mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-18 18:20:08 +00:00
AdilZouitine
aeb70812c1
- Updated imports in various files to include RobotAction and PolicyAction directly from the processor module, improving clarity and consistency. - Removed redundant imports from core, streamlining the codebase and enhancing maintainability. - Adjusted type annotations and references in the RobotProcessorPipeline and related components to align with the new import structure, ensuring better type safety and readability.
94 lines
3.5 KiB
Python
94 lines
3.5 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 RobotAction, RobotProcessorPipeline
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from lerobot.processor.converters import robot_action_to_transition, transition_to_robot_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[RobotAction, RobotAction](
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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=robot_action_to_transition,
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to_output=transition_to_robot_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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