mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-15 08:39:49 +00:00
Michel Aractingi
136 lines
4.4 KiB
Python
136 lines
4.4 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 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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import argparse
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import time
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import cv2
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import numpy as np
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from lerobot.common.robot_devices.control_utils import is_headless
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from lerobot.common.robot_devices.robots.configs import RobotConfig
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from lerobot.common.robot_devices.robots.utils import make_robot_from_config
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from lerobot.configs import parser
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from lerobot.scripts.server.kinematics import RobotKinematics
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def find_joint_bounds(
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robot,
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control_time_s=30,
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display_cameras=False,
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):
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if not robot.is_connected:
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robot.connect()
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start_episode_t = time.perf_counter()
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pos_list = []
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while True:
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observation, action = robot.teleop_step(record_data=True)
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# Wait for 5 seconds to stabilize the robot initial position
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if time.perf_counter() - start_episode_t < 5:
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continue
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pos_list.append(robot.follower_arms["main"].read("Present_Position"))
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if display_cameras and not is_headless():
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image_keys = [key for key in observation if "image" in key]
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for key in image_keys:
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cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR))
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cv2.waitKey(1)
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if time.perf_counter() - start_episode_t > control_time_s:
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max = np.max(np.stack(pos_list), 0)
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min = np.min(np.stack(pos_list), 0)
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print(f"Max angle position per joint {max}")
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print(f"Min angle position per joint {min}")
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break
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def find_ee_bounds(
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robot,
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control_time_s=30,
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display_cameras=False,
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):
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if not robot.is_connected:
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robot.connect()
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start_episode_t = time.perf_counter()
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ee_list = []
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while True:
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observation, action = robot.teleop_step(record_data=True)
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# Wait for 5 seconds to stabilize the robot initial position
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if time.perf_counter() - start_episode_t < 5:
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continue
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kinematics = RobotKinematics(robot.robot_type)
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joint_positions = robot.follower_arms["main"].read("Present_Position")
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print(f"Joint positions: {joint_positions}")
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ee_list.append(kinematics.fk_gripper_tip(joint_positions)[:3, 3])
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if display_cameras and not is_headless():
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image_keys = [key for key in observation if "image" in key]
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for key in image_keys:
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cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR))
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cv2.waitKey(1)
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if time.perf_counter() - start_episode_t > control_time_s:
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max = np.max(np.stack(ee_list), 0)
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min = np.min(np.stack(ee_list), 0)
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print(f"Max ee position {max}")
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print(f"Min ee position {min}")
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break
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if __name__ == "__main__":
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# Create argparse for script-specific arguments
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parser = argparse.ArgumentParser(add_help=False) # Set add_help=False to avoid conflict
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parser.add_argument(
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"--mode",
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type=str,
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default="joint",
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choices=["joint", "ee"],
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help="Mode to run the script in. Can be 'joint' or 'ee'.",
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)
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parser.add_argument(
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"--control-time-s",
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type=int,
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default=30,
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help="Time step to use for control.",
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)
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parser.add_argument(
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"--robot-type",
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type=str,
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default="so100",
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help="Robot type (so100, koch, aloha, etc.)",
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)
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# Only parse known args, leaving robot config args for Hydra if used
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args = parser.parse_args()
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# Create robot with the appropriate config
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robot_config = RobotConfig.get_choice_class(args.robot_type)(mock=False)
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robot = make_robot_from_config(robot_config)
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if args.mode == "joint":
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find_joint_bounds(robot, args.control_time_s)
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elif args.mode == "ee":
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find_ee_bounds(robot, args.control_time_s)
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if robot.is_connected:
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robot.disconnect()
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