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Pepijn
73 lines
2.8 KiB
Python
73 lines
2.8 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.robots.so_follower import SO100Follower, SO100FollowerConfig
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from lerobot.robots.so_follower.pipelines import (
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make_so10x_fk_observation_pipeline,
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make_so10x_ik_action_pipeline,
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)
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from lerobot.scripts.lerobot_teleoperate import teleop_loop
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from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
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from lerobot.teleoperators.so_leader.pipelines import make_so10x_leader_fk_pipeline
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from lerobot.utils.pipeline_utils import check_action_space_compatibility
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from lerobot.utils.visualization_utils import init_rerun
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FPS = 30
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# NOTE: Use the URDF from the SO-ARM100 repo:
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# https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
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URDF_PATH = "./SO101/so101_new_calib.urdf"
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def main():
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# Initialize the robot and teleoperator config
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follower_config = SO100FollowerConfig(
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port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", 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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# Attach EE-space pipelines to the objects
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motor_names = list(follower.bus.motors.keys())
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follower.set_output_pipeline(make_so10x_fk_observation_pipeline(URDF_PATH, motor_names))
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follower.set_input_pipeline(make_so10x_ik_action_pipeline(URDF_PATH, motor_names))
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leader.set_output_pipeline(make_so10x_leader_fk_pipeline(URDF_PATH, list(leader.bus.motors.keys())))
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# Verify action space alignment (warns if leader EE ≠ follower action_features)
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check_action_space_compatibility(leader, follower)
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# Connect to the robot and teleoperator
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follower.connect()
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leader.connect()
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# Init rerun viewer
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init_rerun(session_name="so100_so100_EE_teleop")
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print("Starting teleop loop...")
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try:
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# Pipelines applied automatically inside teleop.get_action() and robot.send_action()
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teleop_loop(teleop=leader, robot=follower, fps=FPS, display_data=True)
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finally:
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follower.disconnect()
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leader.disconnect()
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if __name__ == "__main__":
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main()
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