forked from tangger/lerobot
Update stretch teleop
This commit is contained in:
Simon Alibert
@@ -20,26 +20,35 @@ import numpy as np
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from stretch_body.gamepad_teleop import GamePadTeleop
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from stretch_body.robot_params import RobotParams
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from lerobot.common.constants import OBS_IMAGES, OBS_STATE
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from lerobot.common.datasets.utils import get_nested_item
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from lerobot.common.errors import DeviceAlreadyConnectedError
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from ..teleoperator import Teleoperator
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from .configuration_stretch3 import Stretch3GamePadConfig
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# {lerobot_keys: stretch.api.keys}
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STRETCH_MOTORS = {
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"head_pan.pos": "head.head_pan.pos",
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"head_tilt.pos": "head.head_tilt.pos",
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"lift.pos": "lift.pos",
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"arm.pos": "arm.pos",
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"wrist_pitch.pos": "end_of_arm.wrist_pitch.pos",
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"wrist_roll.pos": "end_of_arm.wrist_roll.pos",
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"wrist_yaw.pos": "end_of_arm.wrist_yaw.pos",
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"gripper.pos": "end_of_arm.stretch_gripper.pos",
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"base_x.vel": "base.x_vel",
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"base_y.vel": "base.y_vel",
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"base_theta.vel": "base.theta_vel",
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}
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# from stretch_body.gamepad_controller.GamePadController
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GAMEPAD_BUTTONS = [
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"middle_led_ring_button_pressed",
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"left_stick_x",
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"left_stick_y",
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"right_stick_x",
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"right_stick_y",
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"left_stick_button_pressed",
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"right_stick_button_pressed",
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"bottom_button_pressed",
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"top_button_pressed",
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"left_button_pressed",
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"right_button_pressed",
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"left_shoulder_button_pressed",
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"right_shoulder_button_pressed",
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"select_button_pressed",
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"start_button_pressed",
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"left_trigger_pulled",
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"right_trigger_pulled",
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"bottom_pad_pressed",
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"top_pad_pressed",
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"left_pad_pressed",
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"right_pad_pressed",
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]
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class Stretch3GamePad(Teleoperator):
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@@ -59,122 +68,53 @@ class Stretch3GamePad(Teleoperator):
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self.is_connected = False
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self.logs = {}
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self.teleop = None # TODO remove
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# TODO(aliberts): test this
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RobotParams.set_logging_level("WARNING")
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RobotParams.set_logging_formatter("brief_console_formatter")
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self.state_keys = None
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self.action_keys = None
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@property
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def state_feature(self) -> dict:
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def action_feature(self) -> dict:
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return {
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"dtype": "float32",
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"shape": (len(STRETCH_MOTORS),),
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"names": {"motors": list(STRETCH_MOTORS)},
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"shape": (len(GAMEPAD_BUTTONS),),
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"names": {"buttons": GAMEPAD_BUTTONS},
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}
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@property
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def action_feature(self) -> dict:
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return self.state_feature
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@property
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def camera_features(self) -> dict[str, dict]:
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cam_ft = {}
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for cam_key, cam in self.cameras.items():
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cam_ft[cam_key] = {
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"shape": (cam.height, cam.width, cam.channels),
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"names": ["height", "width", "channels"],
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"info": None,
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}
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return cam_ft
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def feedback_feature(self) -> dict:
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return {}
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def connect(self) -> None:
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self.is_connected = self.api.startup()
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if not self.is_connected:
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print("Another process is already using Stretch. Try running 'stretch_free_robot_process.py'")
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raise ConnectionError()
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if self.is_connected:
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raise DeviceAlreadyConnectedError(
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"ManipulatorRobot is already connected. Do not run `robot.connect()` twice."
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)
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for cam in self.cameras.values():
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cam.connect()
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self.is_connected = self.is_connected and cam.is_connected
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if not self.is_connected:
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print("Could not connect to the cameras, check that all cameras are plugged-in.")
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raise ConnectionError()
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self.calibrate()
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self.api.startup()
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self.api._update_state() # Check controller can be read & written
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self.api._update_modes()
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self.is_connected = True
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def calibrate(self) -> None:
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if not self.api.is_homed():
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self.api.home()
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def _get_state(self) -> dict:
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status = self.api.get_status()
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return {k: get_nested_item(status, v, sep=".") for k, v in STRETCH_MOTORS.items()}
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def get_observation(self) -> dict[str, np.ndarray]:
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obs_dict = {}
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pass
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def get_action(self) -> np.ndarray:
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# Read Stretch state
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before_read_t = time.perf_counter()
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state = self._get_state()
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action = self.api.gamepad_controller.get_state()
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self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
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if self.state_keys is None:
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self.state_keys = list(state)
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action = np.asarray(list(action.values()))
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state = np.asarray(list(state.values()))
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obs_dict[OBS_STATE] = state
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# Capture images from cameras
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for cam_key, cam in self.cameras.items():
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before_camread_t = time.perf_counter()
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obs_dict[f"{OBS_IMAGES}.{cam_key}"] = cam.async_read()
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self.logs[f"read_camera_{cam_key}_dt_s"] = cam.logs["delta_timestamp_s"]
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self.logs[f"async_read_camera_{cam_key}_dt_s"] = time.perf_counter() - before_camread_t
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return obs_dict
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def send_action(self, action: np.ndarray) -> np.ndarray:
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if not self.is_connected:
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raise ConnectionError()
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if self.teleop is None:
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self.teleop = GamePadTeleop(robot_instance=False)
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self.teleop.startup(robot=self)
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if self.action_keys is None:
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dummy_action = self.teleop.gamepad_controller.get_state()
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self.action_keys = list(dummy_action.keys())
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action_dict = dict(zip(self.action_keys, action.tolist(), strict=True))
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before_write_t = time.perf_counter()
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self.teleop.do_motion(state=action_dict, robot=self)
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self.push_command()
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self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t
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# TODO(aliberts): return action_sent when motion is limited
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return action
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def send_feedback(self, feedback: np.ndarray) -> None:
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pass
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def print_logs(self) -> None:
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pass
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# TODO(aliberts): move robot-specific logs logic here
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def teleop_safety_stop(self) -> None:
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if self.teleop is not None:
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self.teleop._safety_stop(robot=self)
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def disconnect(self) -> None:
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self.api.stop()
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if self.teleop is not None:
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self.teleop.gamepad_controller.stop()
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self.teleop.stop()
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for cam in self.cameras.values():
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cam.disconnect()
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self.is_connected = False
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