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feat(scripts): lerobot-rollout

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This commit is contained in:
Steven Palma
2026-04-14 15:42:04 +02:00
committed by Steven Palma
parent 5c43fa1cce
commit bc06cb44ca
54 changed files with 5204 additions and 2816 deletions
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examples/phone_to_so100/record.py
+13 -13
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@@ -65,14 +65,15 @@ def main():
robot = SO100Follower(robot_config)
phone = Phone(teleop_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
# 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 phone action to EE action
# Build pipeline to convert phone action to EE action (with gripper velocity mapped to joint).
phone_to_robot_ee_pose_processor = RobotProcessorPipeline[
tuple[RobotAction, RobotObservation], RobotAction
](
@@ -94,7 +95,7 @@ def main():
to_output=transition_to_robot_action,
)
# Build pipeline to convert EE action to joints action
# Build pipeline to convert EE action to joints action (IK).
robot_ee_to_joints_processor = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
steps=[
InverseKinematicsEEToJoints(
@@ -107,7 +108,7 @@ def main():
to_output=transition_to_robot_action,
)
# Build pipeline to convert joint observation to EE observation
# Build pipeline to convert joint observation to EE observation (FK).
robot_joints_to_ee_pose = RobotProcessorPipeline[RobotObservation, RobotObservation](
steps=[
ForwardKinematicsJointsToEE(
@@ -118,13 +119,12 @@ def main():
to_output=transition_to_observation,
)
# Create the dataset
# Create the dataset, deriving features from the pipelines so the on-disk schema
# matches exactly what the pipelines produce at runtime.
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),
@@ -163,14 +163,14 @@ def main():
robot=robot,
events=events,
fps=FPS,
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,
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,
)
# Reset the environment if not stopping or re-recording
@@ -182,13 +182,13 @@ def main():
robot=robot,
events=events,
fps=FPS,
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,
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,
)
if events["rerecord_episode"]: