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https://github.com/huggingface/lerobot.git
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d791a431fe
* feat(robots): consolidates bi SO setups * fix(robots): solve circular dependecy * fix(robots): teleop & record working * feat(robots): only one SO * fix(utils): rename bi so * fix(scripts): bi so import * fix(rl): remove imports
95 lines
2.4 KiB
Python
95 lines
2.4 KiB
Python
# 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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"""
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Helper to recalibrate your device (robot or teleoperator).
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Example:
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```shell
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lerobot-calibrate \
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--teleop.type=so100_leader \
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--teleop.port=/dev/tty.usbmodem58760431551 \
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--teleop.id=blue
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```
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"""
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import logging
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from dataclasses import asdict, dataclass
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from pprint import pformat
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import draccus
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from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig # noqa: F401
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from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig # noqa: F401
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from lerobot.robots import ( # noqa: F401
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Robot,
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RobotConfig,
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bi_so_follower,
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hope_jr,
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koch_follower,
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lekiwi,
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make_robot_from_config,
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omx_follower,
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so_follower,
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)
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from lerobot.teleoperators import ( # noqa: F401
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Teleoperator,
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TeleoperatorConfig,
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bi_so_leader,
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homunculus,
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koch_leader,
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make_teleoperator_from_config,
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omx_leader,
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so_leader,
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)
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from lerobot.utils.import_utils import register_third_party_plugins
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from lerobot.utils.utils import init_logging
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@dataclass
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class CalibrateConfig:
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teleop: TeleoperatorConfig | None = None
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robot: RobotConfig | None = None
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def __post_init__(self):
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if bool(self.teleop) == bool(self.robot):
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raise ValueError("Choose either a teleop or a robot.")
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self.device = self.robot if self.robot else self.teleop
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@draccus.wrap()
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def calibrate(cfg: CalibrateConfig):
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init_logging()
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logging.info(pformat(asdict(cfg)))
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if isinstance(cfg.device, RobotConfig):
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device = make_robot_from_config(cfg.device)
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elif isinstance(cfg.device, TeleoperatorConfig):
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device = make_teleoperator_from_config(cfg.device)
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device.connect(calibrate=False)
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device.calibrate()
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device.disconnect()
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def main():
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register_third_party_plugins()
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calibrate()
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if __name__ == "__main__":
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main()
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