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https://github.com/huggingface/lerobot.git
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Steven Palma
170d8be7c2
* feat(examples): add ee so100 processors teleop & record * refactor(processor): improve FK processor for better use compatability
103 lines
3.4 KiB
Python
103 lines
3.4 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 (
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robot_action_to_transition,
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transition_to_robot_action,
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)
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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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ForwardKinematicsJointsToEE,
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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.so100_leader.config_so100_leader import SO100LeaderConfig
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from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
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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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follower = SO100Follower(follower_config)
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leader = SO100Leader(leader_config)
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follower_kinematics_solver = RobotKinematics(
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urdf_path="./examples/phone_to_so100/SO101/so101_new_calib.urdf",
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target_frame_name="gripper_frame_link",
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joint_names=list(follower.bus.motors.keys()),
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)
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leader_kinematics_solver = RobotKinematics(
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urdf_path="./examples/phone_to_so100/SO101/so101_new_calib.urdf",
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target_frame_name="gripper_frame_link",
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joint_names=list(leader.bus.motors.keys()),
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)
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leader_to_ee = RobotProcessorPipeline[RobotAction, RobotAction](
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steps=[
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ForwardKinematicsJointsToEE(
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kinematics=leader_kinematics_solver, motor_names=list(leader.bus.motors.keys())
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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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ee_to_follower_joints = RobotProcessorPipeline[RobotAction, RobotAction](
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[
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AddRobotObservationAsComplimentaryData(robot=follower),
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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=follower_kinematics_solver,
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motor_names=list(follower.bus.motors.keys()),
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initial_guess_current_joints=False,
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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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follower.connect()
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leader.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 leader joints observations
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leader_joints_obs = leader.get_action()
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# Convert them to EE
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leader_ee_act = leader_to_ee(leader_joints_obs)
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# Convert EE to follower joints actions
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follower_joints_act = ee_to_follower_joints(leader_ee_act)
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if follower_joints_act:
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follower.send_action(follower_joints_act)
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time.sleep(0.01)
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