mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-18 18:20:08 +00:00
Steven Palma
146 lines
5.1 KiB
Python
146 lines
5.1 KiB
Python
# !/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from lerobot.cameras.opencv import OpenCVCameraConfig
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from lerobot.common.control_utils import init_keyboard_listener
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from lerobot.datasets import LeRobotDataset
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from lerobot.processor import make_default_processors
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from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
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from lerobot.scripts.lerobot_record import record_loop
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from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
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from lerobot.utils.constants import ACTION, OBS_STR
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from lerobot.utils.feature_utils import hw_to_dataset_features
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from lerobot.utils.utils import log_say
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from lerobot.utils.visualization_utils import init_rerun
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NUM_EPISODES = 2
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FPS = 30
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EPISODE_TIME_SEC = 60
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RESET_TIME_SEC = 30
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TASK_DESCRIPTION = "My task description"
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HF_REPO_ID = "<hf_username>/<dataset_repo_id>"
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def main():
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# Create the robot and teleoperator configurations
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camera_config = {"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS)}
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follower_config = SO100FollowerConfig(
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port="/dev/tty.usbmodem5A460814411",
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id="my_awesome_follower_arm",
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cameras=camera_config,
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use_degrees=True,
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)
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leader_config = SO100LeaderConfig(port="/dev/tty.usbmodem5A460819811", id="my_awesome_leader_arm")
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# Initialize the robot and teleoperator
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follower = SO100Follower(follower_config)
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leader = SO100Leader(leader_config)
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# Configure the dataset features
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action_features = hw_to_dataset_features(follower.action_features, ACTION)
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obs_features = hw_to_dataset_features(follower.observation_features, OBS_STR)
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dataset_features = {**action_features, **obs_features}
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# Create the dataset
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dataset = LeRobotDataset.create(
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repo_id=HF_REPO_ID,
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fps=FPS,
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features=dataset_features,
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robot_type=follower.name,
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use_videos=True,
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image_writer_threads=4,
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)
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# Connect the robot and teleoperator
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leader.connect()
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follower.connect()
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# Initialize the keyboard listener and rerun visualization
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listener, events = init_keyboard_listener()
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init_rerun(session_name="recording_phone")
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try:
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if not leader.is_connected or not follower.is_connected:
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raise ValueError("Robot or teleop is not connected!")
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teleop_action_processor, robot_action_processor, robot_observation_processor = (
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make_default_processors()
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)
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print("Starting record loop...")
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episode_idx = 0
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while episode_idx < NUM_EPISODES and not events["stop_recording"]:
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log_say(f"Recording episode {episode_idx + 1} of {NUM_EPISODES}")
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# Main record loop
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record_loop(
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robot=follower,
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events=events,
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fps=FPS,
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teleop_action_processor=teleop_action_processor,
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robot_action_processor=robot_action_processor,
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robot_observation_processor=robot_observation_processor,
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teleop=leader,
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dataset=dataset,
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control_time_s=EPISODE_TIME_SEC,
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single_task=TASK_DESCRIPTION,
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display_data=True,
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)
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# Reset the environment if not stopping or re-recording
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if not events["stop_recording"] and (
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episode_idx < NUM_EPISODES - 1 or events["rerecord_episode"]
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):
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log_say("Reset the environment")
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record_loop(
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robot=follower,
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events=events,
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fps=FPS,
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teleop_action_processor=teleop_action_processor,
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robot_action_processor=robot_action_processor,
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robot_observation_processor=robot_observation_processor,
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teleop=leader,
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control_time_s=RESET_TIME_SEC,
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single_task=TASK_DESCRIPTION,
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display_data=True,
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)
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if events["rerecord_episode"]:
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log_say("Re-recording episode")
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events["rerecord_episode"] = False
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events["exit_early"] = False
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dataset.clear_episode_buffer()
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continue
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# Save episode
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dataset.save_episode()
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episode_idx += 1
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finally:
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# Clean up
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log_say("Stop recording")
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leader.disconnect()
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follower.disconnect()
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listener.stop()
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dataset.finalize()
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dataset.push_to_hub()
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if __name__ == "__main__":
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main()
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