mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-21 19:49:49 +00:00
Steven Palma
e881fb6678
* refactor(processor): signature of transform_features * refactor(processor): remove prefixes + processor respect new transform_features signature + update test accordingly * refactor(processor): rename now is only for visual * refactor(processor): update normalize processor * refactor(processor): update vanilla processor features * refactor(processor): feature contract now uses its own enum * chore(processor): rename renameprocessor * chore(processor): minor changes * refactor(processor): add create & change aggregate * refactor(processor): update aggregate * refactor(processor): simplify to functions, fix features contracts and rename function * test(processor): remove to converter tests as now they are very simple * chore(docs): recover docs joint observations processor * fix(processor): update RKP * fix(tests): recv diff test_pipeline * chore(tests): add docs to test * chore(processor): leave obs language constant untouched * fix(processor): correct new shape of feature in crop image processor
94 lines
3.4 KiB
Python
94 lines
3.4 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 specif
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import time
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from lerobot.model.kinematics import RobotKinematics
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from lerobot.processor import RobotProcessorPipeline
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from lerobot.processor.converters import action_to_transition, transition_to_action
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from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
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from lerobot.robots.so100_follower.robot_kinematic_processor import (
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AddRobotObservationAsComplimentaryData,
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EEBoundsAndSafety,
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EEReferenceAndDelta,
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GripperVelocityToJoint,
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InverseKinematicsEEToJoints,
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)
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from lerobot.robots.so100_follower.so100_follower import SO100Follower
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from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
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from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
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from lerobot.teleoperators.phone.teleop_phone import Phone
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# Initialize the robot and teleoperator
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robot_config = SO100FollowerConfig(
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port="/dev/tty.usbmodem58760434471", id="my_awesome_follower_arm", use_degrees=True
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)
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teleop_config = PhoneConfig(phone_os=PhoneOS.IOS) # or PhoneOS.ANDROID
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# Initialize the robot and teleoperator
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robot = SO100Follower(robot_config)
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teleop_device = Phone(teleop_config)
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# 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
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kinematics_solver = RobotKinematics(
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urdf_path="./src/lerobot/teleoperators/sim/so101_new_calib.urdf",
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target_frame_name="gripper_frame_link",
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joint_names=list(robot.bus.motors.keys()),
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)
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# Build pipeline to convert phone action to ee pose action to joint action
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phone_to_robot_joints_processor = RobotProcessorPipeline(
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steps=[
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MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
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AddRobotObservationAsComplimentaryData(robot=robot),
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EEReferenceAndDelta(
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kinematics=kinematics_solver,
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end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5},
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motor_names=list(robot.bus.motors.keys()),
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),
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EEBoundsAndSafety(
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end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
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max_ee_step_m=0.10,
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max_ee_twist_step_rad=0.50,
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),
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InverseKinematicsEEToJoints(
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kinematics=kinematics_solver,
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motor_names=list(robot.bus.motors.keys()),
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),
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GripperVelocityToJoint(
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motor_names=list(robot.bus.motors.keys()),
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speed_factor=20.0,
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),
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],
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to_transition=action_to_transition,
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to_output=transition_to_action,
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)
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robot.connect()
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teleop_device.connect()
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print("Starting teleop loop. Move your phone to teleoperate the robot.")
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while True:
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# Get teleop observation
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phone_obs = teleop_device.get_action()
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# Phone -> EE pose -> Joints transition
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joint_action = phone_to_robot_joints_processor(phone_obs)
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if joint_action:
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robot.send_action(joint_action)
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time.sleep(0.01)
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