File size: 4,213 Bytes
7efe9d0 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 |
# 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.
"""
Simple script to control a robot from teleoperation.
Example:
```shell
python -m lerobot.teleoperate \
--robot.type=so101_follower \
--robot.port=/dev/tty.usbmodem58760431541 \
--robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 1920, height: 1080, fps: 30}}" \
--robot.id=black \
--teleop.type=so101_leader \
--teleop.port=/dev/tty.usbmodem58760431551 \
--teleop.id=blue \
--display_data=true
```
"""
import logging
import time
from dataclasses import asdict, dataclass
from pprint import pformat
import draccus
import rerun as rr
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,
make_robot_from_config,
so100_follower,
so101_follower,
)
from lerobot.teleoperators import ( # noqa: F401
Teleoperator,
TeleoperatorConfig,
gamepad,
homunculus,
koch_leader,
make_teleoperator_from_config,
so100_leader,
so101_leader,
)
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.utils import init_logging, move_cursor_up
from lerobot.utils.visualization_utils import _init_rerun, log_rerun_data
@dataclass
class TeleoperateConfig:
# TODO: pepijn, steven: if more robots require multiple teleoperators (like lekiwi) its good to make this possibele in teleop.py and record.py with List[Teleoperator]
teleop: TeleoperatorConfig
robot: RobotConfig
# Limit the maximum frames per second.
fps: int = 60
teleop_time_s: float | None = None
# Display all cameras on screen
display_data: bool = False
def teleop_loop(
teleop: Teleoperator, robot: Robot, fps: int, display_data: bool = False, duration: float | None = None
):
display_len = max(len(key) for key in robot.action_features)
start = time.perf_counter()
while True:
loop_start = time.perf_counter()
action = teleop.get_action()
if display_data:
observation = robot.get_observation()
log_rerun_data(observation, action)
robot.send_action(action)
dt_s = time.perf_counter() - loop_start
busy_wait(1 / fps - dt_s)
loop_s = time.perf_counter() - loop_start
print("\n" + "-" * (display_len + 10))
print(f"{'NAME':<{display_len}} | {'NORM':>7}")
for motor, value in action.items():
print(f"{motor:<{display_len}} | {value:>7.2f}")
print(f"\ntime: {loop_s * 1e3:.2f}ms ({1 / loop_s:.0f} Hz)")
if duration is not None and time.perf_counter() - start >= duration:
return
move_cursor_up(len(action) + 5)
@draccus.wrap()
def teleoperate(cfg: TeleoperateConfig):
init_logging()
logging.info(pformat(asdict(cfg)))
if cfg.display_data:
_init_rerun(session_name="teleoperation")
teleop = make_teleoperator_from_config(cfg.teleop)
robot = make_robot_from_config(cfg.robot)
teleop.connect()
robot.connect()
try:
teleop_loop(teleop, robot, cfg.fps, display_data=cfg.display_data, duration=cfg.teleop_time_s)
except KeyboardInterrupt:
pass
finally:
if cfg.display_data:
rr.rerun_shutdown()
teleop.disconnect()
robot.disconnect()
if __name__ == "__main__":
teleoperate()
|