mirror of
https://github.com/huggingface/lerobot.git
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Pepijn
94 lines
2.6 KiB
Python
94 lines
2.6 KiB
Python
import time
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from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
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from lerobot.robots.viperx import ViperX, ViperXConfig
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from lerobot.teleoperators.widowx import WidowX, WidowXConfig
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from lerobot.utils.visualization_utils import _init_rerun, log_rerun_data
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camera_config = {
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"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=30),
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"wrist_right": OpenCVCameraConfig(index_or_path=1, width=640, height=480, fps=30),
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"wrist_left": OpenCVCameraConfig(index_or_path=2, width=640, height=480, fps=30),
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}
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config_follower_right = ViperXConfig(
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port="/dev/tty.usbserial-FT891KBG",
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id="viperx_right",
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max_relative_target=10.0, # increased from default 5.0 to 10.0
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use_degrees=True,
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cameras=camera_config,
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)
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config_leader_right = WidowXConfig(
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port="/dev/tty.usbserial-FT89FM77",
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id="widowx_right",
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gripper_motor="xc430-w150",
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use_degrees=True,
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)
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config_follower_left = ViperXConfig(
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port="/dev/tty.usbserial-FT89FM09",
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id="viperx_left",
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max_relative_target=10.0, # increased from default 5.0 to 10.0
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use_degrees=True,
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)
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config_leader_left = WidowXConfig(
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port="/dev/tty.usbserial-FT891KPN",
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id="widowx_left",
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gripper_motor="xl430-w250",
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use_degrees=True,
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)
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_init_rerun(session_name="teleop")
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follower_right = ViperX(config_follower_right)
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follower_right.connect()
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leader_right = WidowX(config_leader_right)
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leader_right.connect()
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follower_left = ViperX(config_follower_left)
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follower_left.connect()
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leader_left = WidowX(config_leader_left)
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leader_left.connect()
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while True:
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act_right = leader_right.get_action()
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obs_right = follower_right.get_observation()
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act_left = leader_left.get_action()
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obs_left = follower_left.get_observation()
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print("=" * 60)
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print("ACTION (Leader Right):")
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for key, value in act_right.items():
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if key.endswith(".pos"):
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print(f" {key:20}: {value:8.3f}")
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print("\nOBSERVATION (Follower Right):")
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for key, value in obs_right.items():
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if key.endswith(".pos"):
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print(f" {key:20}: {value:8.3f}")
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print("=" * 60)
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print("ACTION (Leader Left):")
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for key, value in act_left.items():
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if key.endswith(".pos"):
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print(f" {key:20}: {value:8.3f}")
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print("\nOBSERVATION (Follower Left):")
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for key, value in obs_left.items():
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if key.endswith(".pos"):
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print(f" {key:20}: {value:8.3f}")
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print("=" * 60)
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log_rerun_data({**obs_right, **obs_left}, {**act_right, **act_left})
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follower_right.send_action(act_right)
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follower_left.send_action(act_left)
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time.sleep(0.02)
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