mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-16 17:20:05 +00:00
Adil Zouitine
376a6457cf
* refactor(processor): enhance type annotations for processors in record, replay, teleoperate, and control utils - Updated type annotations for preprocessor and postprocessor parameters in record_loop and predict_action functions to specify the expected dictionary types. - Adjusted robot_action_processor type in ReplayConfig and TeleoperateConfig to improve clarity and maintainability. - Ensured consistency in type definitions across multiple files, enhancing overall code readability. * refactor(processor): enhance type annotations for RobotProcessorPipeline in various files - Updated type annotations for RobotProcessorPipeline instances in evaluate.py, record.py, replay.py, teleoperate.py, and other related files to specify input and output types more clearly. - Introduced new type conversions for PolicyAction and EnvTransition to improve type safety and maintainability across the processing pipelines. - Ensured consistency in type definitions, enhancing overall code readability and reducing potential runtime errors. * refactor(processor): update transition handling in processors to use transition_to_batch - Replaced direct transition handling with transition_to_batch in various processor tests and implementations to ensure consistent batching of input data. - Updated assertions in tests to reflect changes in data structure, enhancing clarity and maintainability. - Improved overall code readability by standardizing the way transitions are processed across different processor types. * refactor(tests): standardize transition key usage in processor tests - Updated assertions in processor test files to utilize the TransitionKey for action references, enhancing consistency across tests. - Replaced direct string references with TransitionKey constants for improved readability and maintainability. - Ensured that all relevant tests reflect these changes, contributing to a more uniform approach in handling transitions.
95 lines
3.5 KiB
Python
95 lines
3.5 KiB
Python
#!/usr/bin/env python
|
|
|
|
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specif
|
|
|
|
import time
|
|
|
|
from lerobot.model.kinematics import RobotKinematics
|
|
from lerobot.processor import RobotProcessorPipeline
|
|
from lerobot.processor.converters import robot_action_to_transition, transition_to_robot_action
|
|
from lerobot.processor.core import RobotAction
|
|
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
|
|
from lerobot.robots.so100_follower.robot_kinematic_processor import (
|
|
AddRobotObservationAsComplimentaryData,
|
|
EEBoundsAndSafety,
|
|
EEReferenceAndDelta,
|
|
GripperVelocityToJoint,
|
|
InverseKinematicsEEToJoints,
|
|
)
|
|
from lerobot.robots.so100_follower.so100_follower import SO100Follower
|
|
from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
|
|
from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
|
|
from lerobot.teleoperators.phone.teleop_phone import Phone
|
|
|
|
# Initialize the robot and teleoperator
|
|
robot_config = SO100FollowerConfig(
|
|
port="/dev/tty.usbmodem58760434471", id="my_awesome_follower_arm", use_degrees=True
|
|
)
|
|
teleop_config = PhoneConfig(phone_os=PhoneOS.IOS) # or PhoneOS.ANDROID
|
|
|
|
# Initialize the robot and teleoperator
|
|
robot = SO100Follower(robot_config)
|
|
teleop_device = 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
|
|
kinematics_solver = RobotKinematics(
|
|
urdf_path="./src/lerobot/teleoperators/sim/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 pose action to joint action
|
|
phone_to_robot_joints_processor = RobotProcessorPipeline[RobotAction, RobotAction](
|
|
steps=[
|
|
MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
|
|
AddRobotObservationAsComplimentaryData(robot=robot),
|
|
EEReferenceAndDelta(
|
|
kinematics=kinematics_solver,
|
|
end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5},
|
|
motor_names=list(robot.bus.motors.keys()),
|
|
),
|
|
EEBoundsAndSafety(
|
|
end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
|
|
max_ee_step_m=0.10,
|
|
max_ee_twist_step_rad=0.50,
|
|
),
|
|
InverseKinematicsEEToJoints(
|
|
kinematics=kinematics_solver,
|
|
motor_names=list(robot.bus.motors.keys()),
|
|
),
|
|
GripperVelocityToJoint(
|
|
motor_names=list(robot.bus.motors.keys()),
|
|
speed_factor=20.0,
|
|
),
|
|
],
|
|
to_transition=robot_action_to_transition,
|
|
to_output=transition_to_robot_action,
|
|
)
|
|
|
|
robot.connect()
|
|
teleop_device.connect()
|
|
|
|
print("Starting teleop loop. Move your phone to teleoperate the robot.")
|
|
while True:
|
|
# Get teleop observation
|
|
phone_obs = teleop_device.get_action()
|
|
|
|
# Phone -> EE pose -> Joints transition
|
|
joint_action = phone_to_robot_joints_processor(phone_obs)
|
|
|
|
if joint_action:
|
|
robot.send_action(joint_action)
|
|
|
|
time.sleep(0.01)
|