121 lines
3.4 KiB
Python
121 lines
3.4 KiB
Python
#!/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 time
|
|
|
|
import numpy as np
|
|
from stretch_body.gamepad_teleop import GamePadTeleop
|
|
from stretch_body.robot_params import RobotParams
|
|
|
|
from lerobot.common.errors import DeviceAlreadyConnectedError
|
|
|
|
from ..teleoperator import Teleoperator
|
|
from .configuration_stretch3 import Stretch3GamePadConfig
|
|
|
|
# from stretch_body.gamepad_controller.GamePadController
|
|
GAMEPAD_BUTTONS = [
|
|
"middle_led_ring_button_pressed",
|
|
"left_stick_x",
|
|
"left_stick_y",
|
|
"right_stick_x",
|
|
"right_stick_y",
|
|
"left_stick_button_pressed",
|
|
"right_stick_button_pressed",
|
|
"bottom_button_pressed",
|
|
"top_button_pressed",
|
|
"left_button_pressed",
|
|
"right_button_pressed",
|
|
"left_shoulder_button_pressed",
|
|
"right_shoulder_button_pressed",
|
|
"select_button_pressed",
|
|
"start_button_pressed",
|
|
"left_trigger_pulled",
|
|
"right_trigger_pulled",
|
|
"bottom_pad_pressed",
|
|
"top_pad_pressed",
|
|
"left_pad_pressed",
|
|
"right_pad_pressed",
|
|
]
|
|
|
|
|
|
class Stretch3GamePad(Teleoperator):
|
|
"""[Stretch 3](https://hello-robot.com/stretch-3-product), by Hello Robot."""
|
|
|
|
config_class = Stretch3GamePadConfig
|
|
name = "stretch3"
|
|
|
|
def __init__(self, config: Stretch3GamePadConfig):
|
|
super().__init__(config)
|
|
|
|
self.config = config
|
|
self.robot_type = self.config.type
|
|
|
|
self.api = GamePadTeleop(robot_instance=False)
|
|
|
|
self.is_connected = False
|
|
self.logs = {}
|
|
|
|
# TODO(aliberts): test this
|
|
RobotParams.set_logging_level("WARNING")
|
|
RobotParams.set_logging_formatter("brief_console_formatter")
|
|
|
|
@property
|
|
def action_features(self) -> dict:
|
|
return {
|
|
"dtype": "float32",
|
|
"shape": (len(GAMEPAD_BUTTONS),),
|
|
"names": {"buttons": GAMEPAD_BUTTONS},
|
|
}
|
|
|
|
@property
|
|
def feedback_features(self) -> dict:
|
|
return {}
|
|
|
|
def connect(self) -> None:
|
|
if self.is_connected:
|
|
raise DeviceAlreadyConnectedError(
|
|
"ManipulatorRobot is already connected. Do not run `robot.connect()` twice."
|
|
)
|
|
|
|
self.api.startup()
|
|
self.api._update_state() # Check controller can be read & written
|
|
self.api._update_modes()
|
|
self.is_connected = True
|
|
|
|
def calibrate(self) -> None:
|
|
pass
|
|
|
|
def get_action(self) -> np.ndarray:
|
|
# Read Stretch state
|
|
before_read_t = time.perf_counter()
|
|
action = self.api.gamepad_controller.get_state()
|
|
self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
|
|
|
|
action = np.asarray(list(action.values()))
|
|
|
|
return action
|
|
|
|
def send_feedback(self, feedback: np.ndarray) -> None:
|
|
pass
|
|
|
|
def print_logs(self) -> None:
|
|
pass
|
|
# TODO(aliberts): move robot-specific logs logic here
|
|
|
|
def disconnect(self) -> None:
|
|
self.api.stop()
|
|
self.is_connected = False
|