2e528a8b12
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <simon.alibert@huggingface.co> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
99 lines
3.3 KiB
Python
Executable File
99 lines
3.3 KiB
Python
Executable File
# 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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import logging
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import time
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from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
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from lerobot.common.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
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from lerobot.common.robots.lekiwi.lekiwi_client import OBS_STATE, LeKiwiClient
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from lerobot.common.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
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from lerobot.common.teleoperators.so100 import SO100Leader, SO100LeaderConfig
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NB_CYCLES_CLIENT_CONNECTION = 250
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def main():
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logging.info("Configuring Teleop Devices")
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leader_arm_config = SO100LeaderConfig(port="/dev/tty.usbmodem58760434171")
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leader_arm = SO100Leader(leader_arm_config)
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keyboard_config = KeyboardTeleopConfig()
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keyboard = KeyboardTeleop(keyboard_config)
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logging.info("Configuring LeKiwi Client")
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robot_config = LeKiwiClientConfig(remote_ip="192.0.2.42", id="lekiwi")
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robot = LeKiwiClient(robot_config)
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logging.info("Creating LeRobot Dataset")
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# The observations that we get are expected to be in body frame (x,y,theta)
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obs_dict = {f"{OBS_STATE}." + key: value for key, value in robot.state_feature.items()}
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# The actions that we send are expected to be in wheel frame (motor encoders)
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act_dict = {"action." + key: value for key, value in robot.action_feature.items()}
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features_dict = {
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**act_dict,
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**obs_dict,
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**robot.camera_features,
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}
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dataset = LeRobotDataset.create(
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repo_id="user/lekiwi" + str(int(time.time())),
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fps=10,
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features=features_dict,
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)
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logging.info("Connecting Teleop Devices")
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leader_arm.connect()
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keyboard.connect()
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logging.info("Connecting remote LeKiwi")
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robot.connect()
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if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
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logging.error("Failed to connect to all devices")
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return
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logging.info("Starting LeKiwi teleoperation")
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i = 0
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while i < NB_CYCLES_CLIENT_CONNECTION:
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arm_action = leader_arm.get_action()
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base_action = keyboard.get_action()
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action = {**arm_action, **base_action} if len(base_action) > 0 else arm_action
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action_sent = robot.send_action(action)
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observation = robot.get_observation()
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frame = {**action_sent, **observation}
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frame.update({"task": "Dummy Example Task Dataset"})
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logging.info("Saved a frame into the dataset")
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dataset.add_frame(frame)
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i += 1
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logging.info("Disconnecting Teleop Devices and LeKiwi Client")
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robot.disconnect()
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leader_arm.disconnect()
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keyboard.disconnect()
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logging.info("Uploading dataset to the hub")
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dataset.save_episode()
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dataset.push_to_hub()
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logging.info("Finished LeKiwi cleanly")
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if __name__ == "__main__":
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main()
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