mirror of
https://github.com/huggingface/lerobot.git
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e881fb6678
* refactor(processor): signature of transform_features * refactor(processor): remove prefixes + processor respect new transform_features signature + update test accordingly * refactor(processor): rename now is only for visual * refactor(processor): update normalize processor * refactor(processor): update vanilla processor features * refactor(processor): feature contract now uses its own enum * chore(processor): rename renameprocessor * chore(processor): minor changes * refactor(processor): add create & change aggregate * refactor(processor): update aggregate * refactor(processor): simplify to functions, fix features contracts and rename function * test(processor): remove to converter tests as now they are very simple * chore(docs): recover docs joint observations processor * fix(processor): update RKP * fix(tests): recv diff test_pipeline * chore(tests): add docs to test * chore(processor): leave obs language constant untouched * fix(processor): correct new shape of feature in crop image processor
107 lines
4.9 KiB
Python
107 lines
4.9 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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from dataclasses import dataclass, field
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from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
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from lerobot.constants import ACTION
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from lerobot.processor import ActionProcessorStep, ProcessorStepRegistry
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from lerobot.teleoperators.phone.config_phone import PhoneOS
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@ProcessorStepRegistry.register("map_phone_action_to_robot_action")
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@dataclass
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class MapPhoneActionToRobotAction(ActionProcessorStep):
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"""
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Maps calibrated phone pose actions to standardized robot action inputs.
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This processor step acts as a bridge between the phone teleoperator's output
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and the robot's expected action format. It remaps the phone's 6-DoF pose
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(position and rotation) to the robot's target end-effector pose, applying
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necessary axis inversions and swaps. It also interprets platform-specific
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button presses to generate a gripper command.
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Attributes:
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platform: The operating system of the phone (iOS or Android), used
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to determine the correct button mappings for the gripper.
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"""
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platform: PhoneOS
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_enabled_prev: bool = field(default=False, init=False, repr=False)
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def action(self, act: dict) -> dict:
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"""
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Processes the phone action dictionary to create a robot action dictionary.
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Args:
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act: The input action dictionary from the phone teleoperator.
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Returns:
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A new action dictionary formatted for the robot controller.
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Raises:
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ValueError: If 'pos' or 'rot' keys are missing from the input action.
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"""
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# Pop them from the action
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enabled = bool(act.pop(f"{ACTION}.phone.enabled", 0))
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pos = act.pop(f"{ACTION}.phone.pos", None)
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rot = act.pop(f"{ACTION}.phone.rot", None)
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inputs = act.pop(f"{ACTION}.phone.raw_inputs", {})
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if pos is None or rot is None:
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raise ValueError("pos and rot must be present in action")
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rotvec = rot.as_rotvec() # Absolute orientation as rotvec
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# Map certain inputs to certain actions
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if self.platform == PhoneOS.IOS:
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gripper = float(inputs.get("a3", 0.0))
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else:
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a = float(inputs.get("reservedButtonA", 0.0))
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b = float(inputs.get("reservedButtonB", 0.0))
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gripper = (
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a - b
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) # Positive if a is pressed, negative if b is pressed, 0 if both or neither are pressed
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# For some actions we need to invert the axis
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act[f"{ACTION}.enabled"] = enabled
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act[f"{ACTION}.target_x"] = -pos[1] if enabled else 0.0
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act[f"{ACTION}.target_y"] = pos[0] if enabled else 0.0
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act[f"{ACTION}.target_z"] = pos[2] if enabled else 0.0
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act[f"{ACTION}.target_wx"] = rotvec[1] if enabled else 0.0
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act[f"{ACTION}.target_wy"] = rotvec[0] if enabled else 0.0
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act[f"{ACTION}.target_wz"] = -rotvec[2] if enabled else 0.0
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act[f"{ACTION}.gripper"] = gripper # Still send gripper action when disabled
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return act
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def transform_features(
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self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
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) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
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features[PipelineFeatureType.ACTION].pop("phone.enabled", None)
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features[PipelineFeatureType.ACTION].pop("phone.pos", None)
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features[PipelineFeatureType.ACTION].pop("phone.rot", None)
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features[PipelineFeatureType.ACTION].pop("phone.raw_inputs", None)
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features[PipelineFeatureType.ACTION]["enabled"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
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features[PipelineFeatureType.ACTION]["target_x"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
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features[PipelineFeatureType.ACTION]["target_y"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
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features[PipelineFeatureType.ACTION]["target_z"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
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features[PipelineFeatureType.ACTION]["target_wx"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
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features[PipelineFeatureType.ACTION]["target_wy"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
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features[PipelineFeatureType.ACTION]["target_wz"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
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features[PipelineFeatureType.ACTION]["gripper"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
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return features
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