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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""
Helper to recalibrate your device (robot or teleoperator).
Example:
```shell
python -m lerobot.calibrate \
--teleop.type=so100_leader \
--teleop.port=/dev/tty.usbmodem58760431551 \
--teleop.id=blue
```
"""
import logging
from dataclasses import asdict, dataclass
from pprint import pformat
import draccus
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig # noqa: F401
from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig # noqa: F401
from lerobot.robots import ( # noqa: F401
Robot,
RobotConfig,
hope_jr,
koch_follower,
lekiwi,
make_robot_from_config,
so100_follower,
so101_follower,
)
from lerobot.teleoperators import ( # noqa: F401
Teleoperator,
TeleoperatorConfig,
homunculus,
koch_leader,
make_teleoperator_from_config,
so100_leader,
so101_leader,
)
from lerobot.utils.utils import init_logging
@dataclass
class CalibrateConfig:
teleop: TeleoperatorConfig | None = None
robot: RobotConfig | None = None
def __post_init__(self):
if bool(self.teleop) == bool(self.robot):
raise ValueError("Choose either a teleop or a robot.")
self.device = self.robot if self.robot else self.teleop
@draccus.wrap()
def calibrate(cfg: CalibrateConfig):
init_logging()
logging.info(pformat(asdict(cfg)))
if isinstance(cfg.device, RobotConfig):
device = make_robot_from_config(cfg.device)
elif isinstance(cfg.device, TeleoperatorConfig):
device = make_teleoperator_from_config(cfg.device)
device.connect(calibrate=False)
device.calibrate()
device.disconnect()
if __name__ == "__main__":
calibrate()
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