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chore(processor): rename teleop_phone variable names (#1858)

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Steven Palma
2025-09-03 18:42:13 +02:00
committed by GitHub
parent f125d5e3bf
commit 6c7169c4af
1 changed files with 18 additions and 19 deletions
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src/lerobot/teleoperators/phone/teleop_phone.py
+18 -19
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@@ -101,28 +101,27 @@ class IOSPhone(BasePhone, Teleoperator):
"Hold the phone so that: top edge points forward in same direction as the robot (robot +x) and screen points up (robot +z)" "Hold the phone so that: top edge points forward in same direction as the robot (robot +x) and screen points up (robot +z)"
) )
print("Press and hold B1 in the HEBI Mobile I/O app to capture this pose...\n") print("Press and hold B1 in the HEBI Mobile I/O app to capture this pose...\n")
position, rotation = self._wait_for_capture_trigger()
pos, rot = self._wait_for_capture_trigger() self._calib_pos = position.copy()
self._calib_pos = pos.copy() self._calib_rot_inv = rotation.inv()
self._calib_rot_inv = rot.inv()
self._enabled = False self._enabled = False
print("Calibration done\n") print("Calibration done\n")
def _wait_for_capture_trigger(self) -> tuple[np.ndarray, Rotation]: def _wait_for_capture_trigger(self) -> tuple[np.ndarray, Rotation]:
"""Wait trigger for calibration: iOS: B1. Android: 'move'.""" """Wait trigger for calibration: iOS: B1. Android: 'move'."""
while True: while True:
ok, pos, rot, pose = self._read_current_pose() has_pose, position, rotation, fb_pose = self._read_current_pose()
if not ok: if not has_pose:
time.sleep(0.01) time.sleep(0.01)
continue continue
io = getattr(pose, "io", None) io = getattr(fb_pose, "io", None)
b = getattr(io, "b", None) if io is not None else None button_b = getattr(io, "b", None) if io is not None else None
b1 = False button_b1_pressed = False
if b is not None: if button_b is not None:
b1 = bool(b.get_int(1)) button_b1_pressed = bool(button_b.get_int(1))
if b1: if button_b1_pressed:
return pos, rot return position, rotation
time.sleep(0.01) time.sleep(0.01)
@@ -141,13 +140,13 @@ class IOSPhone(BasePhone, Teleoperator):
return True, pos, rot, pose return True, pos, rot, pose
def get_action(self) -> dict: def get_action(self) -> dict:
ok, raw_pos, raw_rot, pose = self._read_current_pose() has_pose, raw_position, raw_rotation, fb_pose = self._read_current_pose()
if not ok or not self.is_calibrated: if not has_pose or not self.is_calibrated:
return {} return {}
# Collect raw inputs (B1 / analogs on iOS, move/scale on Android) # Collect raw inputs (B1 / analogs on iOS, move/scale on Android)
raw_inputs: dict[str, float | int | bool] = {} raw_inputs: dict[str, float | int | bool] = {}
io = getattr(pose, "io", None) io = getattr(fb_pose, "io", None)
if io is not None: if io is not None:
bank_a, bank_b = io.a, io.b bank_a, bank_b = io.a, io.b
if bank_a: if bank_a:
@@ -165,11 +164,11 @@ class IOSPhone(BasePhone, Teleoperator):
# Rising edge then re-capture calibration immediately from current raw pose # Rising edge then re-capture calibration immediately from current raw pose
if enable and not self._enabled: if enable and not self._enabled:
self._reapply_position_calibration(raw_pos) self._reapply_position_calibration(raw_position)
# Apply calibration # Apply calibration
pos_cal = self._calib_rot_inv.apply(raw_pos - self._calib_pos) pos_cal = self._calib_rot_inv.apply(raw_position - self._calib_pos)
rot_cal = self._calib_rot_inv * raw_rot rot_cal = self._calib_rot_inv * raw_rotation
self._enabled = enable self._enabled = enable