
# 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
|
||||
leader_kinematics_solver = RobotKinematics(
|
||||
urdf_path="./SO101/so101_new_calib.urdf",
|
||||
target_frame_name="gripper_frame_link",
|
||||
joint_names=list(leader.bus.motors.keys()),
|
||||
)
|
||||
|
||||
# Build pipeline to convert follower joints to EE observation
|
||||
follower_joints_to_ee = RobotProcessorPipeline[RobotObservation, RobotObservation](
|
||||
steps=[
|
||||
ForwardKinematicsJointsToEE(
|
||||
kinematics=follower_kinematics_solver, motor_names=list(follower.bus.motors.keys())
|
||||
),
|
||||
],
|
||||
to_transition=observation_to_transition,
|
||||
to_output=transition_to_observation,
|
||||
)
|
||||
|
||||
# Build pipeline to convert leader joints to EE action
|
||||
leader_joints_to_ee = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
|
||||
steps=[
|
||||
ForwardKinematicsJointsToEE(
|
||||
kinematics=leader_kinematics_solver, motor_names=list(leader.bus.motors.keys())
|
||||
),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
|
||||
# Build pipeline to convert EE action to follower joints
|
||||
ee_to_follower_joints = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
|
||||
[
|
||||
EEBoundsAndSafety(
|
||||
end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
|
||||
max_ee_step_m=0.10,
|
||||
),
|
||||
InverseKinematicsEEToJoints(
|
||||
kinematics=follower_kinematics_solver,
|
||||
motor_names=list(follower.bus.motors.keys()),
|
||||
initial_guess_current_joints=True,
|
||||
),
|
||||
],
|
||||
to_transition=robot_action_observation_to_transition,
|
||||
to_output=transition_to_robot_action,
|
||||
)
|
||||
|
||||
# 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=leader_joints_to_ee,
|
||||
initial_features=create_initial_features(action=leader.action_features),
|
||||
use_videos=True,
|
||||
),
|
||||
aggregate_pipeline_dataset_features(
|
||||
pipeline=follower_joints_to_ee,
|
||||
initial_features=create_initial_features(observation=follower.observation_features),
|
||||
use_videos=True,
|
||||
),
|
||||
),
|
||||
robot_type=follower.name,
|
||||
use_videos=True,
|
||||
image_writer_threads=4,
|
||||
)
|
||||
|
||||
# Connect the robot and teleoperator
|
||||
leader.connect()
|
||||
follower.connect()
|
||||
|
||||
# Initialize the keyboard listener and rerun visualization
|
||||
listener, events = init_keyboard_listener()
|
||||
init_rerun(session_name="recording_phone")
|
||||
|
||||
if not leader.is_connected or not follower.is_connected:
|
||||
raise ValueError("Robot or teleop is not connected!")
|
||||
|
||||
print("Starting record loop...")
|
||||
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=follower,
|
||||
events=events,
|
||||
fps=FPS,
|
||||
teleop=leader,
|
||||
control_time_s=RESET_TIME_SEC,
|
||||
dataset=dataset,
|
||||
control_time_s=EPISODE_TIME_SEC,
|
||||
single_task=TASK_DESCRIPTION,
|
||||
display_data=True,
|
||||
teleop_action_processor=leader_joints_to_ee,
|
||||
@@ -183,22 +171,42 @@ while episode_idx < NUM_EPISODES and not events["stop_recording"]:
|
||||
robot_observation_processor=follower_joints_to_ee,
|
||||
)
|
||||
|
||||
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=follower,
|
||||
events=events,
|
||||
fps=FPS,
|
||||
teleop=leader,
|
||||
control_time_s=RESET_TIME_SEC,
|
||||
single_task=TASK_DESCRIPTION,
|
||||
display_data=True,
|
||||
teleop_action_processor=leader_joints_to_ee,
|
||||
robot_action_processor=ee_to_follower_joints,
|
||||
robot_observation_processor=follower_joints_to_ee,
|
||||
)
|
||||
|
||||
# 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")
|
||||
leader.disconnect()
|
||||
follower.disconnect()
|
||||
listener.stop()
|
||||
# Save episode
|
||||
dataset.save_episode()
|
||||
episode_idx += 1
|
||||
|
||||
dataset.finalize()
|
||||
dataset.push_to_hub()
|
||||
# Clean up
|
||||
log_say("Stop recording")
|
||||
leader.disconnect()
|
||||
follower.disconnect()
|
||||
listener.stop()
|
||||
|
||||
dataset.finalize()
|
||||
dataset.push_to_hub()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
Reference in New Issue
Block a user