122 lines
4.3 KiB
Python
122 lines
4.3 KiB
Python
# !/usr/bin/env python
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# Copyright 2025 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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import time
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from lerobot.model.kinematics import RobotKinematics
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from lerobot.processor import RobotAction, RobotObservation, RobotProcessorPipeline
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from lerobot.processor.converters import (
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robot_action_observation_to_transition,
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robot_action_to_transition,
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transition_to_robot_action,
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)
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from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
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from lerobot.robots.so100_follower.robot_kinematic_processor import (
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EEBoundsAndSafety,
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ForwardKinematicsJointsToEE,
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InverseKinematicsEEToJoints,
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)
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from lerobot.robots.so100_follower.so100_follower import SO100Follower
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from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
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from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
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from lerobot.utils.robot_utils import busy_wait
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from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
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FPS = 30
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# Initialize the robot and teleoperator config
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follower_config = SO100FollowerConfig(
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port="/dev/tty.usbmodem5A460814411", id="my_awesome_follower_arm", use_degrees=True
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)
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leader_config = SO100LeaderConfig(port="/dev/tty.usbmodem5A460819811", id="my_awesome_leader_arm")
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# Initialize the robot and teleoperator
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follower = SO100Follower(follower_config)
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leader = SO100Leader(leader_config)
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# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
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follower_kinematics_solver = RobotKinematics(
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urdf_path="./SO101/so101_new_calib.urdf",
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target_frame_name="gripper_frame_link",
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joint_names=list(follower.bus.motors.keys()),
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)
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# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
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leader_kinematics_solver = RobotKinematics(
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urdf_path="./SO101/so101_new_calib.urdf",
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target_frame_name="gripper_frame_link",
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joint_names=list(leader.bus.motors.keys()),
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)
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# Build pipeline to convert teleop joints to EE action
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leader_to_ee = RobotProcessorPipeline[RobotAction, RobotAction](
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steps=[
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ForwardKinematicsJointsToEE(
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kinematics=leader_kinematics_solver, motor_names=list(leader.bus.motors.keys())
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),
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],
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to_transition=robot_action_to_transition,
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to_output=transition_to_robot_action,
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)
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# build pipeline to convert EE action to robot joints
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ee_to_follower_joints = RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction](
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[
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EEBoundsAndSafety(
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end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
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max_ee_step_m=0.10,
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),
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InverseKinematicsEEToJoints(
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kinematics=follower_kinematics_solver,
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motor_names=list(follower.bus.motors.keys()),
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initial_guess_current_joints=False,
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),
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],
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to_transition=robot_action_observation_to_transition,
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to_output=transition_to_robot_action,
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)
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# Connect to the robot and teleoperator
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follower.connect()
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leader.connect()
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# Init rerun viewer
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init_rerun(session_name="so100_so100_EE_teleop")
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print("Starting teleop loop...")
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while True:
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t0 = time.perf_counter()
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# Get robot observation
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robot_obs = follower.get_observation()
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# Get teleop observation
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leader_joints_obs = leader.get_action()
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# teleop joints -> teleop EE action
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leader_ee_act = leader_to_ee(leader_joints_obs)
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# teleop EE -> robot joints
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follower_joints_act = ee_to_follower_joints((leader_ee_act, robot_obs))
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# Send action to robot
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_ = follower.send_action(follower_joints_act)
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# Visualize
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log_rerun_data(observation=leader_ee_act, action=follower_joints_act)
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busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
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