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fix(examples): wrap all of them into a main function (#2524)

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This commit is contained in:
Steven Palma
2025-11-26 14:28:04 +01:00
committed by GitHub
parent 87bee86640
commit 17581a9449
24 changed files with 1672 additions and 1532 deletions
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examples/so100_to_so100_EE/teleoperate.py
+73 -67
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@@ -37,85 +37,91 @@ from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
FPS = 30
# Initialize the robot and teleoperator config
follower_config = SO100FollowerConfig(
port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", 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():
# Initialize the robot and teleoperator config
follower_config = SO100FollowerConfig(
port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", 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()),
)
# 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()),
)
# Build pipeline to convert teleop joints to EE action
leader_to_ee = RobotProcessorPipeline[RobotAction, RobotAction](
steps=[
ForwardKinematicsJointsToEE(
kinematics=leader_kinematics_solver, motor_names=list(leader.bus.motors.keys())
),
],
to_transition=robot_action_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
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 EE action to robot 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=False,
),
],
to_transition=robot_action_observation_to_transition,
to_output=transition_to_robot_action,
)
# Build pipeline to convert teleop joints to EE action
leader_to_ee = RobotProcessorPipeline[RobotAction, RobotAction](
steps=[
ForwardKinematicsJointsToEE(
kinematics=leader_kinematics_solver, motor_names=list(leader.bus.motors.keys())
),
],
to_transition=robot_action_to_transition,
to_output=transition_to_robot_action,
)
# Connect to the robot and teleoperator
follower.connect()
leader.connect()
# build pipeline to convert EE action to robot 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=False,
),
],
to_transition=robot_action_observation_to_transition,
to_output=transition_to_robot_action,
)
# Init rerun viewer
init_rerun(session_name="so100_so100_EE_teleop")
# Connect to the robot and teleoperator
follower.connect()
leader.connect()
print("Starting teleop loop...")
while True:
t0 = time.perf_counter()
# Init rerun viewer
init_rerun(session_name="so100_so100_EE_teleop")
# Get robot observation
robot_obs = follower.get_observation()
print("Starting teleop loop...")
while True:
t0 = time.perf_counter()
# Get teleop observation
leader_joints_obs = leader.get_action()
# Get robot observation
robot_obs = follower.get_observation()
# teleop joints -> teleop EE action
leader_ee_act = leader_to_ee(leader_joints_obs)
# Get teleop observation
leader_joints_obs = leader.get_action()
# teleop EE -> robot joints
follower_joints_act = ee_to_follower_joints((leader_ee_act, robot_obs))
# teleop joints -> teleop EE action
leader_ee_act = leader_to_ee(leader_joints_obs)
# Send action to robot
_ = follower.send_action(follower_joints_act)
# teleop EE -> robot joints
follower_joints_act = ee_to_follower_joints((leader_ee_act, robot_obs))
# Visualize
log_rerun_data(observation=leader_ee_act, action=follower_joints_act)
# Send action to robot
_ = follower.send_action(follower_joints_act)
busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
# Visualize
log_rerun_data(observation=leader_ee_act, action=follower_joints_act)
busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
if __name__ == "__main__":
main()