mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-23 17:56:07 +00:00
Martino Russi
52 lines
2.3 KiB
Python
52 lines
2.3 KiB
Python
#!/usr/bin/env python
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# Copyright 2026 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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"""Single source of truth for the SONIC SMPL whole-body action protocol.
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These constants define the wire format shared between the PICO teleoperator
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(producer, ``pico_headset.py``), the offline motion->dataset converter
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(``smpl_to_dataset.py``), the live stream (``smpl_stream.py``), and the Unitree G1
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``SonicWholeBodyController`` (consumer). Keeping them here avoids the producer and
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consumer silently drifting apart.
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"""
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# SMPL encoder window geometry (matches ``smpl_joints_10frame_step1``).
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WINDOW = 10 # frames per encoder window
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N_JOINTS = 24 # SMPL joints per frame
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JOINT_DIM = 3 # xyz per joint
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SMPL_OBS_DIM = WINDOW * N_JOINTS * JOINT_DIM # 720
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# Flat action-dict keys carrying the reference through the standard lerobot action
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# pipeline as scalar floats: ``smpl.0 .. smpl.719`` and ``root.0 .. root.3``.
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SMPL_ACTION_PREFIX = "smpl."
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ROOT_ACTION_PREFIX = "root."
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ROOT_ACTION_DIM = 4 # per-frame SMPL root orientation (wxyz)
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# Full per-frame action vector: 720 joint window + 4 root quaternion = 724.
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ACTION_DIM = SMPL_OBS_DIM + ROOT_ACTION_DIM
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# ── 3-point VR teleop protocol (SONIC encode_mode 1) ─────────────────────────
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# An alternative, sparse upper-body reference: 3 root-relative keypoints
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# (left wrist, right wrist, neck), each a position + orientation. The lower body /
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# locomotion is driven by the planner (joystick/keyboard), not by these targets.
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VR3_N_POINTS = 3 # left wrist, right wrist, neck
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VR3_POS_DIM = VR3_N_POINTS * 3 # 9 (3 x xyz)
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VR3_ORN_DIM = VR3_N_POINTS * 4 # 12 (3 x wxyz)
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# Flat action-dict keys: ``vr3_pos.0 .. vr3_pos.8`` and ``vr3_orn.0 .. vr3_orn.11``.
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VR3_POS_PREFIX = "vr3_pos."
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VR3_ORN_PREFIX = "vr3_orn."
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