diff --git a/.gitignore b/.gitignore index 6441836..cbd4529 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,5 @@ cobot_magic/ librealsense/ data*/ -outputs/ \ No newline at end of file +outputs/ +lerobot_datasets/ \ No newline at end of file diff --git a/README.MD b/README.MD index e69de29..c25a6b3 100644 --- a/README.MD +++ b/README.MD @@ -0,0 +1 @@ +export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libtiff.so.5 \ No newline at end of file diff --git a/collect_data/__pycache__/aloha_mobile.cpython-310.pyc b/collect_data/__pycache__/aloha_mobile.cpython-310.pyc new file mode 100644 index 0000000..b5da082 Binary files /dev/null and b/collect_data/__pycache__/aloha_mobile.cpython-310.pyc differ diff --git a/collect_data/__pycache__/collect_data.cpython-310.pyc b/collect_data/__pycache__/collect_data.cpython-310.pyc new file mode 100644 index 0000000..6c12abb Binary files /dev/null and b/collect_data/__pycache__/collect_data.cpython-310.pyc differ diff --git a/collect_data/__pycache__/utils.cpython-310.pyc b/collect_data/__pycache__/utils.cpython-310.pyc new file mode 100644 index 0000000..5ee4914 Binary files /dev/null and b/collect_data/__pycache__/utils.cpython-310.pyc differ diff --git a/collect_data/aloha.yaml b/collect_data/aloha.yaml new file mode 100644 index 0000000..5a0f927 --- /dev/null +++ b/collect_data/aloha.yaml @@ -0,0 +1,23 @@ +camera_names: +- cam_high +- cam_left_wrist +- cam_right_wrist +dataset_dir: /home/ubuntu/LYT/lerobot_aloha/datasets/3camera +episode_idx: 0 +frame_rate: 30 +img_front_depth_topic: /camera_f/depth/image_raw +img_front_topic: /camera_f/color/image_raw +img_left_depth_topic: /camera_l/depth/image_raw +img_left_topic: /camera_l/color/image_raw +img_right_depth_topic: /camera_r/depth/image_raw +img_right_topic: /camera_r/color/image_raw +master_arm_left_topic: /master/joint_left +master_arm_right_topic: /master/joint_right +max_timesteps: 500 +num_episodes: 50 +puppet_arm_left_topic: /puppet/joint_left +puppet_arm_right_topic: /puppet/joint_right +robot_base_topic: /odom +task_name: aloha_mobile_dummy +use_depth_image: false +use_robot_base: false diff --git a/collect_data/collect_data.py b/collect_data/collect_data.py index f762221..45b7e60 100755 --- a/collect_data/collect_data.py +++ b/collect_data/collect_data.py @@ -1,77 +1,18 @@ import os import time -import argparse from aloha_mobile import AlohaRobotRos -from utils import save_data, init_keyboard_listener +from utils import save_data, init_keyboard_listener, load_config, log_say -def get_arguments(): - parser = argparse.ArgumentParser() - parser.add_argument('--dataset_dir', action='store', type=str, help='Dataset_dir.', - default="./data", required=False) - parser.add_argument('--task_name', action='store', type=str, help='Task name.', - default="aloha_mobile_dummy", required=False) - parser.add_argument('--episode_idx', action='store', type=int, help='Episode index.', - default=0, required=False) - parser.add_argument('--max_timesteps', action='store', type=int, help='Max_timesteps.', - default=500, required=False) - parser.add_argument('--camera_names', action='store', type=str, help='camera_names', - default=['cam_high', 'cam_left_wrist', 'cam_right_wrist'], required=False) - parser.add_argument('--num_episodes', action='store', type=int, help='Num_episodes.', - default=1, required=False) +def main(config_path): + args = load_config(config_path) - - # topic name of color image - parser.add_argument('--img_front_topic', action='store', type=str, help='img_front_topic', - default='/camera_f/color/image_raw', required=False) - parser.add_argument('--img_left_topic', action='store', type=str, help='img_left_topic', - default='/camera_l/color/image_raw', required=False) - parser.add_argument('--img_right_topic', action='store', type=str, help='img_right_topic', - default='/camera_r/color/image_raw', required=False) - - # topic name of depth image - parser.add_argument('--img_front_depth_topic', action='store', type=str, help='img_front_depth_topic', - default='/camera_f/depth/image_raw', required=False) - parser.add_argument('--img_left_depth_topic', action='store', type=str, help='img_left_depth_topic', - default='/camera_l/depth/image_raw', required=False) - parser.add_argument('--img_right_depth_topic', action='store', type=str, help='img_right_depth_topic', - default='/camera_r/depth/image_raw', required=False) - - # topic name of arm - parser.add_argument('--master_arm_left_topic', action='store', type=str, help='master_arm_left_topic', - default='/master/joint_left', required=False) - parser.add_argument('--master_arm_right_topic', action='store', type=str, help='master_arm_right_topic', - default='/master/joint_right', required=False) - parser.add_argument('--puppet_arm_left_topic', action='store', type=str, help='puppet_arm_left_topic', - default='/puppet/joint_left', required=False) - parser.add_argument('--puppet_arm_right_topic', action='store', type=str, help='puppet_arm_right_topic', - default='/puppet/joint_right', required=False) - - # topic name of robot_base - parser.add_argument('--robot_base_topic', action='store', type=str, help='robot_base_topic', - default='/odom', required=False) - - parser.add_argument('--use_robot_base', action='store', type=bool, help='use_robot_base', - default=False, required=False) - - # collect depth image - parser.add_argument('--use_depth_image', action='store', type=bool, help='use_depth_image', - default=False, required=False) - - parser.add_argument('--frame_rate', action='store', type=int, help='frame_rate', - default=30, required=False) - - args = parser.parse_args() - return args - - -def main(): - args = get_arguments() ros_operator = AlohaRobotRos(args) dataset_dir = os.path.join(args.dataset_dir, args.task_name) - # 确保数据集目录存在 + # Ensure dataset directory exists os.makedirs(dataset_dir, exist_ok=True) - # 单集收集模式 + + # Single episode collection mode if args.num_episodes == 1: print(f"Recording single episode {args.episode_idx}...") timesteps, actions = ros_operator.process() @@ -84,7 +25,8 @@ def main(): save_data(args, timesteps, actions, dataset_path) print(f"\033[32mEpisode {args.episode_idx} saved successfully at {dataset_path}\033[0m") return 0 - # 多集收集模式 + + # Multi-episode collection mode print(""" \033[1;36mKeyboard Controls:\033[0m ← \033[1mLeft Arrow\033[0m: Start Recording @@ -93,7 +35,8 @@ def main(): ↑ \033[1mUp Arrow\033[0m: Replay Data (if implemented) \033[1mESC\033[0m: Exit Program """) - # 初始化键盘监听器 + log_say("欢迎您为 具身智能科学家项目采集数据，您辛苦了。我已经将一切准备就绪，请您按方向左键开始录制数据。", play_sounds=True) + listener, events = init_keyboard_listener() episode_idx = args.episode_idx collected_episodes = 0 @@ -102,27 +45,31 @@ def main(): while collected_episodes < args.num_episodes: if events["exit_early"]: print("\033[33mOperation terminated by user\033[0m") + log_say("操作被你停止了，如果这是个误操作，请重新开始。", play_sounds=True) break if events["record_start"]: - # 重置事件状态，开始新的录制 + # Reset event states for new recording events["record_start"] = False events["save_data"] = False events["discard_data"] = False - + log_say(f"开始录制第{episode_idx}条轨迹，请开始操作机械臂。", play_sounds=True) print(f"\n\033[1;32mRecording episode {episode_idx}...\033[0m") timesteps, actions = ros_operator.process() print(f"\033[1;33mRecorded {len(actions)} timesteps. (→ to save, ↓ to discard)\033[0m") + log_say(f"第{episode_idx}条轨迹的录制已经到达最大时间步并录制结束，请选择是否保留该条轨迹。按方向右键保留，方向下键丢弃。", play_sounds=True) - # 等待用户决定保存或丢弃 + # Wait for user decision to save or discard while True: if events["save_data"]: events["save_data"] = False if len(actions) < args.max_timesteps: print(f"\033[31mSave failure: Recorded only {len(actions)}/{args.max_timesteps} timesteps.\033[0m") + log_say(f"由于当前轨迹的实际时间步数小于最大时间步数，因此无法保存该条轨迹。该条轨迹将被丢弃，请重新录制。", play_sounds=True) else: dataset_path = os.path.join(dataset_dir, f"episode_{episode_idx}") + log_say(f"你选择了保留该轨迹作为第{episode_idx}条轨迹数据。接下来请你按方向左键开始录制下一条轨迹。", play_sounds=True) save_data(args, timesteps, actions, dataset_path) print(f"\033[32mEpisode {episode_idx} saved successfully at {dataset_path}\033[0m") episode_idx += 1 @@ -132,22 +79,25 @@ def main(): if events["discard_data"]: events["discard_data"] = False + log_say(f"你选择了丢弃该轨迹作为第{episode_idx}条轨迹数据。接下来请你按方向左键开始录制下一条轨迹。", play_sounds=True) print("\033[33mData discarded. Press ← to start a new recording.\033[0m") break if events["exit_early"]: print("\033[33mOperation terminated by user\033[0m") + log_say("操作被你停止了，如果这是个误操作，请重新开始。", play_sounds=True) return 0 - time.sleep(0.1) # 减少CPU使用率 + time.sleep(0.1) # Reduce CPU usage - time.sleep(0.1) # 减少CPU使用率 + time.sleep(0.1) # Reduce CPU usage if collected_episodes == args.num_episodes: + log_say("恭喜你，本次数据已经全部录制完成。您辛苦了~", play_sounds=True) print(f"\n\033[1;32mData collection complete! All {args.num_episodes} episodes collected.\033[0m") finally: - # 确保监听器被清理 + # Ensure listener is cleaned up if listener: listener.stop() print("Keyboard listener stopped") @@ -155,12 +105,10 @@ def main(): if __name__ == '__main__': try: - exit_code = main() + exit_code = main("/home/ubuntu/LYT/lerobot_aloha/collect_data/aloha.yaml") exit(exit_code if exit_code is not None else 0) except KeyboardInterrupt: print("\n\033[33mProgram interrupted by user\033[0m") exit(0) except Exception as e: print(f"\n\033[31mError: {e}\033[0m") - -# python collect_data.py --dataset_dir ~/data --max_timesteps 500 --episode_idx 0 diff --git a/collect_data/collect_data_gui.py b/collect_data/collect_data_gui.py index 7497288..dd1f952 100644 --- a/collect_data/collect_data_gui.py +++ b/collect_data/collect_data_gui.py @@ -1,416 +1,403 @@ -import os import sys -import time -import argparse -from aloha_mobile import AlohaRobotRos -from utils import save_data, init_keyboard_listener +import os +import yaml +from collect_data import main +from types import SimpleNamespace from PyQt5.QtWidgets import (QApplication, QMainWindow, QWidget, QVBoxLayout, QHBoxLayout, - QLabel, QLineEdit, QPushButton, QCheckBox, QSpinBox, - QGroupBox, QFormLayout, QTabWidget, QTextEdit, QFileDialog, - QMessageBox, QProgressBar, QComboBox) -from PyQt5.QtCore import Qt, QThread, pyqtSignal, pyqtSlot -from PyQt5.QtGui import QFont, QIcon, QTextCursor + QLabel, QLineEdit, QPushButton, QSpinBox, QCheckBox, + QGroupBox, QTabWidget, QMessageBox, QFileDialog) +from PyQt5.QtCore import Qt + -class DataCollectionThread(QThread): - """处理数据收集的线程""" - update_signal = pyqtSignal(str) - progress_signal = pyqtSignal(int) - finish_signal = pyqtSignal(bool, str) - - def __init__(self, args, parent=None): - super(DataCollectionThread, self).__init__(parent) - self.args = args - self.is_running = True - self.ros_operator = None - - def run(self): - try: - self.update_signal.emit("正在初始化ROS操作...\n") - self.ros_operator = AlohaRobotRos(self.args) - dataset_dir = os.path.join(self.args.dataset_dir, self.args.task_name) - os.makedirs(dataset_dir, exist_ok=True) - - # 单集收集模式 - if self.args.num_episodes == 1: - self.update_signal.emit(f"开始录制第 {self.args.episode_idx} 集...\n") - timesteps, actions = self.ros_operator.process() - - if len(actions) < self.args.max_timesteps: - self.update_signal.emit(f"保存失败: 只录制了 {len(actions)}/{self.args.max_timesteps} 个时间步.\n") - self.finish_signal.emit(False, f"只录制了 {len(actions)}/{self.args.max_timesteps} 个时间步") - return - - dataset_path = os.path.join(dataset_dir, f"episode_{self.args.episode_idx}") - save_data(self.args, timesteps, actions, dataset_path) - self.update_signal.emit(f"第 {self.args.episode_idx} 集成功保存到 {dataset_path}.\n") - self.finish_signal.emit(True, "数据收集完成") - - # 多集收集模式 - else: - self.update_signal.emit(""" -键盘控制: -← 左箭头: 开始录制 -→ 右箭头: 保存当前数据 -↓ 下箭头: 丢弃当前数据 -ESC: 退出程序 -""") - # 初始化键盘监听器 - listener, events = init_keyboard_listener() - episode_idx = self.args.episode_idx - collected_episodes = 0 - - try: - while collected_episodes < self.args.num_episodes and self.is_running: - if events["exit_early"]: - self.update_signal.emit("操作被用户终止.\n") - break - - if events["record_start"]: - # 重置事件状态，开始新的录制 - events["record_start"] = False - events["save_data"] = False - events["discard_data"] = False - - self.update_signal.emit(f"\n正在录制第 {episode_idx} 集...\n") - timesteps, actions = self.ros_operator.process() - self.update_signal.emit(f"已录制 {len(actions)} 个时间步. (→ 保存, ↓ 丢弃)\n") - - # 等待用户决定保存或丢弃 - while self.is_running: - if events["save_data"]: - events["save_data"] = False - - if len(actions) < self.args.max_timesteps: - self.update_signal.emit(f"保存失败: 只录制了 {len(actions)}/{self.args.max_timesteps} 个时间步.\n") - else: - dataset_path = os.path.join(dataset_dir, f"episode_{episode_idx}") - save_data(self.args, timesteps, actions, dataset_path) - self.update_signal.emit(f"第 {episode_idx} 集成功保存到 {dataset_path}.\n") - episode_idx += 1 - collected_episodes += 1 - progress_percentage = int(collected_episodes * 100 / self.args.num_episodes) - self.progress_signal.emit(progress_percentage) - self.update_signal.emit(f"进度: {collected_episodes}/{self.args.num_episodes} 集已收集. (← 开始新一集)\n") - break - - if events["discard_data"]: - events["discard_data"] = False - self.update_signal.emit("数据已丢弃. 请按 ← 开始新的录制.\n") - break - - if events["exit_early"]: - self.update_signal.emit("操作被用户终止.\n") - self.is_running = False - break - - time.sleep(0.1) # 减少CPU使用率 - - time.sleep(0.1) # 减少CPU使用率 - - if collected_episodes == self.args.num_episodes: - self.update_signal.emit(f"\n数据收集完成! 所有 {self.args.num_episodes} 集已收集.\n") - self.finish_signal.emit(True, "全部数据集收集完成") - else: - self.finish_signal.emit(False, "数据收集未完成") - - finally: - # 确保监听器被清理 - if listener: - listener.stop() - self.update_signal.emit("键盘监听器已停止\n") - - except Exception as e: - self.update_signal.emit(f"错误: {str(e)}\n") - self.finish_signal.emit(False, str(e)) - - def stop(self): - self.is_running = False - self.wait() class AlohaDataCollectionGUI(QMainWindow): def __init__(self): super().__init__() - self.setWindowTitle("ALOHA 数据收集工具") - self.setGeometry(100, 100, 800, 700) + self.setWindowTitle("MindRobot-V1 Data Collection") + self.setGeometry(100, 100, 800, 600) - # 主组件 self.central_widget = QWidget() self.setCentralWidget(self.central_widget) + self.main_layout = QVBoxLayout(self.central_widget) - # 创建选项卡 - self.tab_widget = QTabWidget() - self.main_layout.addWidget(self.tab_widget) + self.config_path = os.path.expanduser("/home/ubuntu/LYT/lerobot_aloha/collect_data/aloha.yaml") + self.create_ui() + self.setup_connections() + self.load_default_config() - # 创建配置选项卡 - self.config_tab = QWidget() - self.tab_widget.addTab(self.config_tab, "配置") + def create_ui(self): + # Create tabs + self.tabs = QTabWidget() + self.main_layout.addWidget(self.tabs) - # 创建数据收集选项卡 - self.collection_tab = QWidget() - self.tab_widget.addTab(self.collection_tab, "数据收集") + # General Settings Tab + self.general_tab = QWidget() + self.tabs.addTab(self.general_tab, "General Settings") + self.create_general_tab() - self.setup_config_tab() - self.setup_collection_tab() + # Camera Settings Tab + self.camera_tab = QWidget() + self.tabs.addTab(self.camera_tab, "Camera Settings") + self.create_camera_tab() - # 初始化数据收集线程 - self.collection_thread = None + # Arm Settings Tab + self.arm_tab = QWidget() + self.tabs.addTab(self.arm_tab, "Arm Settings") + self.create_arm_tab() - def setup_config_tab(self): - config_layout = QVBoxLayout(self.config_tab) + # Control Buttons + self.control_group = QGroupBox("Control") + control_layout = QHBoxLayout() - # 基本配置组 - basic_group = QGroupBox("基本配置") - basic_form = QFormLayout() + self.load_config_button = QPushButton("Load Config") + self.save_config_button = QPushButton("Save Config") + self.start_button = QPushButton("Start Recording") + self.stop_button = QPushButton("Stop Recording") + self.exit_button = QPushButton("Exit") - self.dataset_dir = QLineEdit("./data") - self.browse_button = QPushButton("浏览") - self.browse_button.clicked.connect(self.browse_dataset_dir) + control_layout.addWidget(self.load_config_button) + control_layout.addWidget(self.save_config_button) + control_layout.addWidget(self.start_button) + control_layout.addWidget(self.stop_button) + control_layout.addWidget(self.exit_button) - dir_layout = QHBoxLayout() - dir_layout.addWidget(self.dataset_dir) - dir_layout.addWidget(self.browse_button) + self.control_group.setLayout(control_layout) + self.main_layout.addWidget(self.control_group) - self.task_name = QLineEdit("aloha_mobile_dummy") - self.episode_idx = QSpinBox() - self.episode_idx.setRange(0, 1000) - self.max_timesteps = QSpinBox() - self.max_timesteps.setRange(1, 10000) - self.max_timesteps.setValue(500) - self.num_episodes = QSpinBox() - self.num_episodes.setRange(1, 100) - self.num_episodes.setValue(1) - self.frame_rate = QSpinBox() - self.frame_rate.setRange(1, 120) - self.frame_rate.setValue(30) + def create_general_tab(self): + layout = QVBoxLayout(self.general_tab) - basic_form.addRow("数据集目录:", dir_layout) - basic_form.addRow("任务名称:", self.task_name) - basic_form.addRow("起始集索引:", self.episode_idx) - basic_form.addRow("最大时间步:", self.max_timesteps) - basic_form.addRow("集数:", self.num_episodes) - basic_form.addRow("帧率:", self.frame_rate) + # Config File Path + config_group = QGroupBox("Configuration File") + config_layout = QHBoxLayout() - basic_group.setLayout(basic_form) - config_layout.addWidget(basic_group) + self.config_path_edit = QLineEdit(self.config_path) + self.browse_config_button = QPushButton("Browse...") - # 相机话题组 - camera_group = QGroupBox("相机话题") - camera_form = QFormLayout() + config_layout.addWidget(QLabel("Config File:")) + config_layout.addWidget(self.config_path_edit) + config_layout.addWidget(self.browse_config_button) - self.img_front_topic = QLineEdit('/camera_f/color/image_raw') - self.img_left_topic = QLineEdit('/camera_l/color/image_raw') - self.img_right_topic = QLineEdit('/camera_r/color/image_raw') - - self.img_front_depth_topic = QLineEdit('/camera_f/depth/image_raw') - self.img_left_depth_topic = QLineEdit('/camera_l/depth/image_raw') - self.img_right_depth_topic = QLineEdit('/camera_r/depth/image_raw') - - self.use_depth_image = QCheckBox("使用深度图像") - - camera_form.addRow("前置相机:", self.img_front_topic) - camera_form.addRow("左腕相机:", self.img_left_topic) - camera_form.addRow("右腕相机:", self.img_right_topic) - camera_form.addRow("前置深度:", self.img_front_depth_topic) - camera_form.addRow("左腕深度:", self.img_left_depth_topic) - camera_form.addRow("右腕深度:", self.img_right_depth_topic) - camera_form.addRow("", self.use_depth_image) - - camera_group.setLayout(camera_form) - config_layout.addWidget(camera_group) - - # 机器人话题组 - robot_group = QGroupBox("机器人话题") - robot_form = QFormLayout() - - self.master_arm_left_topic = QLineEdit('/master/joint_left') - self.master_arm_right_topic = QLineEdit('/master/joint_right') - self.puppet_arm_left_topic = QLineEdit('/puppet/joint_left') - self.puppet_arm_right_topic = QLineEdit('/puppet/joint_right') - self.robot_base_topic = QLineEdit('/odom') - self.use_robot_base = QCheckBox("使用机器人底盘") - - robot_form.addRow("主左臂:", self.master_arm_left_topic) - robot_form.addRow("主右臂:", self.master_arm_right_topic) - robot_form.addRow("从左臂:", self.puppet_arm_left_topic) - robot_form.addRow("从右臂:", self.puppet_arm_right_topic) - robot_form.addRow("底盘:", self.robot_base_topic) - robot_form.addRow("", self.use_robot_base) - - robot_group.setLayout(robot_form) - config_layout.addWidget(robot_group) - - # 相机名称配置 - camera_names_group = QGroupBox("相机名称") - camera_names_layout = QVBoxLayout() - - self.camera_names = ['cam_high', 'cam_left_wrist', 'cam_right_wrist'] - self.camera_checkboxes = {} - - for cam_name in self.camera_names: - self.camera_checkboxes[cam_name] = QCheckBox(cam_name) - self.camera_checkboxes[cam_name].setChecked(True) - camera_names_layout.addWidget(self.camera_checkboxes[cam_name]) - - camera_names_group.setLayout(camera_names_layout) - config_layout.addWidget(camera_names_group) - - # 保存配置按钮 - self.save_config_button = QPushButton("保存配置") - self.save_config_button.clicked.connect(self.save_config) - config_layout.addWidget(self.save_config_button) - - def setup_collection_tab(self): - collection_layout = QVBoxLayout(self.collection_tab) - - # 当前配置展示 - config_group = QGroupBox("当前配置") - self.config_text = QTextEdit() - self.config_text.setReadOnly(True) - config_layout = QVBoxLayout() - config_layout.addWidget(self.config_text) config_group.setLayout(config_layout) - collection_layout.addWidget(config_group) + layout.addWidget(config_group) - # 操作按钮 - buttons_layout = QHBoxLayout() + # Dataset Directory + dir_group = QGroupBox("Dataset Directory") + dir_layout = QHBoxLayout() - self.start_button = QPushButton("开始收集") - self.start_button.setIcon(QIcon.fromTheme("media-playback-start")) - self.start_button.clicked.connect(self.start_collection) + self.dataset_dir_edit = QLineEdit() + self.browse_dir_button = QPushButton("Browse...") - self.stop_button = QPushButton("停止") - self.stop_button.setIcon(QIcon.fromTheme("media-playback-stop")) - self.stop_button.setEnabled(False) - self.stop_button.clicked.connect(self.stop_collection) + dir_layout.addWidget(QLabel("Dataset Directory:")) + dir_layout.addWidget(self.dataset_dir_edit) + dir_layout.addWidget(self.browse_dir_button) - buttons_layout.addWidget(self.start_button) - buttons_layout.addWidget(self.stop_button) - collection_layout.addLayout(buttons_layout) + dir_group.setLayout(dir_layout) + layout.addWidget(dir_group) - # 进度条 - self.progress_bar = QProgressBar() - self.progress_bar.setValue(0) - collection_layout.addWidget(self.progress_bar) + # Task Settings + task_group = QGroupBox("Task Settings") + task_layout = QVBoxLayout() - # 日志输出 - log_group = QGroupBox("操作日志") - self.log_text = QTextEdit() - self.log_text.setReadOnly(True) - log_layout = QVBoxLayout() - log_layout.addWidget(self.log_text) - log_group.setLayout(log_layout) - collection_layout.addWidget(log_group) + self.task_name_edit = QLineEdit() + self.episode_idx_spin = QSpinBox() + self.episode_idx_spin.setRange(0, 9999) + self.max_timesteps_spin = QSpinBox() + self.max_timesteps_spin.setRange(1, 10000) + self.num_episodes_spin = QSpinBox() + self.num_episodes_spin.setRange(1, 1000) + self.frame_rate_spin = QSpinBox() + self.frame_rate_spin.setRange(1, 60) + task_layout.addWidget(QLabel("Task Name:")) + task_layout.addWidget(self.task_name_edit) + task_layout.addWidget(QLabel("Episode Index:")) + task_layout.addWidget(self.episode_idx_spin) + task_layout.addWidget(QLabel("Max Timesteps:")) + task_layout.addWidget(self.max_timesteps_spin) + task_layout.addWidget(QLabel("Number of Episodes:")) + task_layout.addWidget(self.num_episodes_spin) + task_layout.addWidget(QLabel("Frame Rate:")) + task_layout.addWidget(self.frame_rate_spin) + + task_group.setLayout(task_layout) + layout.addWidget(task_group) + + # Options + options_group = QGroupBox("Options") + options_layout = QVBoxLayout() + + self.use_robot_base_check = QCheckBox("Use Robot Base") + self.use_depth_image_check = QCheckBox("Use Depth Image") + + options_layout.addWidget(self.use_robot_base_check) + options_layout.addWidget(self.use_depth_image_check) + + options_group.setLayout(options_layout) + layout.addWidget(options_group) + + layout.addStretch() + + def create_camera_tab(self): + layout = QVBoxLayout(self.camera_tab) + + # Color Image Topics + color_group = QGroupBox("Color Image Topics") + color_layout = QVBoxLayout() + + self.img_front_topic_edit = QLineEdit() + self.img_left_topic_edit = QLineEdit() + self.img_right_topic_edit = QLineEdit() + + color_layout.addWidget(QLabel("Front Camera Topic:")) + color_layout.addWidget(self.img_front_topic_edit) + color_layout.addWidget(QLabel("Left Camera Topic:")) + color_layout.addWidget(self.img_left_topic_edit) + color_layout.addWidget(QLabel("Right Camera Topic:")) + color_layout.addWidget(self.img_right_topic_edit) + + color_group.setLayout(color_layout) + layout.addWidget(color_group) + + # Depth Image Topics + depth_group = QGroupBox("Depth Image Topics") + depth_layout = QVBoxLayout() + + self.img_front_depth_topic_edit = QLineEdit() + self.img_left_depth_topic_edit = QLineEdit() + self.img_right_depth_topic_edit = QLineEdit() + + depth_layout.addWidget(QLabel("Front Depth Topic:")) + depth_layout.addWidget(self.img_front_depth_topic_edit) + depth_layout.addWidget(QLabel("Left Depth Topic:")) + depth_layout.addWidget(self.img_left_depth_topic_edit) + depth_layout.addWidget(QLabel("Right Depth Topic:")) + depth_layout.addWidget(self.img_right_depth_topic_edit) + + depth_group.setLayout(depth_layout) + layout.addWidget(depth_group) + + layout.addStretch() + + def create_arm_tab(self): + layout = QVBoxLayout(self.arm_tab) + + # Master Arm Topics + master_group = QGroupBox("Master Arm Topics") + master_layout = QVBoxLayout() + + self.master_arm_left_topic_edit = QLineEdit() + self.master_arm_right_topic_edit = QLineEdit() + + master_layout.addWidget(QLabel("Master Left Arm Topic:")) + master_layout.addWidget(self.master_arm_left_topic_edit) + master_layout.addWidget(QLabel("Master Right Arm Topic:")) + master_layout.addWidget(self.master_arm_right_topic_edit) + + master_group.setLayout(master_layout) + layout.addWidget(master_group) + + # Puppet Arm Topics + puppet_group = QGroupBox("Puppet Arm Topics") + puppet_layout = QVBoxLayout() + + self.puppet_arm_left_topic_edit = QLineEdit() + self.puppet_arm_right_topic_edit = QLineEdit() + + puppet_layout.addWidget(QLabel("Puppet Left Arm Topic:")) + puppet_layout.addWidget(self.puppet_arm_left_topic_edit) + puppet_layout.addWidget(QLabel("Puppet Right Arm Topic:")) + puppet_layout.addWidget(self.puppet_arm_right_topic_edit) + + puppet_group.setLayout(puppet_layout) + layout.addWidget(puppet_group) + + # Robot Base Topic + base_group = QGroupBox("Robot Base Topic") + base_layout = QVBoxLayout() + + self.robot_base_topic_edit = QLineEdit() + + base_layout.addWidget(QLabel("Robot Base Topic:")) + base_layout.addWidget(self.robot_base_topic_edit) + + base_group.setLayout(base_layout) + layout.addWidget(base_group) + + layout.addStretch() + + def setup_connections(self): + self.load_config_button.clicked.connect(self.load_config) + self.save_config_button.clicked.connect(self.save_config) + self.browse_config_button.clicked.connect(self.browse_config_file) + self.browse_dir_button.clicked.connect(self.browse_dataset_dir) + self.start_button.clicked.connect(self.start_recording) + self.stop_button.clicked.connect(self.stop_recording) + self.exit_button.clicked.connect(self.close) + + def load_default_config(self): + default_config = { + 'dataset_dir': '/home/ubuntu/LYT/lerobot_aloha/datasets/3camera', + 'task_name': 'aloha_mobile_dummy', + 'episode_idx': 0, + 'max_timesteps': 500, + 'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist'], + 'num_episodes': 50, + 'img_front_topic': '/camera_f/color/image_raw', + 'img_left_topic': '/camera_l/color/image_raw', + 'img_right_topic': '/camera_r/color/image_raw', + 'img_front_depth_topic': '/camera_f/depth/image_raw', + 'img_left_depth_topic': '/camera_l/depth/image_raw', + 'img_right_depth_topic': '/camera_r/depth/image_raw', + 'master_arm_left_topic': '/master/joint_left', + 'master_arm_right_topic': '/master/joint_right', + 'puppet_arm_left_topic': '/puppet/joint_left', + 'puppet_arm_right_topic': '/puppet/joint_right', + 'robot_base_topic': '/odom', + 'use_robot_base': False, + 'use_depth_image': False, + 'frame_rate': 30 + } + + # Update UI with default values + self.update_ui_from_config(default_config) + + def update_ui_from_config(self, config): + """Update UI elements from a config dictionary""" + self.dataset_dir_edit.setText(config.get('dataset_dir', '')) + self.task_name_edit.setText(config.get('task_name', '')) + self.episode_idx_spin.setValue(config.get('episode_idx', 0)) + self.max_timesteps_spin.setValue(config.get('max_timesteps', 500)) + self.num_episodes_spin.setValue(config.get('num_episodes', 1)) + self.frame_rate_spin.setValue(config.get('frame_rate', 30)) + + self.img_front_topic_edit.setText(config.get('img_front_topic', '')) + self.img_left_topic_edit.setText(config.get('img_left_topic', '')) + self.img_right_topic_edit.setText(config.get('img_right_topic', '')) + + self.img_front_depth_topic_edit.setText(config.get('img_front_depth_topic', '')) + self.img_left_depth_topic_edit.setText(config.get('img_left_depth_topic', '')) + self.img_right_depth_topic_edit.setText(config.get('img_right_depth_topic', '')) + + self.master_arm_left_topic_edit.setText(config.get('master_arm_left_topic', '')) + self.master_arm_right_topic_edit.setText(config.get('master_arm_right_topic', '')) + self.puppet_arm_left_topic_edit.setText(config.get('puppet_arm_left_topic', '')) + self.puppet_arm_right_topic_edit.setText(config.get('puppet_arm_right_topic', '')) + + self.robot_base_topic_edit.setText(config.get('robot_base_topic', '')) + self.use_robot_base_check.setChecked(config.get('use_robot_base', False)) + self.use_depth_image_check.setChecked(config.get('use_depth_image', False)) + + def get_config_from_ui(self): + """Get current UI values as a config dictionary""" + config = { + 'dataset_dir': self.dataset_dir_edit.text(), + 'task_name': self.task_name_edit.text(), + 'episode_idx': self.episode_idx_spin.value(), + 'max_timesteps': self.max_timesteps_spin.value(), + 'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist'], + 'num_episodes': self.num_episodes_spin.value(), + 'img_front_topic': self.img_front_topic_edit.text(), + 'img_left_topic': self.img_left_topic_edit.text(), + 'img_right_topic': self.img_right_topic_edit.text(), + 'img_front_depth_topic': self.img_front_depth_topic_edit.text(), + 'img_left_depth_topic': self.img_left_depth_topic_edit.text(), + 'img_right_depth_topic': self.img_right_depth_topic_edit.text(), + 'master_arm_left_topic': self.master_arm_left_topic_edit.text(), + 'master_arm_right_topic': self.master_arm_right_topic_edit.text(), + 'puppet_arm_left_topic': self.puppet_arm_left_topic_edit.text(), + 'puppet_arm_right_topic': self.puppet_arm_right_topic_edit.text(), + 'robot_base_topic': self.robot_base_topic_edit.text(), + 'use_robot_base': self.use_robot_base_check.isChecked(), + 'use_depth_image': self.use_depth_image_check.isChecked(), + 'frame_rate': self.frame_rate_spin.value() + } + return config + + def browse_config_file(self): + file_path, _ = QFileDialog.getOpenFileName( + self, "Select Config File", "", "YAML Files (*.yaml *.yml)" + ) + if file_path: + self.config_path_edit.setText(file_path) + self.load_config() + def browse_dataset_dir(self): - directory = QFileDialog.getExistingDirectory(self, "选择数据集目录", self.dataset_dir.text()) - if directory: - self.dataset_dir.setText(directory) - - def save_config(self): - # 更新配置显示 - selected_cameras = [cam for cam, checkbox in self.camera_checkboxes.items() if checkbox.isChecked()] - - config_text = f""" -任务名称: {self.task_name.text()} -数据集目录: {self.dataset_dir.text()} -起始集索引: {self.episode_idx.value()} -最大时间步: {self.max_timesteps.value()} -集数: {self.num_episodes.value()} -帧率: {self.frame_rate.value()} -使用深度图像: {"是" if self.use_depth_image.isChecked() else "否"} -使用机器人底盘: {"是" if self.use_robot_base.isChecked() else "否"} -相机: {', '.join(selected_cameras)} - """ - - self.config_text.setText(config_text) - self.tab_widget.setCurrentIndex(1) # 切换到收集选项卡 - - QMessageBox.information(self, "配置已保存", "配置已更新，可以开始数据收集") - - def start_collection(self): - if not self.task_name.text(): - QMessageBox.warning(self, "配置错误", "请输入有效的任务名称") + dir_path = QFileDialog.getExistingDirectory( + self, "Select Dataset Directory" + ) + if dir_path: + self.dataset_dir_edit.setText(dir_path) + + def load_config(self): + config_path = self.config_path_edit.text() + if not os.path.exists(config_path): + QMessageBox.warning(self, "Warning", f"Config file not found: {config_path}") return - # 构建参数 - args = argparse.Namespace( - dataset_dir=self.dataset_dir.text(), - task_name=self.task_name.text(), - episode_idx=self.episode_idx.value(), - max_timesteps=self.max_timesteps.value(), - num_episodes=self.num_episodes.value(), - camera_names=[cam for cam, checkbox in self.camera_checkboxes.items() if checkbox.isChecked()], - img_front_topic=self.img_front_topic.text(), - img_left_topic=self.img_left_topic.text(), - img_right_topic=self.img_right_topic.text(), - img_front_depth_topic=self.img_front_depth_topic.text(), - img_left_depth_topic=self.img_left_depth_topic.text(), - img_right_depth_topic=self.img_right_depth_topic.text(), - master_arm_left_topic=self.master_arm_left_topic.text(), - master_arm_right_topic=self.master_arm_right_topic.text(), - puppet_arm_left_topic=self.puppet_arm_left_topic.text(), - puppet_arm_right_topic=self.puppet_arm_right_topic.text(), - robot_base_topic=self.robot_base_topic.text(), - use_robot_base=self.use_robot_base.isChecked(), - use_depth_image=self.use_depth_image.isChecked(), - frame_rate=self.frame_rate.value() - ) - - # 更新UI状态 - self.start_button.setEnabled(False) - self.stop_button.setEnabled(True) - self.progress_bar.setValue(0) - self.log_text.clear() - self.log_text.append("正在初始化数据收集...\n") - - # 创建并启动线程 - self.collection_thread = DataCollectionThread(args) - self.collection_thread.update_signal.connect(self.update_log) - self.collection_thread.progress_signal.connect(self.update_progress) - self.collection_thread.finish_signal.connect(self.collection_finished) - self.collection_thread.start() - - def stop_collection(self): - if self.collection_thread and self.collection_thread.isRunning(): - self.log_text.append("正在停止数据收集...\n") - self.collection_thread.stop() - self.collection_thread = None + try: + with open(config_path, 'r') as f: + config = yaml.safe_load(f) + self.update_ui_from_config(config) + self.statusBar().showMessage(f"Config loaded from {config_path}", 3000) + except Exception as e: + QMessageBox.critical(self, "Error", f"Failed to load config: {str(e)}") - self.start_button.setEnabled(True) - self.stop_button.setEnabled(False) - - @pyqtSlot(str) - def update_log(self, message): - self.log_text.append(message) - # 自动滚动到底部 - cursor = self.log_text.textCursor() - cursor.movePosition(QTextCursor.End) - self.log_text.setTextCursor(cursor) - - @pyqtSlot(int) - def update_progress(self, value): - self.progress_bar.setValue(value) - - @pyqtSlot(bool, str) - def collection_finished(self, success, message): - self.start_button.setEnabled(True) - self.stop_button.setEnabled(False) - - if success: - QMessageBox.information(self, "完成", message) - else: - QMessageBox.warning(self, "出错", f"数据收集失败: {message}") + def save_config(self): + config_path = self.config_path_edit.text() + if not config_path: + QMessageBox.warning(self, "Warning", "Please specify a config file path") + return - # 更新episode_idx值 - if success and self.num_episodes.value() > 0: - self.episode_idx.setValue(self.episode_idx.value() + self.num_episodes.value()) + try: + config = self.get_config_from_ui() + with open(config_path, 'w') as f: + yaml.dump(config, f, default_flow_style=False) + self.statusBar().showMessage(f"Config saved to {config_path}", 3000) + except Exception as e: + QMessageBox.critical(self, "Error", f"Failed to save config: {str(e)}") + + def start_recording(self): + try: + # Save current config to a temporary file + temp_config_path = "/tmp/aloha_temp_config.yaml" + config = self.get_config_from_ui() + + # Validate inputs + if not config['dataset_dir']: + QMessageBox.warning(self, "Warning", "Dataset directory cannot be empty!") + return + + if not config['task_name']: + QMessageBox.warning(self, "Warning", "Task name cannot be empty!") + return + + with open(temp_config_path, 'w') as f: + yaml.dump(config, f, default_flow_style=False) + + self.statusBar().showMessage("Recording started...") + + # Start recording with the temporary config file + exit_code = main(temp_config_path) + + if exit_code == 0: + self.statusBar().showMessage("Recording completed successfully!", 5000) + else: + self.statusBar().showMessage("Recording completed with errors", 5000) + + except Exception as e: + QMessageBox.critical(self, "Error", f"An error occurred: {str(e)}") + self.statusBar().showMessage("Recording failed", 5000) + + def stop_recording(self): + # In a real application, this would signal the recording thread to stop + self.statusBar().showMessage("Recording stopped", 5000) + QMessageBox.information(self, "Info", "Stop recording requested. This would stop the recording in a real implementation.") -def main(): + +if __name__ == "__main__": app = QApplication(sys.argv) window = AlohaDataCollectionGUI() window.show() sys.exit(app.exec_()) - -if __name__ == "__main__": - main() diff --git a/collect_data/convert_aloha_data_to_lerobot.py b/collect_data/convert_aloha_data_to_lerobot.py new file mode 100644 index 0000000..c13818d --- /dev/null +++ b/collect_data/convert_aloha_data_to_lerobot.py @@ -0,0 +1,292 @@ +""" +Script to convert Aloha hdf5 data to the LeRobot dataset v2.0 format. + +Example usage: uv run examples/aloha_real/convert_aloha_data_to_lerobot.py --raw-dir /path/to/raw/data --repo-id / +""" + +import dataclasses +from pathlib import Path +import shutil +from typing import Literal +import os +import h5py +from lerobot.common.datasets.lerobot_dataset import LEROBOT_HOME +from lerobot.common.datasets.lerobot_dataset import LeRobotDataset +from lerobot.common.datasets.push_dataset_to_hub._download_raw import download_raw +import numpy as np +import torch +import tqdm +import tyro + +# 使用自定义路径覆盖 +LEROBOT_HOME = Path("/home/ubuntu/hdd0/lerobot_datasets/3camera") + +@dataclasses.dataclass(frozen=True) +class DatasetConfig: + use_videos: bool = True + tolerance_s: float = 0.0001 + image_writer_processes: int = 10 + image_writer_threads: int = 5 + video_backend: str | None = None + + +DEFAULT_DATASET_CONFIG = DatasetConfig() + + +def create_empty_dataset( + repo_id: str, + robot_type: str, + mode: Literal["video", "image"] = "video", + *, + has_velocity: bool = False, + has_effort: bool = False, + dataset_config: DatasetConfig = DEFAULT_DATASET_CONFIG, +) -> LeRobotDataset: + motors = [ + "right_waist", + "right_shoulder", + "right_elbow", + "right_forearm_roll", + "right_wrist_angle", + "right_wrist_rotate", + "right_gripper", + "left_waist", + "left_shoulder", + "left_elbow", + "left_forearm_roll", + "left_wrist_angle", + "left_wrist_rotate", + "left_gripper", + ] + # 确定camera的情况 + # cameras = [ + # "cam_high", + # "cam_low", + # "cam_left_wrist", + # "cam_right_wrist", + # ] + cameras = [ + "cam_high", + "cam_left_wrist", + "cam_right_wrist", + ] + + features = { + "observation.state": { + "dtype": "float32", + "shape": (len(motors),), + "names": [ + motors, + ], + }, + "action": { + "dtype": "float32", + "shape": (len(motors),), + "names": [ + motors, + ], + }, + } + + if has_velocity: + features["observation.velocity"] = { + "dtype": "float32", + "shape": (len(motors),), + "names": [ + motors, + ], + } + + if has_effort: + features["observation.effort"] = { + "dtype": "float32", + "shape": (len(motors),), + "names": [ + motors, + ], + } + + for cam in cameras: + features[f"observation.images.{cam}"] = { + "dtype": mode, + "shape": (3, 480, 640), + "names": [ + "channels", + "height", + "width", + ], + } + + if Path(LEROBOT_HOME / repo_id).exists(): + shutil.rmtree(LEROBOT_HOME / repo_id) + + return LeRobotDataset.create( + repo_id=repo_id, + fps=30, + root=Path(LEROBOT_HOME / repo_id), + robot_type=robot_type, + features=features, + use_videos=dataset_config.use_videos, + tolerance_s=dataset_config.tolerance_s, + image_writer_processes=dataset_config.image_writer_processes, + image_writer_threads=dataset_config.image_writer_threads, + video_backend=dataset_config.video_backend, + ) + + +def get_cameras(hdf5_files: list[Path]) -> list[str]: + with h5py.File(hdf5_files[0], "r") as ep: + # ignore depth channel, not currently handled + return [key for key in ep["/observations/images"].keys() if "depth" not in key] # noqa: SIM118 + + +def has_velocity(hdf5_files: list[Path]) -> bool: + with h5py.File(hdf5_files[0], "r") as ep: + return "/observations/qvel" in ep + + +def has_effort(hdf5_files: list[Path]) -> bool: + with h5py.File(hdf5_files[0], "r") as ep: + return "/observations/effort" in ep + + +def load_raw_images_per_camera(ep: h5py.File, cameras: list[str]) -> dict[str, np.ndarray]: + imgs_per_cam = {} + for camera in cameras: + uncompressed = ep[f"/observations/images/{camera}"].ndim == 4 + + if uncompressed: + # load all images in RAM + imgs_array = ep[f"/observations/images/{camera}"][:] + else: + import cv2 + + # load one compressed image after the other in RAM and uncompress + imgs_array = [] + for data in ep[f"/observations/images/{camera}"]: + imgs_array.append(cv2.cvtColor(cv2.imdecode(data, 1), cv2.COLOR_BGR2RGB)) + imgs_array = np.array(imgs_array) + + imgs_per_cam[camera] = imgs_array + return imgs_per_cam + + +def load_raw_episode_data( + ep_path: Path, +) -> tuple[dict[str, np.ndarray], torch.Tensor, torch.Tensor, torch.Tensor | None, torch.Tensor | None]: + with h5py.File(ep_path, "r") as ep: + state = torch.from_numpy(ep["/observations/qpos"][:]) + action = torch.from_numpy(ep["/action"][:]) + + velocity = None + if "/observations/qvel" in ep: + velocity = torch.from_numpy(ep["/observations/qvel"][:]) + + effort = None + if "/observations/effort" in ep: + effort = torch.from_numpy(ep["/observations/effort"][:]) + + # 确定camera的情况 + # imgs_per_cam = load_raw_images_per_camera( + # ep, + # [ + # "cam_high", + # "cam_low", + # "cam_left_wrist", + # "cam_right_wrist", + # ], + # ) + imgs_per_cam = load_raw_images_per_camera( + ep, + [ + "cam_high", + "cam_left_wrist", + "cam_right_wrist", + ], + ) + + return imgs_per_cam, state, action, velocity, effort + + +def populate_dataset( + dataset: LeRobotDataset, + hdf5_files: list[Path], + task: str, + episodes: list[int] | None = None, +) -> LeRobotDataset: + if episodes is None: + episodes = range(len(hdf5_files)) + + for ep_idx in tqdm.tqdm(episodes): + ep_path = hdf5_files[ep_idx] + # import pdb + # pdb.set_trace() + imgs_per_cam, state, action, velocity, effort = load_raw_episode_data(ep_path) + num_frames = state.shape[0] + + for i in range(num_frames): + frame = { + "observation.state": state[i], + "action": action[i], + } + + for camera, img_array in imgs_per_cam.items(): + frame[f"observation.images.{camera}"] = img_array[i] + + if velocity is not None: + frame["observation.velocity"] = velocity[i] + if effort is not None: + frame["observation.effort"] = effort[i] + + dataset.add_frame(frame) + + dataset.save_episode(task=task) + + return dataset + + +def port_aloha( + raw_dir: Path, + repo_id: str, + raw_repo_id: str | None = None, + task: str = "DEBUG", + *, + episodes: list[int] | None = None, + push_to_hub: bool = False, + is_mobile: bool = False, + mode: Literal["video", "image"] = "image", + dataset_config: DatasetConfig = DEFAULT_DATASET_CONFIG, +): + print(LEROBOT_HOME) + if (LEROBOT_HOME / repo_id).exists(): + shutil.rmtree(LEROBOT_HOME / repo_id) + + if not raw_dir.exists(): + if raw_repo_id is None: + raise ValueError("raw_repo_id must be provided if raw_dir does not exist") + download_raw(raw_dir, repo_id=raw_repo_id) + + hdf5_files = sorted(raw_dir.glob("episode_*.hdf5")) + + dataset = create_empty_dataset( + repo_id, + robot_type="mobile_aloha" if is_mobile else "aloha", + mode=mode, + has_effort=has_effort(hdf5_files), + has_velocity=has_velocity(hdf5_files), + dataset_config=dataset_config, + ) + dataset = populate_dataset( + dataset, + hdf5_files, + task=task, + episodes=episodes, + ) + dataset.consolidate() + + if push_to_hub: + dataset.push_to_hub() + + +if __name__ == "__main__": + tyro.cli(port_aloha) diff --git a/collect_data/utils.py b/collect_data/utils.py index 08db2f1..ed43c6b 100644 --- a/collect_data/utils.py +++ b/collect_data/utils.py @@ -270,3 +270,53 @@ def init_keyboard_listener(): listener.start() return listener, events + + +import yaml +from argparse import Namespace +def load_config(yaml_path): + """Load configuration from YAML file and return as Namespace object""" + with open(yaml_path, 'r') as f: + config_dict = yaml.safe_load(f) + + # Convert dict to Namespace (similar to argparse.Namespace) + return Namespace(**config_dict) + + +import platform +import subprocess +# import pyttsx3 +def say(text, blocking=False): + system = platform.system() + + if system == "Darwin": + cmd = ["say", text] + + elif system == "Linux": + # cmd = ["spd-say", text] + # if blocking: + # cmd.append("--wait") + cmd = ["edge-playback", "--text", text] + + elif system == "Windows": + cmd = [ + "PowerShell", + "-Command", + "Add-Type -AssemblyName System.Speech; " + f"(New-Object System.Speech.Synthesis.SpeechSynthesizer).Speak('{text}')", + ] + + else: + raise RuntimeError("Unsupported operating system for text-to-speech.") + + if blocking: + subprocess.run(cmd, check=True) + else: + subprocess.Popen(cmd, creationflags=subprocess.CREATE_NO_WINDOW if system == "Windows" else 0) + + +def log_say(text, play_sounds, blocking=False): + print(text) + + if play_sounds: + say(text, blocking) diff --git a/init_robot.bash b/init_robot.bash deleted file mode 100644 index f77c8ca..0000000 --- a/init_robot.bash +++ /dev/null @@ -1,2 +0,0 @@ -source ~/ros_noetic/devel_isolated/setup.bash -cd cobot_magic/remote_control-x86-can-v2 && ./tools/can.sh && ./tools/jgl_2follower.sh \ No newline at end of file diff --git a/openpi b/openpi new file mode 160000 index 0000000..36dc3c0 --- /dev/null +++ b/openpi @@ -0,0 +1 @@ +Subproject commit 36dc3c037eb8a3921be9ecb94369d60cbf56f58f diff --git a/test.pt b/test.pt deleted file mode 100644 index 15d58ea..0000000 Binary files a/test.pt and /dev/null differ