forked from tangger/lerobot
[PORT HIL-SERL] Refactor folders structure | Rebased version (#1178)
This commit is contained in:
Eugene Mironov
committed by
AdilZouitine
AdilZouitine
parent
8feda920da
commit
6eeab64f8a
@@ -606,7 +606,7 @@ class SACObservationEncoder(nn.Module):
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Usage patterns:
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- Called in select_action() with normalize=True
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- Called in learner_server.py's get_observation_features() to pre-compute features for all policy components
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- Called in learner.py's get_observation_features() to pre-compute features for all policy components
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- Called internally by forward() with normalize=False
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Args:
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@@ -13,9 +13,15 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// To generate a classes for transport part (services_pb2.py and services_pb2_grpc.py) use the following command:
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//
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// python -m grpc_tools.protoc -I . --python_out=. --grpc_python_out=. lerobot/common/transport/services.proto
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//
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// The command should be launched from the root of the project.
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syntax = "proto3";
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package hil_serl;
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package transport;
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// LearnerService: the Actor calls this to push transitions.
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// The Learner implements this service.
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46
lerobot/common/transport/services_pb2.py
Normal file
46
lerobot/common/transport/services_pb2.py
Normal file
@@ -0,0 +1,46 @@
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# -*- coding: utf-8 -*-
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# Generated by the protocol buffer compiler. DO NOT EDIT!
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# NO CHECKED-IN PROTOBUF GENCODE
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# source: lerobot/common/transport/services.proto
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# Protobuf Python Version: 5.29.0
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"""Generated protocol buffer code."""
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from google.protobuf import descriptor as _descriptor
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from google.protobuf import descriptor_pool as _descriptor_pool
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from google.protobuf import runtime_version as _runtime_version
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from google.protobuf import symbol_database as _symbol_database
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from google.protobuf.internal import builder as _builder
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_runtime_version.ValidateProtobufRuntimeVersion(
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_runtime_version.Domain.PUBLIC,
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5,
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29,
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0,
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'',
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'lerobot/common/transport/services.proto'
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)
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# @@protoc_insertion_point(imports)
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_sym_db = _symbol_database.Default()
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DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\'lerobot/common/transport/services.proto\x12\ttransport\"L\n\nTransition\x12\x30\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x18.transport.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"L\n\nParameters\x12\x30\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x18.transport.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"T\n\x12InteractionMessage\x12\x30\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x18.transport.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"\x07\n\x05\x45mpty*`\n\rTransferState\x12\x14\n\x10TRANSFER_UNKNOWN\x10\x00\x12\x12\n\x0eTRANSFER_BEGIN\x10\x01\x12\x13\n\x0fTRANSFER_MIDDLE\x10\x02\x12\x10\n\x0cTRANSFER_END\x10\x03\x32\xcc\x02\n\x0eLearnerService\x12I\n\x16SendInteractionMessage\x12\x1d.transport.InteractionMessage\x1a\x10.transport.Empty\x12=\n\x10StreamParameters\x12\x10.transport.Empty\x1a\x15.transport.Parameters0\x01\x12<\n\x0fSendTransitions\x12\x15.transport.Transition\x1a\x10.transport.Empty(\x01\x12\x45\n\x10SendInteractions\x12\x1d.transport.InteractionMessage\x1a\x10.transport.Empty(\x01\x12+\n\x05Ready\x12\x10.transport.Empty\x1a\x10.transport.Emptyb\x06proto3')
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_globals = globals()
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_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
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_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'lerobot.common.transport.services_pb2', _globals)
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if not _descriptor._USE_C_DESCRIPTORS:
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DESCRIPTOR._loaded_options = None
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_globals['_TRANSFERSTATE']._serialized_start=305
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_globals['_TRANSFERSTATE']._serialized_end=401
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_globals['_TRANSITION']._serialized_start=54
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_globals['_TRANSITION']._serialized_end=130
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_globals['_PARAMETERS']._serialized_start=132
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_globals['_PARAMETERS']._serialized_end=208
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_globals['_INTERACTIONMESSAGE']._serialized_start=210
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_globals['_INTERACTIONMESSAGE']._serialized_end=294
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_globals['_EMPTY']._serialized_start=296
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_globals['_EMPTY']._serialized_end=303
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_globals['_LEARNERSERVICE']._serialized_start=404
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_globals['_LEARNERSERVICE']._serialized_end=736
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# @@protoc_insertion_point(module_scope)
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@@ -3,9 +3,9 @@
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import grpc
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import warnings
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import hilserl_pb2 as hilserl__pb2
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from lerobot.common.transport import services_pb2 as lerobot_dot_common_dot_transport_dot_services__pb2
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GRPC_GENERATED_VERSION = '1.70.0'
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GRPC_GENERATED_VERSION = '1.71.0'
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GRPC_VERSION = grpc.__version__
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_version_not_supported = False
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@@ -18,7 +18,7 @@ except ImportError:
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if _version_not_supported:
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raise RuntimeError(
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f'The grpc package installed is at version {GRPC_VERSION},'
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+ f' but the generated code in hilserl_pb2_grpc.py depends on'
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+ f' but the generated code in lerobot/common/transport/services_pb2_grpc.py depends on'
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+ f' grpcio>={GRPC_GENERATED_VERSION}.'
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+ f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
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+ f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
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@@ -37,29 +37,29 @@ class LearnerServiceStub(object):
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channel: A grpc.Channel.
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"""
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self.SendInteractionMessage = channel.unary_unary(
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'/hil_serl.LearnerService/SendInteractionMessage',
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request_serializer=hilserl__pb2.InteractionMessage.SerializeToString,
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response_deserializer=hilserl__pb2.Empty.FromString,
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'/transport.LearnerService/SendInteractionMessage',
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request_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.InteractionMessage.SerializeToString,
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response_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
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_registered_method=True)
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self.StreamParameters = channel.unary_stream(
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'/hil_serl.LearnerService/StreamParameters',
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request_serializer=hilserl__pb2.Empty.SerializeToString,
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response_deserializer=hilserl__pb2.Parameters.FromString,
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'/transport.LearnerService/StreamParameters',
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request_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
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response_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Parameters.FromString,
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_registered_method=True)
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self.SendTransitions = channel.stream_unary(
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'/hil_serl.LearnerService/SendTransitions',
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request_serializer=hilserl__pb2.Transition.SerializeToString,
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response_deserializer=hilserl__pb2.Empty.FromString,
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'/transport.LearnerService/SendTransitions',
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request_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Transition.SerializeToString,
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response_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
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_registered_method=True)
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self.SendInteractions = channel.stream_unary(
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'/hil_serl.LearnerService/SendInteractions',
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request_serializer=hilserl__pb2.InteractionMessage.SerializeToString,
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response_deserializer=hilserl__pb2.Empty.FromString,
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'/transport.LearnerService/SendInteractions',
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request_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.InteractionMessage.SerializeToString,
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response_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
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_registered_method=True)
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self.Ready = channel.unary_unary(
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'/hil_serl.LearnerService/Ready',
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request_serializer=hilserl__pb2.Empty.SerializeToString,
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response_deserializer=hilserl__pb2.Empty.FromString,
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'/transport.LearnerService/Ready',
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request_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
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response_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
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_registered_method=True)
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@@ -104,34 +104,34 @@ def add_LearnerServiceServicer_to_server(servicer, server):
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rpc_method_handlers = {
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'SendInteractionMessage': grpc.unary_unary_rpc_method_handler(
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servicer.SendInteractionMessage,
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request_deserializer=hilserl__pb2.InteractionMessage.FromString,
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response_serializer=hilserl__pb2.Empty.SerializeToString,
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request_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.InteractionMessage.FromString,
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response_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
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),
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'StreamParameters': grpc.unary_stream_rpc_method_handler(
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servicer.StreamParameters,
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request_deserializer=hilserl__pb2.Empty.FromString,
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response_serializer=hilserl__pb2.Parameters.SerializeToString,
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request_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
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response_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Parameters.SerializeToString,
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),
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'SendTransitions': grpc.stream_unary_rpc_method_handler(
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servicer.SendTransitions,
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request_deserializer=hilserl__pb2.Transition.FromString,
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response_serializer=hilserl__pb2.Empty.SerializeToString,
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request_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Transition.FromString,
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response_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
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),
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'SendInteractions': grpc.stream_unary_rpc_method_handler(
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servicer.SendInteractions,
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request_deserializer=hilserl__pb2.InteractionMessage.FromString,
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response_serializer=hilserl__pb2.Empty.SerializeToString,
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request_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.InteractionMessage.FromString,
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response_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
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),
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'Ready': grpc.unary_unary_rpc_method_handler(
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servicer.Ready,
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request_deserializer=hilserl__pb2.Empty.FromString,
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response_serializer=hilserl__pb2.Empty.SerializeToString,
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request_deserializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
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response_serializer=lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
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),
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}
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generic_handler = grpc.method_handlers_generic_handler(
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'hil_serl.LearnerService', rpc_method_handlers)
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'transport.LearnerService', rpc_method_handlers)
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server.add_generic_rpc_handlers((generic_handler,))
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server.add_registered_method_handlers('hil_serl.LearnerService', rpc_method_handlers)
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server.add_registered_method_handlers('transport.LearnerService', rpc_method_handlers)
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# This class is part of an EXPERIMENTAL API.
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@@ -154,9 +154,9 @@ class LearnerService(object):
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return grpc.experimental.unary_unary(
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request,
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target,
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'/hil_serl.LearnerService/SendInteractionMessage',
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hilserl__pb2.InteractionMessage.SerializeToString,
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hilserl__pb2.Empty.FromString,
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'/transport.LearnerService/SendInteractionMessage',
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lerobot_dot_common_dot_transport_dot_services__pb2.InteractionMessage.SerializeToString,
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lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
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options,
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channel_credentials,
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insecure,
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@@ -181,9 +181,9 @@ class LearnerService(object):
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return grpc.experimental.unary_stream(
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request,
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target,
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'/hil_serl.LearnerService/StreamParameters',
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hilserl__pb2.Empty.SerializeToString,
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hilserl__pb2.Parameters.FromString,
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'/transport.LearnerService/StreamParameters',
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lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
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lerobot_dot_common_dot_transport_dot_services__pb2.Parameters.FromString,
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options,
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channel_credentials,
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insecure,
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@@ -208,9 +208,9 @@ class LearnerService(object):
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return grpc.experimental.stream_unary(
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request_iterator,
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target,
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'/hil_serl.LearnerService/SendTransitions',
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hilserl__pb2.Transition.SerializeToString,
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hilserl__pb2.Empty.FromString,
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'/transport.LearnerService/SendTransitions',
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lerobot_dot_common_dot_transport_dot_services__pb2.Transition.SerializeToString,
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lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
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options,
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channel_credentials,
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insecure,
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@@ -235,9 +235,9 @@ class LearnerService(object):
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return grpc.experimental.stream_unary(
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request_iterator,
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target,
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'/hil_serl.LearnerService/SendInteractions',
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hilserl__pb2.InteractionMessage.SerializeToString,
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hilserl__pb2.Empty.FromString,
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'/transport.LearnerService/SendInteractions',
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lerobot_dot_common_dot_transport_dot_services__pb2.InteractionMessage.SerializeToString,
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lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
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options,
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channel_credentials,
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insecure,
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@@ -262,9 +262,9 @@ class LearnerService(object):
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return grpc.experimental.unary_unary(
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request,
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target,
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'/hil_serl.LearnerService/Ready',
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hilserl__pb2.Empty.SerializeToString,
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hilserl__pb2.Empty.FromString,
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'/transport.LearnerService/Ready',
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lerobot_dot_common_dot_transport_dot_services__pb2.Empty.SerializeToString,
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lerobot_dot_common_dot_transport_dot_services__pb2.Empty.FromString,
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options,
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channel_credentials,
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insecure,
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@@ -23,8 +23,8 @@ from typing import Any
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import torch
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from lerobot.scripts.server import hilserl_pb2
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from lerobot.scripts.server.utils import Transition
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from lerobot.common.transport import services_pb2
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from lerobot.common.utils.transition import Transition
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CHUNK_SIZE = 2 * 1024 * 1024 # 2 MB
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@@ -47,12 +47,12 @@ def send_bytes_in_chunks(buffer: bytes, message_class: Any, log_prefix: str = ""
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logging_method(f"{log_prefix} Buffer size {size_in_bytes / 1024 / 1024} MB with")
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while sent_bytes < size_in_bytes:
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transfer_state = hilserl_pb2.TransferState.TRANSFER_MIDDLE
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transfer_state = services_pb2.TransferState.TRANSFER_MIDDLE
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if sent_bytes + CHUNK_SIZE >= size_in_bytes:
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transfer_state = hilserl_pb2.TransferState.TRANSFER_END
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transfer_state = services_pb2.TransferState.TRANSFER_END
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elif sent_bytes == 0:
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transfer_state = hilserl_pb2.TransferState.TRANSFER_BEGIN
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transfer_state = services_pb2.TransferState.TRANSFER_BEGIN
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size_to_read = min(CHUNK_SIZE, size_in_bytes - sent_bytes)
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chunk = buffer.read(size_to_read)
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@@ -75,18 +75,18 @@ def receive_bytes_in_chunks(iterator, queue: Queue, shutdown_event: Event, log_p
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logging.info(f"{log_prefix} Shutting down receiver")
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return
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if item.transfer_state == hilserl_pb2.TransferState.TRANSFER_BEGIN:
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if item.transfer_state == services_pb2.TransferState.TRANSFER_BEGIN:
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bytes_buffer.seek(0)
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bytes_buffer.truncate(0)
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bytes_buffer.write(item.data)
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logging.debug(f"{log_prefix} Received data at step 0")
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step = 0
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continue
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elif item.transfer_state == hilserl_pb2.TransferState.TRANSFER_MIDDLE:
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elif item.transfer_state == services_pb2.TransferState.TRANSFER_MIDDLE:
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bytes_buffer.write(item.data)
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step += 1
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logging.debug(f"{log_prefix} Received data at step {step}")
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elif item.transfer_state == hilserl_pb2.TransferState.TRANSFER_END:
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elif item.transfer_state == services_pb2.TransferState.TRANSFER_END:
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bytes_buffer.write(item.data)
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logging.debug(f"{log_prefix} Received data at step end size {bytes_buffer_size(bytes_buffer)}")
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@@ -23,7 +23,7 @@ import torch.nn.functional as F # noqa: N812
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from tqdm import tqdm
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from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
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from lerobot.scripts.server.utils import Transition
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from lerobot.common.utils.transition import Transition
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class BatchTransition(TypedDict):
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53
lerobot/common/utils/process.py
Normal file
53
lerobot/common/utils/process.py
Normal file
@@ -0,0 +1,53 @@
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#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team.
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# 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 specific language governing permissions and
|
||||
# limitations under the License.
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import logging
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import signal
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import sys
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shutdown_event_counter = 0
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def setup_process_handlers(use_threads: bool) -> any:
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if use_threads:
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from threading import Event
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else:
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from multiprocessing import Event
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shutdown_event = Event()
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# Define signal handler
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def signal_handler(signum, frame):
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logging.info("Shutdown signal received. Cleaning up...")
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shutdown_event.set()
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global shutdown_event_counter
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shutdown_event_counter += 1
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if shutdown_event_counter > 1:
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logging.info("Force shutdown")
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sys.exit(1)
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||||
signal.signal(signal.SIGINT, signal_handler) # Ctrl+C
|
||||
signal.signal(signal.SIGTERM, signal_handler) # Termination request (kill)
|
||||
signal.signal(signal.SIGHUP, signal_handler) # Terminal closed/Hangup
|
||||
signal.signal(signal.SIGQUIT, signal_handler) # Ctrl+\
|
||||
|
||||
def signal_handler(signum, frame):
|
||||
logging.info("Shutdown signal received. Cleaning up...")
|
||||
shutdown_event.set()
|
||||
|
||||
return shutdown_event
|
||||
35
lerobot/common/utils/queue.py
Normal file
35
lerobot/common/utils/queue.py
Normal file
@@ -0,0 +1,35 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
# 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.
|
||||
|
||||
import logging
|
||||
from queue import Empty, Queue
|
||||
|
||||
|
||||
def get_last_item_from_queue(queue: Queue):
|
||||
item = queue.get()
|
||||
counter = 1
|
||||
|
||||
# Drain queue and keep only the most recent parameters
|
||||
try:
|
||||
while True:
|
||||
item = queue.get_nowait()
|
||||
counter += 1
|
||||
except Empty:
|
||||
pass
|
||||
|
||||
logging.debug(f"Drained {counter} items from queue")
|
||||
|
||||
return item
|
||||
@@ -1,7 +1,6 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
# Copyright 2024 The HuggingFace Inc. team.
|
||||
# All rights reserved.
|
||||
# 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.
|
||||
@@ -15,64 +14,9 @@
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import logging
|
||||
import signal
|
||||
import sys
|
||||
from queue import Empty
|
||||
from typing import TypedDict
|
||||
|
||||
import torch
|
||||
from torch.multiprocessing import Queue
|
||||
|
||||
shutdown_event_counter = 0
|
||||
|
||||
|
||||
def setup_process_handlers(use_threads: bool) -> any:
|
||||
if use_threads:
|
||||
from threading import Event
|
||||
else:
|
||||
from multiprocessing import Event
|
||||
|
||||
shutdown_event = Event()
|
||||
|
||||
# Define signal handler
|
||||
def signal_handler(signum, frame):
|
||||
logging.info("Shutdown signal received. Cleaning up...")
|
||||
shutdown_event.set()
|
||||
global shutdown_event_counter
|
||||
shutdown_event_counter += 1
|
||||
|
||||
if shutdown_event_counter > 1:
|
||||
logging.info("Force shutdown")
|
||||
sys.exit(1)
|
||||
|
||||
signal.signal(signal.SIGINT, signal_handler) # Ctrl+C
|
||||
signal.signal(signal.SIGTERM, signal_handler) # Termination request (kill)
|
||||
signal.signal(signal.SIGHUP, signal_handler) # Terminal closed/Hangup
|
||||
signal.signal(signal.SIGQUIT, signal_handler) # Ctrl+\
|
||||
|
||||
def signal_handler(signum, frame):
|
||||
logging.info("Shutdown signal received. Cleaning up...")
|
||||
shutdown_event.set()
|
||||
|
||||
return shutdown_event
|
||||
|
||||
|
||||
def get_last_item_from_queue(queue: Queue):
|
||||
item = queue.get()
|
||||
counter = 1
|
||||
|
||||
# Drain queue and keep only the most recent parameters
|
||||
try:
|
||||
while True:
|
||||
item = queue.get_nowait()
|
||||
counter += 1
|
||||
except Empty:
|
||||
pass
|
||||
|
||||
logging.debug(f"Drained {counter} items from queue")
|
||||
|
||||
return item
|
||||
|
||||
|
||||
class Transition(TypedDict):
|
||||
@@ -24,12 +24,12 @@ Examples of usage:
|
||||
|
||||
- Start an actor server for real robot training with human-in-the-loop intervention:
|
||||
```bash
|
||||
python lerobot/scripts/server/actor_server.py --config_path lerobot/configs/train_config_hilserl_so100.json
|
||||
python lerobot/scripts/rl/actor.py --config_path lerobot/configs/train_config_hilserl_so100.json
|
||||
```
|
||||
|
||||
- Run with a specific robot type for a pick and place task:
|
||||
```bash
|
||||
python lerobot/scripts/server/actor_server.py \
|
||||
python lerobot/scripts/rl/actor.py \
|
||||
--config_path lerobot/configs/train_config_hilserl_so100.json \
|
||||
--robot.type=so100 \
|
||||
--task=pick_and_place
|
||||
@@ -37,7 +37,7 @@ python lerobot/scripts/server/actor_server.py \
|
||||
|
||||
- Set a custom workspace bound for the robot's end-effector:
|
||||
```bash
|
||||
python lerobot/scripts/server/actor_server.py \
|
||||
python lerobot/scripts/rl/actor.py \
|
||||
--config_path lerobot/configs/train_config_hilserl_so100.json \
|
||||
--env.ee_action_space_params.bounds.max="[0.24, 0.20, 0.10]" \
|
||||
--env.ee_action_space_params.bounds.min="[0.16, -0.08, 0.03]"
|
||||
@@ -45,7 +45,7 @@ python lerobot/scripts/server/actor_server.py \
|
||||
|
||||
- Run with specific camera crop parameters:
|
||||
```bash
|
||||
python lerobot/scripts/server/actor_server.py \
|
||||
python lerobot/scripts/rl/actor.py \
|
||||
--config_path lerobot/configs/train_config_hilserl_so100.json \
|
||||
--env.crop_params_dict="{'observation.images.side': [180, 207, 180, 200], 'observation.images.front': [180, 250, 120, 150]}"
|
||||
```
|
||||
@@ -85,8 +85,23 @@ from lerobot.common.policies.factory import make_policy
|
||||
from lerobot.common.policies.sac.modeling_sac import SACPolicy
|
||||
from lerobot.common.robots import so100_follower_end_effector # noqa: F401
|
||||
from lerobot.common.teleoperators import gamepad, so100_leader # noqa: F401
|
||||
from lerobot.common.transport import services_pb2, services_pb2_grpc
|
||||
from lerobot.common.transport.utils import (
|
||||
bytes_to_state_dict,
|
||||
python_object_to_bytes,
|
||||
receive_bytes_in_chunks,
|
||||
send_bytes_in_chunks,
|
||||
transitions_to_bytes,
|
||||
)
|
||||
from lerobot.common.utils.process import setup_process_handlers
|
||||
from lerobot.common.utils.queue import get_last_item_from_queue
|
||||
from lerobot.common.utils.random_utils import set_seed
|
||||
from lerobot.common.utils.robot_utils import busy_wait
|
||||
from lerobot.common.utils.transition import (
|
||||
Transition,
|
||||
move_state_dict_to_device,
|
||||
move_transition_to_device,
|
||||
)
|
||||
from lerobot.common.utils.utils import (
|
||||
TimerManager,
|
||||
get_safe_torch_device,
|
||||
@@ -94,22 +109,8 @@ from lerobot.common.utils.utils import (
|
||||
)
|
||||
from lerobot.configs import parser
|
||||
from lerobot.configs.train import TrainPipelineConfig
|
||||
from lerobot.scripts.server import hilserl_pb2, hilserl_pb2_grpc, learner_service
|
||||
from lerobot.scripts.server.buffer import Transition
|
||||
from lerobot.scripts.server.gym_manipulator import make_robot_env
|
||||
from lerobot.scripts.server.network_utils import (
|
||||
bytes_to_state_dict,
|
||||
python_object_to_bytes,
|
||||
receive_bytes_in_chunks,
|
||||
send_bytes_in_chunks,
|
||||
transitions_to_bytes,
|
||||
)
|
||||
from lerobot.scripts.server.utils import (
|
||||
get_last_item_from_queue,
|
||||
move_state_dict_to_device,
|
||||
move_transition_to_device,
|
||||
setup_process_handlers,
|
||||
)
|
||||
from lerobot.scripts.rl import learner_service
|
||||
from lerobot.scripts.rl.gym_manipulator import make_robot_env
|
||||
|
||||
ACTOR_SHUTDOWN_TIMEOUT = 30
|
||||
|
||||
@@ -386,14 +387,14 @@ def act_with_policy(
|
||||
|
||||
|
||||
def establish_learner_connection(
|
||||
stub: hilserl_pb2_grpc.LearnerServiceStub,
|
||||
stub: services_pb2_grpc.LearnerServiceStub,
|
||||
shutdown_event: Event, # type: ignore
|
||||
attempts: int = 30,
|
||||
):
|
||||
"""Establish a connection with the learner.
|
||||
|
||||
Args:
|
||||
stub (hilserl_pb2_grpc.LearnerServiceStub): The stub to use for the connection.
|
||||
stub (services_pb2_grpc.LearnerServiceStub): The stub to use for the connection.
|
||||
shutdown_event (Event): The event to check if the connection should be established.
|
||||
attempts (int): The number of attempts to establish the connection.
|
||||
Returns:
|
||||
@@ -407,7 +408,7 @@ def establish_learner_connection(
|
||||
# Force a connection attempt and check state
|
||||
try:
|
||||
logging.info("[ACTOR] Send ready message to Learner")
|
||||
if stub.Ready(hilserl_pb2.Empty()) == hilserl_pb2.Empty():
|
||||
if stub.Ready(services_pb2.Empty()) == services_pb2.Empty():
|
||||
return True
|
||||
except grpc.RpcError as e:
|
||||
logging.error(f"[ACTOR] Waiting for Learner to be ready... {e}")
|
||||
@@ -419,7 +420,7 @@ def establish_learner_connection(
|
||||
def learner_service_client(
|
||||
host: str = "127.0.0.1",
|
||||
port: int = 50051,
|
||||
) -> tuple[hilserl_pb2_grpc.LearnerServiceStub, grpc.Channel]:
|
||||
) -> tuple[services_pb2_grpc.LearnerServiceStub, grpc.Channel]:
|
||||
import json
|
||||
|
||||
"""
|
||||
@@ -458,7 +459,7 @@ def learner_service_client(
|
||||
("grpc.service_config", service_config_json),
|
||||
],
|
||||
)
|
||||
stub = hilserl_pb2_grpc.LearnerServiceStub(channel)
|
||||
stub = services_pb2_grpc.LearnerServiceStub(channel)
|
||||
logging.info("[ACTOR] Learner service client created")
|
||||
return stub, channel
|
||||
|
||||
@@ -467,7 +468,7 @@ def receive_policy(
|
||||
cfg: TrainPipelineConfig,
|
||||
parameters_queue: Queue,
|
||||
shutdown_event: Event, # type: ignore
|
||||
learner_client: hilserl_pb2_grpc.LearnerServiceStub | None = None,
|
||||
learner_client: services_pb2_grpc.LearnerServiceStub | None = None,
|
||||
grpc_channel: grpc.Channel | None = None,
|
||||
):
|
||||
"""Receive parameters from the learner.
|
||||
@@ -499,7 +500,7 @@ def receive_policy(
|
||||
)
|
||||
|
||||
try:
|
||||
iterator = learner_client.StreamParameters(hilserl_pb2.Empty())
|
||||
iterator = learner_client.StreamParameters(services_pb2.Empty())
|
||||
receive_bytes_in_chunks(
|
||||
iterator,
|
||||
parameters_queue,
|
||||
@@ -519,9 +520,9 @@ def send_transitions(
|
||||
cfg: TrainPipelineConfig,
|
||||
transitions_queue: Queue,
|
||||
shutdown_event: any, # Event,
|
||||
learner_client: hilserl_pb2_grpc.LearnerServiceStub | None = None,
|
||||
learner_client: services_pb2_grpc.LearnerServiceStub | None = None,
|
||||
grpc_channel: grpc.Channel | None = None,
|
||||
) -> hilserl_pb2.Empty:
|
||||
) -> services_pb2.Empty:
|
||||
"""
|
||||
Sends transitions to the learner.
|
||||
|
||||
@@ -530,7 +531,7 @@ def send_transitions(
|
||||
- Transition Data:
|
||||
- A batch of transitions (observation, action, reward, next observation) is collected.
|
||||
- Transitions are moved to the CPU and serialized using PyTorch.
|
||||
- The serialized data is wrapped in a `hilserl_pb2.Transition` message and sent to the learner.
|
||||
- The serialized data is wrapped in a `services_pb2.Transition` message and sent to the learner.
|
||||
"""
|
||||
|
||||
if not use_threads(cfg):
|
||||
@@ -569,9 +570,9 @@ def send_interactions(
|
||||
cfg: TrainPipelineConfig,
|
||||
interactions_queue: Queue,
|
||||
shutdown_event: Event, # type: ignore
|
||||
learner_client: hilserl_pb2_grpc.LearnerServiceStub | None = None,
|
||||
learner_client: services_pb2_grpc.LearnerServiceStub | None = None,
|
||||
grpc_channel: grpc.Channel | None = None,
|
||||
) -> hilserl_pb2.Empty:
|
||||
) -> services_pb2.Empty:
|
||||
"""
|
||||
Sends interactions to the learner.
|
||||
|
||||
@@ -614,7 +615,7 @@ def send_interactions(
|
||||
logging.info("[ACTOR] Interactions process stopped")
|
||||
|
||||
|
||||
def transitions_stream(shutdown_event: Event, transitions_queue: Queue) -> hilserl_pb2.Empty: # type: ignore
|
||||
def transitions_stream(shutdown_event: Event, transitions_queue: Queue) -> services_pb2.Empty: # type: ignore
|
||||
while not shutdown_event.is_set():
|
||||
try:
|
||||
message = transitions_queue.get(block=True, timeout=5)
|
||||
@@ -623,16 +624,16 @@ def transitions_stream(shutdown_event: Event, transitions_queue: Queue) -> hilse
|
||||
continue
|
||||
|
||||
yield from send_bytes_in_chunks(
|
||||
message, hilserl_pb2.Transition, log_prefix="[ACTOR] Send transitions"
|
||||
message, services_pb2.Transition, log_prefix="[ACTOR] Send transitions"
|
||||
)
|
||||
|
||||
return hilserl_pb2.Empty()
|
||||
return services_pb2.Empty()
|
||||
|
||||
|
||||
def interactions_stream(
|
||||
shutdown_event: Event, # type: ignore
|
||||
interactions_queue: Queue,
|
||||
) -> hilserl_pb2.Empty:
|
||||
) -> services_pb2.Empty:
|
||||
while not shutdown_event.is_set():
|
||||
try:
|
||||
message = interactions_queue.get(block=True, timeout=5)
|
||||
@@ -642,11 +643,11 @@ def interactions_stream(
|
||||
|
||||
yield from send_bytes_in_chunks(
|
||||
message,
|
||||
hilserl_pb2.InteractionMessage,
|
||||
services_pb2.InteractionMessage,
|
||||
log_prefix="[ACTOR] Send interactions",
|
||||
)
|
||||
|
||||
return hilserl_pb2.Empty()
|
||||
return services_pb2.Empty()
|
||||
|
||||
|
||||
#################################################
|
||||
@@ -25,12 +25,12 @@ Examples of usage:
|
||||
|
||||
- Start a learner server for training:
|
||||
```bash
|
||||
python lerobot/scripts/server/learner_server.py --config_path lerobot/configs/train_config_hilserl_so100.json
|
||||
python lerobot/scripts/rl/learner.py --config_path lerobot/configs/train_config_hilserl_so100.json
|
||||
```
|
||||
|
||||
- Run with specific SAC hyperparameters:
|
||||
```bash
|
||||
python lerobot/scripts/server/learner_server.py \
|
||||
python lerobot/scripts/rl/learner.py \
|
||||
--config_path lerobot/configs/train_config_hilserl_so100.json \
|
||||
--learner.sac.alpha=0.1 \
|
||||
--learner.sac.gamma=0.99
|
||||
@@ -38,7 +38,7 @@ python lerobot/scripts/server/learner_server.py \
|
||||
|
||||
- Run with a specific dataset and wandb logging:
|
||||
```bash
|
||||
python lerobot/scripts/server/learner_server.py \
|
||||
python lerobot/scripts/rl/learner.py \
|
||||
--config_path lerobot/configs/train_config_hilserl_so100.json \
|
||||
--dataset.repo_id=username/pick_lift_cube \
|
||||
--wandb.enable=true \
|
||||
@@ -47,14 +47,14 @@ python lerobot/scripts/server/learner_server.py \
|
||||
|
||||
- Run with a pretrained policy for fine-tuning:
|
||||
```bash
|
||||
python lerobot/scripts/server/learner_server.py \
|
||||
python lerobot/scripts/rl/learner.py \
|
||||
--config_path lerobot/configs/train_config_hilserl_so100.json \
|
||||
--pretrained_policy_name_or_path=outputs/previous_training/checkpoints/080000/pretrained_model
|
||||
```
|
||||
|
||||
- Run with a reward classifier model:
|
||||
```bash
|
||||
python lerobot/scripts/server/learner_server.py \
|
||||
python lerobot/scripts/rl/learner.py \
|
||||
--config_path lerobot/configs/train_config_hilserl_so100.json \
|
||||
--reward_classifier_pretrained_path=outputs/reward_model/best_model
|
||||
```
|
||||
@@ -84,7 +84,6 @@ from pathlib import Path
|
||||
from pprint import pformat
|
||||
|
||||
import grpc
|
||||
import hilserl_pb2_grpc # type: ignore
|
||||
import torch
|
||||
from termcolor import colored
|
||||
from torch import nn
|
||||
@@ -103,6 +102,14 @@ from lerobot.common.policies.factory import make_policy
|
||||
from lerobot.common.policies.sac.modeling_sac import SACPolicy
|
||||
from lerobot.common.robots import so100_follower_end_effector # noqa: F401
|
||||
from lerobot.common.teleoperators import gamepad, so100_leader # noqa: F401
|
||||
from lerobot.common.transport import services_pb2_grpc
|
||||
from lerobot.common.transport.utils import (
|
||||
bytes_to_python_object,
|
||||
bytes_to_transitions,
|
||||
state_to_bytes,
|
||||
)
|
||||
from lerobot.common.utils.buffer import ReplayBuffer, concatenate_batch_transitions
|
||||
from lerobot.common.utils.process import setup_process_handlers
|
||||
from lerobot.common.utils.random_utils import set_seed
|
||||
from lerobot.common.utils.train_utils import (
|
||||
get_step_checkpoint_dir,
|
||||
@@ -112,6 +119,7 @@ from lerobot.common.utils.train_utils import (
|
||||
from lerobot.common.utils.train_utils import (
|
||||
load_training_state as utils_load_training_state,
|
||||
)
|
||||
from lerobot.common.utils.transition import move_state_dict_to_device, move_transition_to_device
|
||||
from lerobot.common.utils.utils import (
|
||||
format_big_number,
|
||||
get_safe_torch_device,
|
||||
@@ -120,18 +128,7 @@ from lerobot.common.utils.utils import (
|
||||
from lerobot.common.utils.wandb_utils import WandBLogger
|
||||
from lerobot.configs import parser
|
||||
from lerobot.configs.train import TrainPipelineConfig
|
||||
from lerobot.scripts.server import learner_service
|
||||
from lerobot.scripts.server.buffer import ReplayBuffer, concatenate_batch_transitions
|
||||
from lerobot.scripts.server.network_utils import (
|
||||
bytes_to_python_object,
|
||||
bytes_to_transitions,
|
||||
state_to_bytes,
|
||||
)
|
||||
from lerobot.scripts.server.utils import (
|
||||
move_state_dict_to_device,
|
||||
move_transition_to_device,
|
||||
setup_process_handlers,
|
||||
)
|
||||
from lerobot.scripts.rl import learner_service
|
||||
|
||||
LOG_PREFIX = "[LEARNER]"
|
||||
|
||||
@@ -244,7 +241,7 @@ def start_learner_threads(
|
||||
concurrency_entity = Process
|
||||
|
||||
communication_process = concurrency_entity(
|
||||
target=start_learner_server,
|
||||
target=start_learner,
|
||||
args=(
|
||||
parameters_queue,
|
||||
transition_queue,
|
||||
@@ -643,7 +640,7 @@ def add_actor_information_and_train(
|
||||
)
|
||||
|
||||
|
||||
def start_learner_server(
|
||||
def start_learner(
|
||||
parameters_queue: Queue,
|
||||
transition_queue: Queue,
|
||||
interaction_message_queue: Queue,
|
||||
@@ -666,7 +663,7 @@ def start_learner_server(
|
||||
# Create a process-specific log file
|
||||
log_dir = os.path.join(cfg.output_dir, "logs")
|
||||
os.makedirs(log_dir, exist_ok=True)
|
||||
log_file = os.path.join(log_dir, f"learner_server_process_{os.getpid()}.log")
|
||||
log_file = os.path.join(log_dir, f"learner_process_{os.getpid()}.log")
|
||||
|
||||
# Initialize logging with explicit log file
|
||||
init_logging(log_file=log_file, display_pid=True)
|
||||
@@ -693,7 +690,7 @@ def start_learner_server(
|
||||
],
|
||||
)
|
||||
|
||||
hilserl_pb2_grpc.add_LearnerServiceServicer_to_server(
|
||||
services_pb2_grpc.add_LearnerServiceServicer_to_server(
|
||||
service,
|
||||
server,
|
||||
)
|
||||
@@ -1,17 +1,21 @@
|
||||
import logging
|
||||
from multiprocessing import Event, Queue
|
||||
|
||||
import hilserl_pb2 # type: ignore
|
||||
import hilserl_pb2_grpc # type: ignore
|
||||
|
||||
from lerobot.scripts.server.network_utils import receive_bytes_in_chunks, send_bytes_in_chunks
|
||||
from lerobot.common.transport import services_pb2, services_pb2_grpc
|
||||
from lerobot.common.transport.utils import receive_bytes_in_chunks, send_bytes_in_chunks
|
||||
|
||||
MAX_MESSAGE_SIZE = 4 * 1024 * 1024 # 4 MB
|
||||
MAX_WORKERS = 3 # Stream parameters, send transitions and interactions
|
||||
SHUTDOWN_TIMEOUT = 10
|
||||
|
||||
|
||||
class LearnerService(hilserl_pb2_grpc.LearnerServiceServicer):
|
||||
class LearnerService(services_pb2_grpc.LearnerServiceServicer):
|
||||
"""
|
||||
Implementation of the LearnerService gRPC service
|
||||
This service is used to send parameters to the Actor and receive transitions and interactions from the Actor
|
||||
check transport.proto for the gRPC service definition
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
shutdown_event: Event, # type: ignore
|
||||
@@ -36,7 +40,7 @@ class LearnerService(hilserl_pb2_grpc.LearnerServiceServicer):
|
||||
|
||||
yield from send_bytes_in_chunks(
|
||||
buffer,
|
||||
hilserl_pb2.Parameters,
|
||||
services_pb2.Parameters,
|
||||
log_prefix="[LEARNER] Sending parameters",
|
||||
silent=True,
|
||||
)
|
||||
@@ -46,7 +50,7 @@ class LearnerService(hilserl_pb2_grpc.LearnerServiceServicer):
|
||||
self.shutdown_event.wait(self.seconds_between_pushes)
|
||||
|
||||
logging.info("[LEARNER] Stream parameters finished")
|
||||
return hilserl_pb2.Empty()
|
||||
return services_pb2.Empty()
|
||||
|
||||
def SendTransitions(self, request_iterator, _context): # noqa: N802
|
||||
# TODO: authorize the request
|
||||
@@ -60,7 +64,7 @@ class LearnerService(hilserl_pb2_grpc.LearnerServiceServicer):
|
||||
)
|
||||
|
||||
logging.debug("[LEARNER] Finished receiving transitions")
|
||||
return hilserl_pb2.Empty()
|
||||
return services_pb2.Empty()
|
||||
|
||||
def SendInteractions(self, request_iterator, _context): # noqa: N802
|
||||
# TODO: authorize the request
|
||||
@@ -74,7 +78,7 @@ class LearnerService(hilserl_pb2_grpc.LearnerServiceServicer):
|
||||
)
|
||||
|
||||
logging.debug("[LEARNER] Finished receiving interactions")
|
||||
return hilserl_pb2.Empty()
|
||||
return services_pb2.Empty()
|
||||
|
||||
def Ready(self, request, context): # noqa: N802
|
||||
return hilserl_pb2.Empty()
|
||||
return services_pb2.Empty()
|
||||
@@ -1,46 +0,0 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
# Generated by the protocol buffer compiler. DO NOT EDIT!
|
||||
# NO CHECKED-IN PROTOBUF GENCODE
|
||||
# source: hilserl.proto
|
||||
# Protobuf Python Version: 5.29.0
|
||||
"""Generated protocol buffer code."""
|
||||
from google.protobuf import descriptor as _descriptor
|
||||
from google.protobuf import descriptor_pool as _descriptor_pool
|
||||
from google.protobuf import runtime_version as _runtime_version
|
||||
from google.protobuf import symbol_database as _symbol_database
|
||||
from google.protobuf.internal import builder as _builder
|
||||
_runtime_version.ValidateProtobufRuntimeVersion(
|
||||
_runtime_version.Domain.PUBLIC,
|
||||
5,
|
||||
29,
|
||||
0,
|
||||
'',
|
||||
'hilserl.proto'
|
||||
)
|
||||
# @@protoc_insertion_point(imports)
|
||||
|
||||
_sym_db = _symbol_database.Default()
|
||||
|
||||
|
||||
|
||||
|
||||
DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\rhilserl.proto\x12\x08hil_serl\"K\n\nTransition\x12/\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x17.hil_serl.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"K\n\nParameters\x12/\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x17.hil_serl.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"S\n\x12InteractionMessage\x12/\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x17.hil_serl.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"\x07\n\x05\x45mpty*`\n\rTransferState\x12\x14\n\x10TRANSFER_UNKNOWN\x10\x00\x12\x12\n\x0eTRANSFER_BEGIN\x10\x01\x12\x13\n\x0fTRANSFER_MIDDLE\x10\x02\x12\x10\n\x0cTRANSFER_END\x10\x03\x32\xc2\x02\n\x0eLearnerService\x12G\n\x16SendInteractionMessage\x12\x1c.hil_serl.InteractionMessage\x1a\x0f.hil_serl.Empty\x12;\n\x10StreamParameters\x12\x0f.hil_serl.Empty\x1a\x14.hil_serl.Parameters0\x01\x12:\n\x0fSendTransitions\x12\x14.hil_serl.Transition\x1a\x0f.hil_serl.Empty(\x01\x12\x43\n\x10SendInteractions\x12\x1c.hil_serl.InteractionMessage\x1a\x0f.hil_serl.Empty(\x01\x12)\n\x05Ready\x12\x0f.hil_serl.Empty\x1a\x0f.hil_serl.Emptyb\x06proto3')
|
||||
|
||||
_globals = globals()
|
||||
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
|
||||
_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'hilserl_pb2', _globals)
|
||||
if not _descriptor._USE_C_DESCRIPTORS:
|
||||
DESCRIPTOR._loaded_options = None
|
||||
_globals['_TRANSFERSTATE']._serialized_start=275
|
||||
_globals['_TRANSFERSTATE']._serialized_end=371
|
||||
_globals['_TRANSITION']._serialized_start=27
|
||||
_globals['_TRANSITION']._serialized_end=102
|
||||
_globals['_PARAMETERS']._serialized_start=104
|
||||
_globals['_PARAMETERS']._serialized_end=179
|
||||
_globals['_INTERACTIONMESSAGE']._serialized_start=181
|
||||
_globals['_INTERACTIONMESSAGE']._serialized_end=264
|
||||
_globals['_EMPTY']._serialized_start=266
|
||||
_globals['_EMPTY']._serialized_end=273
|
||||
_globals['_LEARNERSERVICE']._serialized_start=374
|
||||
_globals['_LEARNERSERVICE']._serialized_end=696
|
||||
# @@protoc_insertion_point(module_scope)
|
||||
@@ -1,546 +0,0 @@
|
||||
# ruff: noqa: N806, N815, N803
|
||||
|
||||
# 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.
|
||||
|
||||
import numpy as np
|
||||
from scipy.spatial.transform import Rotation
|
||||
|
||||
|
||||
def skew_symmetric(w):
|
||||
"""Creates the skew-symmetric matrix from a 3D vector."""
|
||||
return np.array([[0, -w[2], w[1]], [w[2], 0, -w[0]], [-w[1], w[0], 0]])
|
||||
|
||||
|
||||
def rodrigues_rotation(w, theta):
|
||||
"""Computes the rotation matrix using Rodrigues' formula."""
|
||||
w_hat = skew_symmetric(w)
|
||||
return np.eye(3) + np.sin(theta) * w_hat + (1 - np.cos(theta)) * w_hat @ w_hat
|
||||
|
||||
|
||||
def screw_axis_to_transform(S, theta):
|
||||
"""Converts a screw axis to a 4x4 transformation matrix."""
|
||||
S_w = S[:3]
|
||||
S_v = S[3:]
|
||||
if np.allclose(S_w, 0) and np.linalg.norm(S_v) == 1: # Pure translation
|
||||
T = np.eye(4)
|
||||
T[:3, 3] = S_v * theta
|
||||
elif np.linalg.norm(S_w) == 1: # Rotation and translation
|
||||
w_hat = skew_symmetric(S_w)
|
||||
R = np.eye(3) + np.sin(theta) * w_hat + (1 - np.cos(theta)) * w_hat @ w_hat
|
||||
t = (np.eye(3) * theta + (1 - np.cos(theta)) * w_hat + (theta - np.sin(theta)) * w_hat @ w_hat) @ S_v
|
||||
T = np.eye(4)
|
||||
T[:3, :3] = R
|
||||
T[:3, 3] = t
|
||||
else:
|
||||
raise ValueError("Invalid screw axis parameters")
|
||||
return T
|
||||
|
||||
|
||||
def pose_difference_se3(pose1, pose2):
|
||||
"""
|
||||
Calculates the SE(3) difference between two 4x4 homogeneous transformation matrices.
|
||||
SE(3) (Special Euclidean Group) represents rigid body transformations in 3D space, combining rotation (SO(3)) and translation.
|
||||
Each 4x4 matrix has the following structure, a 3x3 rotation matrix in the top-left and a 3x1 translation vector in the top-right:
|
||||
|
||||
[R11 R12 R13 tx]
|
||||
[R21 R22 R23 ty]
|
||||
[R31 R32 R33 tz]
|
||||
[ 0 0 0 1]
|
||||
|
||||
where Rij is the 3x3 rotation matrix and [tx,ty,tz] is the translation vector.
|
||||
|
||||
pose1 - pose2
|
||||
|
||||
Args:
|
||||
pose1: A 4x4 numpy array representing the first pose.
|
||||
pose2: A 4x4 numpy array representing the second pose.
|
||||
|
||||
Returns:
|
||||
A tuple (translation_diff, rotation_diff) where:
|
||||
- translation_diff is a 3x1 numpy array representing the translational difference.
|
||||
- rotation_diff is a 3x1 numpy array representing the rotational difference in axis-angle representation.
|
||||
"""
|
||||
|
||||
# Extract rotation matrices from poses
|
||||
R1 = pose1[:3, :3]
|
||||
R2 = pose2[:3, :3]
|
||||
|
||||
# Calculate translational difference
|
||||
translation_diff = pose1[:3, 3] - pose2[:3, 3]
|
||||
|
||||
# Calculate rotational difference using scipy's Rotation library
|
||||
R_diff = Rotation.from_matrix(R1 @ R2.T)
|
||||
rotation_diff = R_diff.as_rotvec() # Convert to axis-angle representation
|
||||
|
||||
return np.concatenate([translation_diff, rotation_diff])
|
||||
|
||||
|
||||
def se3_error(target_pose, current_pose):
|
||||
pos_error = target_pose[:3, 3] - current_pose[:3, 3]
|
||||
R_target = target_pose[:3, :3]
|
||||
R_current = current_pose[:3, :3]
|
||||
R_error = R_target @ R_current.T
|
||||
rot_error = Rotation.from_matrix(R_error).as_rotvec()
|
||||
return np.concatenate([pos_error, rot_error])
|
||||
|
||||
|
||||
class RobotKinematics:
|
||||
"""Robot kinematics class supporting multiple robot models."""
|
||||
|
||||
# Robot measurements dictionary
|
||||
ROBOT_MEASUREMENTS = {
|
||||
"koch": {
|
||||
"gripper": [0.239, -0.001, 0.024],
|
||||
"wrist": [0.209, 0, 0.024],
|
||||
"forearm": [0.108, 0, 0.02],
|
||||
"humerus": [0, 0, 0.036],
|
||||
"shoulder": [0, 0, 0],
|
||||
"base": [0, 0, 0.02],
|
||||
},
|
||||
"so100": {
|
||||
"gripper": [0.320, 0, 0.050],
|
||||
"wrist": [0.278, 0, 0.050],
|
||||
"forearm": [0.143, 0, 0.044],
|
||||
"humerus": [0.031, 0, 0.072],
|
||||
"shoulder": [0, 0, 0],
|
||||
"base": [0, 0, 0.02],
|
||||
},
|
||||
"moss": {
|
||||
"gripper": [0.246, 0.013, 0.111],
|
||||
"wrist": [0.245, 0.002, 0.064],
|
||||
"forearm": [0.122, 0, 0.064],
|
||||
"humerus": [0.001, 0.001, 0.063],
|
||||
"shoulder": [0, 0, 0],
|
||||
"base": [0, 0, 0.02],
|
||||
},
|
||||
}
|
||||
|
||||
def __init__(self, robot_type="so100"):
|
||||
"""Initialize kinematics for the specified robot type.
|
||||
|
||||
Args:
|
||||
robot_type: String specifying the robot model ("koch", "so100", or "moss")
|
||||
"""
|
||||
if robot_type not in self.ROBOT_MEASUREMENTS:
|
||||
raise ValueError(
|
||||
f"Unknown robot type: {robot_type}. Available types: {list(self.ROBOT_MEASUREMENTS.keys())}"
|
||||
)
|
||||
|
||||
self.robot_type = robot_type
|
||||
self.measurements = self.ROBOT_MEASUREMENTS[robot_type]
|
||||
|
||||
# Initialize all transformation matrices and screw axes
|
||||
self._setup_transforms()
|
||||
|
||||
def _create_translation_matrix(self, x=0, y=0, z=0):
|
||||
"""Create a 4x4 translation matrix."""
|
||||
return np.array([[1, 0, 0, x], [0, 1, 0, y], [0, 0, 1, z], [0, 0, 0, 1]])
|
||||
|
||||
def _setup_transforms(self):
|
||||
"""Setup all transformation matrices and screw axes for the robot."""
|
||||
# Set up rotation matrices (constant across robot types)
|
||||
|
||||
# Gripper orientation
|
||||
self.gripper_X0 = np.array(
|
||||
[
|
||||
[1, 0, 0, 0],
|
||||
[0, 0, 1, 0],
|
||||
[0, -1, 0, 0],
|
||||
[0, 0, 0, 1],
|
||||
]
|
||||
)
|
||||
|
||||
# Wrist orientation
|
||||
self.wrist_X0 = np.array(
|
||||
[
|
||||
[0, -1, 0, 0],
|
||||
[1, 0, 0, 0],
|
||||
[0, 0, 1, 0],
|
||||
[0, 0, 0, 1],
|
||||
]
|
||||
)
|
||||
|
||||
# Base orientation
|
||||
self.base_X0 = np.array(
|
||||
[
|
||||
[0, 0, 1, 0],
|
||||
[1, 0, 0, 0],
|
||||
[0, 1, 0, 0],
|
||||
[0, 0, 0, 1],
|
||||
]
|
||||
)
|
||||
|
||||
# Gripper
|
||||
# Screw axis of gripper frame wrt base frame
|
||||
self.S_BG = np.array(
|
||||
[
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
self.measurements["gripper"][2],
|
||||
-self.measurements["gripper"][1],
|
||||
]
|
||||
)
|
||||
|
||||
# Gripper origin to centroid transform
|
||||
self.X_GoGc = self._create_translation_matrix(x=0.07)
|
||||
|
||||
# Gripper origin to tip transform
|
||||
self.X_GoGt = self._create_translation_matrix(x=0.12)
|
||||
|
||||
# 0-position gripper frame pose wrt base
|
||||
self.X_BoGo = self._create_translation_matrix(
|
||||
x=self.measurements["gripper"][0],
|
||||
y=self.measurements["gripper"][1],
|
||||
z=self.measurements["gripper"][2],
|
||||
)
|
||||
|
||||
# Wrist
|
||||
# Screw axis of wrist frame wrt base frame
|
||||
self.S_BR = np.array([0, 1, 0, -self.measurements["wrist"][2], 0, self.measurements["wrist"][0]])
|
||||
|
||||
# 0-position origin to centroid transform
|
||||
self.X_RoRc = self._create_translation_matrix(x=0.0035, y=-0.002)
|
||||
|
||||
# 0-position wrist frame pose wrt base
|
||||
self.X_BR = self._create_translation_matrix(
|
||||
x=self.measurements["wrist"][0],
|
||||
y=self.measurements["wrist"][1],
|
||||
z=self.measurements["wrist"][2],
|
||||
)
|
||||
|
||||
# Forearm
|
||||
# Screw axis of forearm frame wrt base frame
|
||||
self.S_BF = np.array(
|
||||
[
|
||||
0,
|
||||
1,
|
||||
0,
|
||||
-self.measurements["forearm"][2],
|
||||
0,
|
||||
self.measurements["forearm"][0],
|
||||
]
|
||||
)
|
||||
|
||||
# Forearm origin + centroid transform
|
||||
self.X_FoFc = self._create_translation_matrix(x=0.036) # spellchecker:disable-line
|
||||
|
||||
# 0-position forearm frame pose wrt base
|
||||
self.X_BF = self._create_translation_matrix(
|
||||
x=self.measurements["forearm"][0],
|
||||
y=self.measurements["forearm"][1],
|
||||
z=self.measurements["forearm"][2],
|
||||
)
|
||||
|
||||
# Humerus
|
||||
# Screw axis of humerus frame wrt base frame
|
||||
self.S_BH = np.array(
|
||||
[
|
||||
0,
|
||||
-1,
|
||||
0,
|
||||
self.measurements["humerus"][2],
|
||||
0,
|
||||
-self.measurements["humerus"][0],
|
||||
]
|
||||
)
|
||||
|
||||
# Humerus origin to centroid transform
|
||||
self.X_HoHc = self._create_translation_matrix(x=0.0475)
|
||||
|
||||
# 0-position humerus frame pose wrt base
|
||||
self.X_BH = self._create_translation_matrix(
|
||||
x=self.measurements["humerus"][0],
|
||||
y=self.measurements["humerus"][1],
|
||||
z=self.measurements["humerus"][2],
|
||||
)
|
||||
|
||||
# Shoulder
|
||||
# Screw axis of shoulder frame wrt Base frame
|
||||
self.S_BS = np.array([0, 0, -1, 0, 0, 0])
|
||||
|
||||
# Shoulder origin to centroid transform
|
||||
self.X_SoSc = self._create_translation_matrix(x=-0.017, z=0.0235)
|
||||
|
||||
# 0-position shoulder frame pose wrt base
|
||||
self.X_BS = self._create_translation_matrix(
|
||||
x=self.measurements["shoulder"][0],
|
||||
y=self.measurements["shoulder"][1],
|
||||
z=self.measurements["shoulder"][2],
|
||||
)
|
||||
|
||||
# Base
|
||||
# Base origin to centroid transform
|
||||
self.X_BoBc = self._create_translation_matrix(y=0.015)
|
||||
|
||||
# World to base transform
|
||||
self.X_WoBo = self._create_translation_matrix(
|
||||
x=self.measurements["base"][0],
|
||||
y=self.measurements["base"][1],
|
||||
z=self.measurements["base"][2],
|
||||
)
|
||||
|
||||
# Pre-compute gripper post-multiplication matrix
|
||||
self._fk_gripper_post = self.X_GoGc @ self.X_BoGo @ self.gripper_X0
|
||||
|
||||
def fk_base(self):
|
||||
"""Forward kinematics for the base frame."""
|
||||
return self.X_WoBo @ self.X_BoBc @ self.base_X0
|
||||
|
||||
def fk_shoulder(self, robot_pos_deg):
|
||||
"""Forward kinematics for the shoulder frame."""
|
||||
robot_pos_rad = robot_pos_deg / 180 * np.pi
|
||||
return self.X_WoBo @ screw_axis_to_transform(self.S_BS, robot_pos_rad[0]) @ self.X_SoSc @ self.X_BS
|
||||
|
||||
def fk_humerus(self, robot_pos_deg):
|
||||
"""Forward kinematics for the humerus frame."""
|
||||
robot_pos_rad = robot_pos_deg / 180 * np.pi
|
||||
return (
|
||||
self.X_WoBo
|
||||
@ screw_axis_to_transform(self.S_BS, robot_pos_rad[0])
|
||||
@ screw_axis_to_transform(self.S_BH, robot_pos_rad[1])
|
||||
@ self.X_HoHc
|
||||
@ self.X_BH
|
||||
)
|
||||
|
||||
def fk_forearm(self, robot_pos_deg):
|
||||
"""Forward kinematics for the forearm frame."""
|
||||
robot_pos_rad = robot_pos_deg / 180 * np.pi
|
||||
return (
|
||||
self.X_WoBo
|
||||
@ screw_axis_to_transform(self.S_BS, robot_pos_rad[0])
|
||||
@ screw_axis_to_transform(self.S_BH, robot_pos_rad[1])
|
||||
@ screw_axis_to_transform(self.S_BF, robot_pos_rad[2])
|
||||
@ self.X_FoFc # spellchecker:disable-line
|
||||
@ self.X_BF
|
||||
)
|
||||
|
||||
def fk_wrist(self, robot_pos_deg):
|
||||
"""Forward kinematics for the wrist frame."""
|
||||
robot_pos_rad = robot_pos_deg / 180 * np.pi
|
||||
return (
|
||||
self.X_WoBo
|
||||
@ screw_axis_to_transform(self.S_BS, robot_pos_rad[0])
|
||||
@ screw_axis_to_transform(self.S_BH, robot_pos_rad[1])
|
||||
@ screw_axis_to_transform(self.S_BF, robot_pos_rad[2])
|
||||
@ screw_axis_to_transform(self.S_BR, robot_pos_rad[3])
|
||||
@ self.X_RoRc
|
||||
@ self.X_BR
|
||||
@ self.wrist_X0
|
||||
)
|
||||
|
||||
def fk_gripper(self, robot_pos_deg):
|
||||
"""Forward kinematics for the gripper frame."""
|
||||
robot_pos_rad = robot_pos_deg / 180 * np.pi
|
||||
return (
|
||||
self.X_WoBo
|
||||
@ screw_axis_to_transform(self.S_BS, robot_pos_rad[0])
|
||||
@ screw_axis_to_transform(self.S_BH, robot_pos_rad[1])
|
||||
@ screw_axis_to_transform(self.S_BF, robot_pos_rad[2])
|
||||
@ screw_axis_to_transform(self.S_BR, robot_pos_rad[3])
|
||||
@ screw_axis_to_transform(self.S_BG, robot_pos_rad[4])
|
||||
@ self._fk_gripper_post
|
||||
)
|
||||
|
||||
def fk_gripper_tip(self, robot_pos_deg):
|
||||
"""Forward kinematics for the gripper tip frame."""
|
||||
robot_pos_rad = robot_pos_deg / 180 * np.pi
|
||||
return (
|
||||
self.X_WoBo
|
||||
@ screw_axis_to_transform(self.S_BS, robot_pos_rad[0])
|
||||
@ screw_axis_to_transform(self.S_BH, robot_pos_rad[1])
|
||||
@ screw_axis_to_transform(self.S_BF, robot_pos_rad[2])
|
||||
@ screw_axis_to_transform(self.S_BR, robot_pos_rad[3])
|
||||
@ screw_axis_to_transform(self.S_BG, robot_pos_rad[4])
|
||||
@ self.X_GoGt
|
||||
@ self.X_BoGo
|
||||
@ self.gripper_X0
|
||||
)
|
||||
|
||||
def compute_jacobian(self, robot_pos_deg, fk_func=None):
|
||||
"""Finite differences to compute the Jacobian.
|
||||
J(i, j) represents how the ith component of the end-effector's velocity changes wrt a small change
|
||||
in the jth joint's velocity.
|
||||
|
||||
Args:
|
||||
robot_pos_deg: Current joint positions in degrees
|
||||
fk_func: Forward kinematics function to use (defaults to fk_gripper)
|
||||
"""
|
||||
if fk_func is None:
|
||||
fk_func = self.fk_gripper
|
||||
|
||||
eps = 1e-8
|
||||
jac = np.zeros(shape=(6, 5))
|
||||
delta = np.zeros(len(robot_pos_deg[:-1]), dtype=np.float64)
|
||||
for el_ix in range(len(robot_pos_deg[:-1])):
|
||||
delta *= 0
|
||||
delta[el_ix] = eps / 2
|
||||
Sdot = (
|
||||
pose_difference_se3(
|
||||
fk_func(robot_pos_deg[:-1] + delta),
|
||||
fk_func(robot_pos_deg[:-1] - delta),
|
||||
)
|
||||
/ eps
|
||||
)
|
||||
jac[:, el_ix] = Sdot
|
||||
return jac
|
||||
|
||||
def compute_positional_jacobian(self, robot_pos_deg, fk_func=None):
|
||||
"""Finite differences to compute the positional Jacobian.
|
||||
J(i, j) represents how the ith component of the end-effector's position changes wrt a small change
|
||||
in the jth joint's velocity.
|
||||
|
||||
Args:
|
||||
robot_pos_deg: Current joint positions in degrees
|
||||
fk_func: Forward kinematics function to use (defaults to fk_gripper)
|
||||
"""
|
||||
if fk_func is None:
|
||||
fk_func = self.fk_gripper
|
||||
|
||||
eps = 1e-8
|
||||
jac = np.zeros(shape=(3, 5))
|
||||
delta = np.zeros(len(robot_pos_deg[:-1]), dtype=np.float64)
|
||||
for el_ix in range(len(robot_pos_deg[:-1])):
|
||||
delta *= 0
|
||||
delta[el_ix] = eps / 2
|
||||
Sdot = (
|
||||
fk_func(robot_pos_deg[:-1] + delta)[:3, 3] - fk_func(robot_pos_deg[:-1] - delta)[:3, 3]
|
||||
) / eps
|
||||
jac[:, el_ix] = Sdot
|
||||
return jac
|
||||
|
||||
def ik(self, current_joint_state, desired_ee_pose, position_only=True, fk_func=None):
|
||||
"""Inverse kinematics using gradient descent.
|
||||
|
||||
Args:
|
||||
current_joint_state: Initial joint positions in degrees
|
||||
desired_ee_pose: Target end-effector pose as a 4x4 transformation matrix
|
||||
position_only: If True, only match end-effector position, not orientation
|
||||
fk_func: Forward kinematics function to use (defaults to fk_gripper)
|
||||
|
||||
Returns:
|
||||
Joint positions in degrees that achieve the desired end-effector pose
|
||||
"""
|
||||
if fk_func is None:
|
||||
fk_func = self.fk_gripper
|
||||
|
||||
# Do gradient descent.
|
||||
max_iterations = 5
|
||||
learning_rate = 1
|
||||
for _ in range(max_iterations):
|
||||
current_ee_pose = fk_func(current_joint_state)
|
||||
if not position_only:
|
||||
error = se3_error(desired_ee_pose, current_ee_pose)
|
||||
jac = self.compute_jacobian(current_joint_state, fk_func)
|
||||
else:
|
||||
error = desired_ee_pose[:3, 3] - current_ee_pose[:3, 3]
|
||||
jac = self.compute_positional_jacobian(current_joint_state, fk_func)
|
||||
delta_angles = np.linalg.pinv(jac) @ error
|
||||
current_joint_state[:-1] += learning_rate * delta_angles
|
||||
|
||||
if np.linalg.norm(error) < 5e-3:
|
||||
return current_joint_state
|
||||
return current_joint_state
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import time
|
||||
|
||||
def run_test(robot_type):
|
||||
"""Run test suite for a specific robot type."""
|
||||
print(f"\n--- Testing {robot_type.upper()} Robot ---")
|
||||
|
||||
# Initialize kinematics for this robot
|
||||
robot = RobotKinematics(robot_type)
|
||||
|
||||
# Test 1: Forward kinematics consistency
|
||||
print("Test 1: Forward kinematics consistency")
|
||||
test_angles = np.array([30, 45, -30, 20, 10, 0]) # Example joint angles in degrees
|
||||
|
||||
# Calculate FK for different joints
|
||||
shoulder_pose = robot.fk_shoulder(test_angles)
|
||||
humerus_pose = robot.fk_humerus(test_angles)
|
||||
forearm_pose = robot.fk_forearm(test_angles)
|
||||
wrist_pose = robot.fk_wrist(test_angles)
|
||||
gripper_pose = robot.fk_gripper(test_angles)
|
||||
gripper_tip_pose = robot.fk_gripper_tip(test_angles)
|
||||
|
||||
# Check that poses form a consistent kinematic chain (positions should be progressively further from origin)
|
||||
distances = [
|
||||
np.linalg.norm(shoulder_pose[:3, 3]),
|
||||
np.linalg.norm(humerus_pose[:3, 3]),
|
||||
np.linalg.norm(forearm_pose[:3, 3]),
|
||||
np.linalg.norm(wrist_pose[:3, 3]),
|
||||
np.linalg.norm(gripper_pose[:3, 3]),
|
||||
np.linalg.norm(gripper_tip_pose[:3, 3]),
|
||||
]
|
||||
|
||||
# Check if distances generally increase along the chain
|
||||
is_consistent = all(distances[i] <= distances[i + 1] for i in range(len(distances) - 1))
|
||||
print(f" Pose distances from origin: {[round(d, 3) for d in distances]}")
|
||||
print(f" Kinematic chain consistency: {'PASSED' if is_consistent else 'FAILED'}")
|
||||
|
||||
# Test 2: Jacobian computation
|
||||
print("Test 2: Jacobian computation")
|
||||
jacobian = robot.compute_jacobian(test_angles)
|
||||
positional_jacobian = robot.compute_positional_jacobian(test_angles)
|
||||
|
||||
# Check shapes
|
||||
jacobian_shape_ok = jacobian.shape == (6, 5)
|
||||
pos_jacobian_shape_ok = positional_jacobian.shape == (3, 5)
|
||||
|
||||
print(f" Jacobian shape: {'PASSED' if jacobian_shape_ok else 'FAILED'}")
|
||||
print(f" Positional Jacobian shape: {'PASSED' if pos_jacobian_shape_ok else 'FAILED'}")
|
||||
|
||||
# Test 3: Inverse kinematics
|
||||
print("Test 3: Inverse kinematics (position only)")
|
||||
|
||||
# Generate target pose from known joint angles
|
||||
original_angles = np.array([10, 20, 30, -10, 5, 0])
|
||||
target_pose = robot.fk_gripper(original_angles)
|
||||
|
||||
# Start IK from a different position
|
||||
initial_guess = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
|
||||
|
||||
# Measure IK performance
|
||||
start_time = time.time()
|
||||
computed_angles = robot.ik(initial_guess.copy(), target_pose)
|
||||
ik_time = time.time() - start_time
|
||||
|
||||
# Compute resulting pose from IK solution
|
||||
result_pose = robot.fk_gripper(computed_angles)
|
||||
|
||||
# Calculate position error
|
||||
pos_error = np.linalg.norm(target_pose[:3, 3] - result_pose[:3, 3])
|
||||
passed = pos_error < 0.01 # Accept errors less than 1cm
|
||||
|
||||
print(f" IK computation time: {ik_time:.4f} seconds")
|
||||
print(f" Position error: {pos_error:.4f}")
|
||||
print(f" IK position accuracy: {'PASSED' if passed else 'FAILED'}")
|
||||
|
||||
return is_consistent and jacobian_shape_ok and pos_jacobian_shape_ok and passed
|
||||
|
||||
# Run tests for all robot types
|
||||
results = {}
|
||||
for robot_type in ["koch", "so100", "moss"]:
|
||||
results[robot_type] = run_test(robot_type)
|
||||
|
||||
# Print overall summary
|
||||
print("\n=== Test Summary ===")
|
||||
all_passed = all(results.values())
|
||||
for robot_type, passed in results.items():
|
||||
print(f"{robot_type.upper()}: {'PASSED' if passed else 'FAILED'}")
|
||||
print(f"\nOverall: {'ALL TESTS PASSED' if all_passed else 'SOME TESTS FAILED'}")
|
||||
@@ -5,7 +5,7 @@ import pytest
|
||||
import torch
|
||||
|
||||
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
|
||||
from lerobot.scripts.server.buffer import BatchTransition, ReplayBuffer, random_crop_vectorized
|
||||
from lerobot.common.utils.buffer import BatchTransition, ReplayBuffer, random_crop_vectorized
|
||||
from tests.fixtures.constants import DUMMY_REPO_ID
|
||||
|
||||
|
||||
Reference in New Issue
Block a user