forked from tangger/lerobot
106 lines
3.1 KiB
Python
106 lines
3.1 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""
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Simple script to control a robot from teleoperation.
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Example:
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```shell
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python -m lerobot.scripts.server.find_joint_limits \
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--robot.type=so100_follower \
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--robot.port=/dev/tty.usbmodem58760431541 \
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--robot.id=black \
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--teleop.type=so100_leader \
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--teleop.port=/dev/tty.usbmodem58760431551 \
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--teleop.id=blue
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```
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"""
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import time
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from dataclasses import dataclass
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import draccus
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import numpy as np
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from lerobot.common.model.kinematics_utils import RobotKinematics
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from lerobot.common.robots import ( # noqa: F401
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RobotConfig,
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koch_follower,
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make_robot_from_config,
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so100_follower,
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so100_follower_end_effector,
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)
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from lerobot.common.teleoperators import ( # noqa: F401
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TeleoperatorConfig,
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gamepad,
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koch_leader,
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make_teleoperator_from_config,
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so100_leader,
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)
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@dataclass
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class FindJointLimitsConfig:
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teleop: TeleoperatorConfig
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robot: RobotConfig
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# Limit the maximum frames per second. By default, no limit.
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fps: int | None = None
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teleop_time_s: float | None = None
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# Display all cameras on screen
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display_data: bool = False
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urdf_path: str = "/Users/michel_aractingi/code/SO-ARM100/Simulation/SO101/so101_new_calib.urdf"
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@draccus.wrap()
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def find_joint_and_ee_bounds(cfg: FindJointLimitsConfig):
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teleop = make_teleoperator_from_config(cfg.teleop)
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robot = make_robot_from_config(cfg.robot)
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teleop.connect()
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robot.connect()
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start_episode_t = time.perf_counter()
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ee_list = []
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pos_list = []
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kinematics = RobotKinematics(cfg.urdf_path)
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control_time_s = 10
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while True:
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action = teleop.get_action()
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robot.send_action(action)
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joint_positions = robot.bus.sync_read("Present_Position")
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joint_positions = np.array([joint_positions[key] for key in joint_positions])
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ee_pos, _, _ = kinematics.forward_kinematics(joint_positions * np.pi / 180)
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ee_list.append(ee_pos.copy())
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pos_list.append(joint_positions)
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if time.perf_counter() - start_episode_t > control_time_s:
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max_ee = np.max(np.stack(ee_list), 0)
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min_ee = np.min(np.stack(ee_list), 0)
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max_pos = np.max(np.stack(pos_list), 0)
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min_pos = np.min(np.stack(pos_list), 0)
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print(f"Max ee position {max_ee}")
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print(f"Min ee position {min_ee}")
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print(f"Max joint pos position {max_pos}")
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print(f"Min joint pos position {min_pos}")
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break
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if __name__ == "__main__":
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find_joint_and_ee_bounds()
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