mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-18 02:00:03 +00:00
Adil Zouitine
9183083e75
* refactor(processor): split action from policy, robots and environment - Updated function names to robot_action_to_transition and robot_transition_to_action across multiple files to better reflect their purpose in processing robot actions. - Adjusted references in the RobotProcessorPipeline and related components to ensure compatibility with the new naming convention. - Enhanced type annotations for action parameters to improve code readability and maintainability. * refactor(converters): rename robot_transition_to_action to transition_to_robot_action - Updated function names across multiple files to improve clarity and consistency in processing robot actions. - Adjusted references in RobotProcessorPipeline and related components to align with the new naming convention. - Simplified action handling in the AddBatchDimensionProcessorStep by removing unnecessary checks for action presence. * refactor(converters): update references to transition_to_robot_action - Renamed all instances of robot_transition_to_action to transition_to_robot_action across multiple files for consistency and clarity in the processing of robot actions. - Adjusted the RobotProcessorPipeline configurations to reflect the new naming convention, enhancing code readability. * refactor(processor): update Torch2NumpyActionProcessorStep to extend ActionProcessorStep - Changed the base class of Torch2NumpyActionProcessorStep from PolicyActionProcessorStep to ActionProcessorStep, aligning it with the current architecture of action processing. - This modification enhances the clarity of the class's role in the processing pipeline. * fix(processor): main action processor can take also EnvAction --------- Co-authored-by: Steven Palma <steven.palma@huggingface.co>
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 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(
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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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