From 26f97cfd17a331e6eaab8a0ec55a2ed35f88c2b2 Mon Sep 17 00:00:00 2001 From: Remi Date: Thu, 3 Oct 2024 17:05:23 +0200 Subject: [PATCH 01/29] Enable CI for robot devices with mocked versions (#398) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> --- .github/workflows/test.yml | 3 +- lerobot/__init__.py | 13 ++ lerobot/common/datasets/compute_stats.py | 2 +- .../robot_devices/cameras/intelrealsense.py | 99 +++++++++-- .../common/robot_devices/cameras/opencv.py | 123 ++++++++----- .../common/robot_devices/motors/dynamixel.py | 61 +++++-- lerobot/scripts/control_robot.py | 78 +++++---- poetry.lock | 7 +- pyproject.toml | 3 +- tests/conftest.py | 81 ++++++++- tests/mock_cv2.py | 66 +++++++ tests/mock_dynamixel_sdk.py | 87 ++++++++++ tests/mock_pyrealsense2.py | 134 ++++++++++++++ tests/test_cameras.py | 76 ++++---- tests/test_control_robot.py | 144 +++++++++++++--- tests/test_motors.py | 72 ++++---- tests/test_robots.py | 78 +++++---- tests/utils.py | 163 +++++++++++++++++- 18 files changed, 1053 insertions(+), 237 deletions(-) create mode 100644 tests/mock_cv2.py create mode 100644 tests/mock_dynamixel_sdk.py create mode 100644 tests/mock_pyrealsense2.py diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 038b44582..953b1e4c3 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -11,6 +11,7 @@ on: - ".github/**" - "poetry.lock" - "Makefile" + - ".cache/**" push: branches: - main @@ -21,6 +22,7 @@ on: - ".github/**" - "poetry.lock" - "Makefile" + - ".cache/**" jobs: pytest: @@ -60,7 +62,6 @@ jobs: -W ignore::UserWarning:gymnasium.utils.env_checker:247 \ && rm -rf tests/outputs outputs - pytest-minimal: name: Pytest (minimal install) runs-on: ubuntu-latest diff --git a/lerobot/__init__.py b/lerobot/__init__.py index aeae31008..851383dd9 100644 --- a/lerobot/__init__.py +++ b/lerobot/__init__.py @@ -28,6 +28,8 @@ print(lerobot.available_policies) print(lerobot.available_policies_per_env) print(lerobot.available_robots) + print(lerobot.available_cameras) + print(lerobot.available_motors) ``` When implementing a new dataset loadable with LeRobotDataset follow these steps: @@ -198,6 +200,17 @@ "aloha", ] +# lists all available cameras from `lerobot/common/robot_devices/cameras` +available_cameras = [ + "opencv", + "intelrealsense", +] + +# lists all available motors from `lerobot/common/robot_devices/motors` +available_motors = [ + "dynamixel", +] + # keys and values refer to yaml files available_policies_per_env = { "aloha": ["act"], diff --git a/lerobot/common/datasets/compute_stats.py b/lerobot/common/datasets/compute_stats.py index 208284465..bafac2e1e 100644 --- a/lerobot/common/datasets/compute_stats.py +++ b/lerobot/common/datasets/compute_stats.py @@ -68,7 +68,7 @@ def get_stats_einops_patterns(dataset, num_workers=0): return stats_patterns -def compute_stats(dataset, batch_size=32, num_workers=16, max_num_samples=None): +def compute_stats(dataset, batch_size=8, num_workers=8, max_num_samples=None): """Compute mean/std and min/max statistics of all data keys in a LeRobotDataset.""" if max_num_samples is None: max_num_samples = len(dataset) diff --git a/lerobot/common/robot_devices/cameras/intelrealsense.py b/lerobot/common/robot_devices/cameras/intelrealsense.py index 4806bf785..c949109b8 100644 --- a/lerobot/common/robot_devices/cameras/intelrealsense.py +++ b/lerobot/common/robot_devices/cameras/intelrealsense.py @@ -5,6 +5,7 @@ import argparse import concurrent.futures import logging +import math import shutil import threading import time @@ -13,9 +14,7 @@ from pathlib import Path from threading import Thread -import cv2 import numpy as np -import pyrealsense2 as rs from PIL import Image from lerobot.common.robot_devices.utils import ( @@ -28,14 +27,23 @@ SERIAL_NUMBER_INDEX = 1 -def find_camera_indices(raise_when_empty=True) -> list[int]: +def find_camera_indices(raise_when_empty=True, mock=False) -> list[int]: """ Find the serial numbers of the Intel RealSense cameras connected to the computer. """ + if mock: + from tests.mock_pyrealsense2 import ( + RSCameraInfo, + RSContext, + ) + else: + from pyrealsense2 import camera_info as RSCameraInfo # noqa: N812 + from pyrealsense2 import context as RSContext # noqa: N812 + camera_ids = [] - for device in rs.context().query_devices(): - serial_number = int(device.get_info(rs.camera_info(SERIAL_NUMBER_INDEX))) + for device in RSContext().query_devices(): + serial_number = int(device.get_info(RSCameraInfo(SERIAL_NUMBER_INDEX))) camera_ids.append(serial_number) if raise_when_empty and len(camera_ids) == 0: @@ -64,18 +72,24 @@ def save_images_from_cameras( width=None, height=None, record_time_s=2, + mock=False, ): """ Initializes all the cameras and saves images to the directory. Useful to visually identify the camera associated to a given camera index. """ if camera_ids is None: - camera_ids = find_camera_indices() + camera_ids = find_camera_indices(mock=mock) + + if mock: + from tests.mock_cv2 import COLOR_RGB2BGR, cvtColor + else: + from cv2 import COLOR_RGB2BGR, cvtColor print("Connecting cameras") cameras = [] for cam_idx in camera_ids: - camera = IntelRealSenseCamera(cam_idx, fps=fps, width=width, height=height) + camera = IntelRealSenseCamera(cam_idx, fps=fps, width=width, height=height, mock=mock) camera.connect() print( f"IntelRealSenseCamera({camera.camera_index}, fps={camera.fps}, width={camera.width}, height={camera.height}, color_mode={camera.color_mode})" @@ -103,7 +117,8 @@ def save_images_from_cameras( image = camera.read() if fps is None else camera.async_read() if image is None: print("No Frame") - bgr_converted_image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR) + + bgr_converted_image = cvtColor(image, COLOR_RGB2BGR) executor.submit( save_image, @@ -149,6 +164,7 @@ class IntelRealSenseCameraConfig: color_mode: str = "rgb" use_depth: bool = False force_hardware_reset: bool = True + mock: bool = False def __post_init__(self): if self.color_mode not in ["rgb", "bgr"]: @@ -156,7 +172,9 @@ def __post_init__(self): f"`color_mode` is expected to be 'rgb' or 'bgr', but {self.color_mode} is provided." ) - if (self.fps or self.width or self.height) and not (self.fps and self.width and self.height): + at_least_one_is_not_none = self.fps is not None or self.width is not None or self.height is not None + at_least_one_is_none = self.fps is None or self.width is None or self.height is None + if at_least_one_is_not_none and at_least_one_is_none: raise ValueError( "For `fps`, `width` and `height`, either all of them need to be set, or none of them, " f"but {self.fps=}, {self.width=}, {self.height=} were provided." @@ -228,6 +246,7 @@ def __init__( self.color_mode = config.color_mode self.use_depth = config.use_depth self.force_hardware_reset = config.force_hardware_reset + self.mock = config.mock self.camera = None self.is_connected = False @@ -243,24 +262,37 @@ def connect(self): f"IntelRealSenseCamera({self.camera_index}) is already connected." ) - config = rs.config() + if self.mock: + from tests.mock_pyrealsense2 import ( + RSConfig, + RSFormat, + RSPipeline, + RSStream, + ) + else: + from pyrealsense2 import config as RSConfig # noqa: N812 + from pyrealsense2 import format as RSFormat # noqa: N812 + from pyrealsense2 import pipeline as RSPipeline # noqa: N812 + from pyrealsense2 import stream as RSStream # noqa: N812 + + config = RSConfig() config.enable_device(str(self.camera_index)) if self.fps and self.width and self.height: # TODO(rcadene): can we set rgb8 directly? - config.enable_stream(rs.stream.color, self.width, self.height, rs.format.rgb8, self.fps) + config.enable_stream(RSStream.color, self.width, self.height, RSFormat.rgb8, self.fps) else: - config.enable_stream(rs.stream.color) + config.enable_stream(RSStream.color) if self.use_depth: if self.fps and self.width and self.height: - config.enable_stream(rs.stream.depth, self.width, self.height, rs.format.z16, self.fps) + config.enable_stream(RSStream.depth, self.width, self.height, RSFormat.z16, self.fps) else: - config.enable_stream(rs.stream.depth) + config.enable_stream(RSStream.depth) - self.camera = rs.pipeline() + self.camera = RSPipeline() try: - self.camera.start(config) + profile = self.camera.start(config) is_camera_open = True except RuntimeError: is_camera_open = False @@ -279,6 +311,31 @@ def connect(self): raise OSError(f"Can't access IntelRealSenseCamera({self.camera_index}).") + color_stream = profile.get_stream(RSStream.color) + color_profile = color_stream.as_video_stream_profile() + actual_fps = color_profile.fps() + actual_width = color_profile.width() + actual_height = color_profile.height() + + # Using `math.isclose` since actual fps can be a float (e.g. 29.9 instead of 30) + if self.fps is not None and not math.isclose(self.fps, actual_fps, rel_tol=1e-3): + # Using `OSError` since it's a broad that encompasses issues related to device communication + raise OSError( + f"Can't set {self.fps=} for IntelRealSenseCamera({self.camera_index}). Actual value is {actual_fps}." + ) + if self.width is not None and self.width != actual_width: + raise OSError( + f"Can't set {self.width=} for IntelRealSenseCamera({self.camera_index}). Actual value is {actual_width}." + ) + if self.height is not None and self.height != actual_height: + raise OSError( + f"Can't set {self.height=} for IntelRealSenseCamera({self.camera_index}). Actual value is {actual_height}." + ) + + self.fps = round(actual_fps) + self.width = round(actual_width) + self.height = round(actual_height) + self.is_connected = True def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndarray, np.ndarray]: @@ -315,7 +372,12 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar # IntelRealSense uses RGB format as default (red, green, blue). if requested_color_mode == "bgr": - color_image = cv2.cvtColor(color_image, cv2.COLOR_RGB2BGR) + if self.mock: + from tests.mock_cv2 import COLOR_RGB2BGR, cvtColor + else: + from cv2 import COLOR_RGB2BGR, cvtColor + + color_image = cvtColor(color_image, COLOR_RGB2BGR) h, w, _ = color_image.shape if h != self.height or w != self.width: @@ -347,7 +409,7 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar return color_image def read_loop(self): - while self.stop_event is None or not self.stop_event.is_set(): + while not self.stop_event.is_set(): if self.use_depth: self.color_image, self.depth_map = self.read() else: @@ -368,6 +430,7 @@ def async_read(self): num_tries = 0 while self.color_image is None: + # TODO(rcadene, aliberts): intelrealsense has diverged compared to opencv over here num_tries += 1 time.sleep(1 / self.fps) if num_tries > self.fps and (self.thread.ident is None or not self.thread.is_alive()): diff --git a/lerobot/common/robot_devices/cameras/opencv.py b/lerobot/common/robot_devices/cameras/opencv.py index b066a451a..4e5f5d183 100644 --- a/lerobot/common/robot_devices/cameras/opencv.py +++ b/lerobot/common/robot_devices/cameras/opencv.py @@ -13,7 +13,6 @@ from pathlib import Path from threading import Thread -import cv2 import numpy as np from PIL import Image @@ -24,10 +23,6 @@ ) from lerobot.common.utils.utils import capture_timestamp_utc -# Use 1 thread to avoid blocking the main thread. Especially useful during data collection -# when other threads are used to save the images. -cv2.setNumThreads(1) - # The maximum opencv device index depends on your operating system. For instance, # if you have 3 cameras, they should be associated to index 0, 1, and 2. This is the case # on MacOS. However, on Ubuntu, the indices are different like 6, 16, 23. @@ -36,7 +31,7 @@ MAX_OPENCV_INDEX = 60 -def find_camera_indices(raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX): +def find_camera_indices(raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX, mock=False): if platform.system() == "Linux": # Linux uses camera ports print("Linux detected. Finding available camera indices through scanning '/dev/video*' ports") @@ -51,9 +46,14 @@ def find_camera_indices(raise_when_empty=False, max_index_search_range=MAX_OPENC ) possible_camera_ids = range(max_index_search_range) + if mock: + from tests.mock_cv2 import VideoCapture + else: + from cv2 import VideoCapture + camera_ids = [] for camera_idx in possible_camera_ids: - camera = cv2.VideoCapture(camera_idx) + camera = VideoCapture(camera_idx) is_open = camera.isOpened() camera.release() @@ -78,19 +78,25 @@ def save_image(img_array, camera_index, frame_index, images_dir): def save_images_from_cameras( - images_dir: Path, camera_ids: list[int] | None = None, fps=None, width=None, height=None, record_time_s=2 + images_dir: Path, + camera_ids: list[int] | None = None, + fps=None, + width=None, + height=None, + record_time_s=2, + mock=False, ): """ Initializes all the cameras and saves images to the directory. Useful to visually identify the camera associated to a given camera index. """ if camera_ids is None: - camera_ids = find_camera_indices() + camera_ids = find_camera_indices(mock=mock) print("Connecting cameras") cameras = [] for cam_idx in camera_ids: - camera = OpenCVCamera(cam_idx, fps=fps, width=width, height=height) + camera = OpenCVCamera(cam_idx, fps=fps, width=width, height=height, mock=mock) camera.connect() print( f"OpenCVCamera({camera.camera_index}, fps={camera.fps}, width={camera.width}, " @@ -156,6 +162,7 @@ class OpenCVCameraConfig: width: int | None = None height: int | None = None color_mode: str = "rgb" + mock: bool = False def __post_init__(self): if self.color_mode not in ["rgb", "bgr"]: @@ -215,6 +222,7 @@ def __init__(self, camera_index: int, config: OpenCVCameraConfig | None = None, self.width = config.width self.height = config.height self.color_mode = config.color_mode + self.mock = config.mock self.camera = None self.is_connected = False @@ -227,17 +235,33 @@ def connect(self): if self.is_connected: raise RobotDeviceAlreadyConnectedError(f"OpenCVCamera({self.camera_index}) is already connected.") - # First create a temporary camera trying to access `camera_index`, - # and verify it is a valid camera by calling `isOpened`. - - if platform.system() == "Linux": - # Linux uses ports for connecting to cameras - tmp_camera = cv2.VideoCapture(f"/dev/video{self.camera_index}") + if self.mock: + from tests.mock_cv2 import ( + CAP_PROP_FPS, + CAP_PROP_FRAME_HEIGHT, + CAP_PROP_FRAME_WIDTH, + VideoCapture, + ) else: - tmp_camera = cv2.VideoCapture(self.camera_index) + from cv2 import ( + CAP_PROP_FPS, + CAP_PROP_FRAME_HEIGHT, + CAP_PROP_FRAME_WIDTH, + VideoCapture, + setNumThreads, + ) + + # Use 1 thread to avoid blocking the main thread. Especially useful during data collection + # when other threads are used to save the images. + setNumThreads(1) + camera_idx = f"/dev/video{self.camera_index}" if platform.system() == "Linux" else self.camera_index + # First create a temporary camera trying to access `camera_index`, + # and verify it is a valid camera by calling `isOpened`. + tmp_camera = VideoCapture(camera_idx) is_camera_open = tmp_camera.isOpened() # Release camera to make it accessible for `find_camera_indices` + tmp_camera.release() del tmp_camera # If the camera doesn't work, display the camera indices corresponding to @@ -251,28 +275,27 @@ def connect(self): "To find the camera index you should use, run `python lerobot/common/robot_devices/cameras/opencv.py`." ) - raise OSError(f"Can't access OpenCVCamera({self.camera_index}).") + raise OSError(f"Can't access OpenCVCamera({camera_idx}).") # Secondly, create the camera that will be used downstream. # Note: For some unknown reason, calling `isOpened` blocks the camera which then # needs to be re-created. - if platform.system() == "Linux": - self.camera = cv2.VideoCapture(f"/dev/video{self.camera_index}") - else: - self.camera = cv2.VideoCapture(self.camera_index) + self.camera = VideoCapture(camera_idx) if self.fps is not None: - self.camera.set(cv2.CAP_PROP_FPS, self.fps) + self.camera.set(CAP_PROP_FPS, self.fps) if self.width is not None: - self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.width) + self.camera.set(CAP_PROP_FRAME_WIDTH, self.width) if self.height is not None: - self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height) + self.camera.set(CAP_PROP_FRAME_HEIGHT, self.height) - actual_fps = self.camera.get(cv2.CAP_PROP_FPS) - actual_width = self.camera.get(cv2.CAP_PROP_FRAME_WIDTH) - actual_height = self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT) + actual_fps = self.camera.get(CAP_PROP_FPS) + actual_width = self.camera.get(CAP_PROP_FRAME_WIDTH) + actual_height = self.camera.get(CAP_PROP_FRAME_HEIGHT) + # Using `math.isclose` since actual fps can be a float (e.g. 29.9 instead of 30) if self.fps is not None and not math.isclose(self.fps, actual_fps, rel_tol=1e-3): + # Using `OSError` since it's a broad that encompasses issues related to device communication raise OSError( f"Can't set {self.fps=} for OpenCVCamera({self.camera_index}). Actual value is {actual_fps}." ) @@ -285,9 +308,9 @@ def connect(self): f"Can't set {self.height=} for OpenCVCamera({self.camera_index}). Actual value is {actual_height}." ) - self.fps = actual_fps - self.width = actual_width - self.height = actual_height + self.fps = round(actual_fps) + self.width = round(actual_width) + self.height = round(actual_height) self.is_connected = True @@ -306,6 +329,7 @@ def read(self, temporary_color_mode: str | None = None) -> np.ndarray: start_time = time.perf_counter() ret, color_image = self.camera.read() + if not ret: raise OSError(f"Can't capture color image from camera {self.camera_index}.") @@ -320,7 +344,12 @@ def read(self, temporary_color_mode: str | None = None) -> np.ndarray: # However, Deep Learning framework such as LeRobot uses RGB format as default to train neural networks, # so we convert the image color from BGR to RGB. if requested_color_mode == "rgb": - color_image = cv2.cvtColor(color_image, cv2.COLOR_BGR2RGB) + if self.mock: + from tests.mock_cv2 import COLOR_BGR2RGB, cvtColor + else: + from cv2 import COLOR_BGR2RGB, cvtColor + + color_image = cvtColor(color_image, COLOR_BGR2RGB) h, w, _ = color_image.shape if h != self.height or w != self.width: @@ -334,11 +363,16 @@ def read(self, temporary_color_mode: str | None = None) -> np.ndarray: # log the utc time at which the image was received self.logs["timestamp_utc"] = capture_timestamp_utc() + self.color_image = color_image + return color_image def read_loop(self): - while self.stop_event is None or not self.stop_event.is_set(): - self.color_image = self.read() + while not self.stop_event.is_set(): + try: + self.color_image = self.read() + except Exception as e: + print(f"Error reading in thread: {e}") def async_read(self): if not self.is_connected: @@ -353,15 +387,14 @@ def async_read(self): self.thread.start() num_tries = 0 - while self.color_image is None: - num_tries += 1 - time.sleep(1 / self.fps) - if num_tries > self.fps and (self.thread.ident is None or not self.thread.is_alive()): - raise Exception( - "The thread responsible for `self.async_read()` took too much time to start. There might be an issue. Verify that `self.thread.start()` has been called." - ) + while True: + if self.color_image is not None: + return self.color_image - return self.color_image + time.sleep(1 / self.fps) + num_tries += 1 + if num_tries > self.fps * 2: + raise TimeoutError("Timed out waiting for async_read() to start.") def disconnect(self): if not self.is_connected: @@ -369,16 +402,14 @@ def disconnect(self): f"OpenCVCamera({self.camera_index}) is not connected. Try running `camera.connect()` first." ) - if self.thread is not None and self.thread.is_alive(): - # wait for the thread to finish + if self.thread is not None: self.stop_event.set() - self.thread.join() + self.thread.join() # wait for the thread to finish self.thread = None self.stop_event = None self.camera.release() self.camera = None - self.is_connected = False def __del__(self): diff --git a/lerobot/common/robot_devices/motors/dynamixel.py b/lerobot/common/robot_devices/motors/dynamixel.py index 491963fed..0c3145028 100644 --- a/lerobot/common/robot_devices/motors/dynamixel.py +++ b/lerobot/common/robot_devices/motors/dynamixel.py @@ -8,17 +8,6 @@ import numpy as np import tqdm -from dynamixel_sdk import ( - COMM_SUCCESS, - DXL_HIBYTE, - DXL_HIWORD, - DXL_LOBYTE, - DXL_LOWORD, - GroupSyncRead, - GroupSyncWrite, - PacketHandler, - PortHandler, -) from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError from lerobot.common.utils.utils import capture_timestamp_utc @@ -166,7 +155,17 @@ def convert_degrees_to_steps(degrees: float | np.ndarray, models: str | list[str return steps -def convert_to_bytes(value, bytes): +def convert_to_bytes(value, bytes, mock=False): + if mock: + return value + + from dynamixel_sdk import ( + DXL_HIBYTE, + DXL_HIWORD, + DXL_LOBYTE, + DXL_LOWORD, + ) + # Note: No need to convert back into unsigned int, since this byte preprocessing # already handles it for us. if bytes == 1: @@ -333,9 +332,11 @@ def __init__( motors: dict[str, tuple[int, str]], extra_model_control_table: dict[str, list[tuple]] | None = None, extra_model_resolution: dict[str, int] | None = None, + mock=False, ): self.port = port self.motors = motors + self.mock = mock self.model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE) if extra_model_control_table: @@ -359,6 +360,11 @@ def connect(self): f"DynamixelMotorsBus({self.port}) is already connected. Do not call `motors_bus.connect()` twice." ) + if self.mock: + from tests.mock_dynamixel_sdk import PacketHandler, PortHandler + else: + from dynamixel_sdk import PacketHandler, PortHandler + self.port_handler = PortHandler(self.port) self.packet_handler = PacketHandler(PROTOCOL_VERSION) @@ -392,10 +398,17 @@ def connect(self): self.configure_motors() def reconnect(self): + if self.mock: + from tests.mock_dynamixel_sdk import PacketHandler, PortHandler + else: + from dynamixel_sdk import PacketHandler, PortHandler + self.port_handler = PortHandler(self.port) self.packet_handler = PacketHandler(PROTOCOL_VERSION) + if not self.port_handler.openPort(): raise OSError(f"Failed to open port '{self.port}'.") + self.is_connected = True def are_motors_configured(self): @@ -781,6 +794,11 @@ def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] | return values def _read_with_motor_ids(self, motor_models, motor_ids, data_name): + if self.mock: + from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncRead + else: + from dynamixel_sdk import COMM_SUCCESS, GroupSyncRead + return_list = True if not isinstance(motor_ids, list): return_list = False @@ -817,6 +835,11 @@ def read(self, data_name, motor_names: str | list[str] | None = None): start_time = time.perf_counter() + if self.mock: + from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncRead + else: + from dynamixel_sdk import COMM_SUCCESS, GroupSyncRead + if motor_names is None: motor_names = self.motor_names @@ -876,6 +899,11 @@ def read(self, data_name, motor_names: str | list[str] | None = None): return values def _write_with_motor_ids(self, motor_models, motor_ids, data_name, values): + if self.mock: + from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite + else: + from dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite + if not isinstance(motor_ids, list): motor_ids = [motor_ids] if not isinstance(values, list): @@ -885,7 +913,7 @@ def _write_with_motor_ids(self, motor_models, motor_ids, data_name, values): addr, bytes = self.model_ctrl_table[motor_models[0]][data_name] group = GroupSyncWrite(self.port_handler, self.packet_handler, addr, bytes) for idx, value in zip(motor_ids, values, strict=True): - data = convert_to_bytes(value, bytes) + data = convert_to_bytes(value, bytes, self.mock) group.addParam(idx, data) comm = group.txPacket() @@ -903,6 +931,11 @@ def write(self, data_name, values: int | float | np.ndarray, motor_names: str | start_time = time.perf_counter() + if self.mock: + from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite + else: + from dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite + if motor_names is None: motor_names = self.motor_names @@ -937,7 +970,7 @@ def write(self, data_name, values: int | float | np.ndarray, motor_names: str | ) for idx, value in zip(motor_ids, values, strict=True): - data = convert_to_bytes(value, bytes) + data = convert_to_bytes(value, bytes, self.mock) if init_group: self.group_writers[group_key].addParam(idx, data) else: diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py index a6506a3fe..ff9cf3dc3 100644 --- a/lerobot/scripts/control_robot.py +++ b/lerobot/scripts/control_robot.py @@ -242,7 +242,8 @@ def is_headless(): ######################################################################################## -def calibrate(robot: Robot, arms: list[str] | None): +def get_available_arms(robot): + # TODO(rcadene): moves this function in manipulator class? available_arms = [] for name in robot.follower_arms: arm_id = get_arm_id(name, "follower") @@ -250,9 +251,12 @@ def calibrate(robot: Robot, arms: list[str] | None): for name in robot.leader_arms: arm_id = get_arm_id(name, "leader") available_arms.append(arm_id) + return available_arms - unknown_arms = [arm_id for arm_id in arms if arm_id not in available_arms] +def calibrate(robot: Robot, arms: list[str] | None): + available_arms = get_available_arms(robot) + unknown_arms = [arm_id for arm_id in arms if arm_id not in available_arms] available_arms_str = " ".join(available_arms) unknown_arms_str = " ".join(unknown_arms) @@ -323,6 +327,7 @@ def record( tags=None, num_image_writers_per_camera=4, force_override=False, + display_cameras=True, ): # TODO(rcadene): Add option to record logs # TODO(rcadene): Clean this function via decomposition in higher level functions @@ -333,9 +338,6 @@ def record( f"Your dataset name begins by 'eval_' ({dataset_name}) but no policy is provided ({policy})." ) - if not video: - raise NotImplementedError() - if not robot.is_connected: robot.connect() @@ -359,7 +361,7 @@ def record( episode_index = 0 if is_headless(): - logging.info( + logging.warning( "Headless environment detected. On-screen cameras display and keyboard inputs will not be available." ) @@ -427,7 +429,7 @@ def on_press(key): else: observation = robot.capture_observation() - if not is_headless(): + if display_cameras and not is_headless(): image_keys = [key for key in observation if "image" in key] for key in image_keys: cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR)) @@ -445,6 +447,7 @@ def on_press(key): # Using `with` to exist smoothly if an execption is raised. futures = [] num_image_writers = num_image_writers_per_camera * len(robot.cameras) + num_image_writers = max(num_image_writers, 1) with concurrent.futures.ThreadPoolExecutor(max_workers=num_image_writers) as executor: # Start recording all episodes while episode_index < num_episodes: @@ -472,7 +475,7 @@ def on_press(key): ) ] - if not is_headless(): + if display_cameras and not is_headless(): image_keys = [key for key in observation if "image" in key] for key in image_keys: cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR)) @@ -545,15 +548,23 @@ def on_press(key): num_frames = frame_index for key in image_keys: - tmp_imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}" - fname = f"{key}_episode_{episode_index:06d}.mp4" - video_path = local_dir / "videos" / fname - if video_path.exists(): - video_path.unlink() - # Store the reference to the video frame, even tho the videos are not yet encoded - ep_dict[key] = [] - for i in range(num_frames): - ep_dict[key].append({"path": f"videos/{fname}", "timestamp": i / fps}) + if video: + tmp_imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}" + fname = f"{key}_episode_{episode_index:06d}.mp4" + video_path = local_dir / "videos" / fname + if video_path.exists(): + video_path.unlink() + # Store the reference to the video frame, even tho the videos are not yet encoded + ep_dict[key] = [] + for i in range(num_frames): + ep_dict[key].append({"path": f"videos/{fname}", "timestamp": i / fps}) + + else: + imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}" + ep_dict[key] = [] + for i in range(num_frames): + img_path = imgs_dir / f"frame_{i:06d}.png" + ep_dict[key].append({"path": str(img_path)}) for key in not_image_keys: ep_dict[key] = torch.stack(ep_dict[key]) @@ -612,26 +623,27 @@ def on_press(key): break robot.disconnect() - if not is_headless(): + if display_cameras and not is_headless(): cv2.destroyAllWindows() num_episodes = episode_index - logging.info("Encoding videos") - say("Encoding videos") - # Use ffmpeg to convert frames stored as png into mp4 videos - for episode_index in tqdm.tqdm(range(num_episodes)): - for key in image_keys: - tmp_imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}" - fname = f"{key}_episode_{episode_index:06d}.mp4" - video_path = local_dir / "videos" / fname - if video_path.exists(): - # Skip if video is already encoded. Could be the case when resuming data recording. - continue - # note: `encode_video_frames` is a blocking call. Making it asynchronous shouldn't speedup encoding, - # since video encoding with ffmpeg is already using multithreading. - encode_video_frames(tmp_imgs_dir, video_path, fps, overwrite=True) - shutil.rmtree(tmp_imgs_dir) + if video: + logging.info("Encoding videos") + say("Encoding videos") + # Use ffmpeg to convert frames stored as png into mp4 videos + for episode_index in tqdm.tqdm(range(num_episodes)): + for key in image_keys: + tmp_imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}" + fname = f"{key}_episode_{episode_index:06d}.mp4" + video_path = local_dir / "videos" / fname + if video_path.exists(): + # Skip if video is already encoded. Could be the case when resuming data recording. + continue + # note: `encode_video_frames` is a blocking call. Making it asynchronous shouldn't speedup encoding, + # since video encoding with ffmpeg is already using multithreading. + encode_video_frames(tmp_imgs_dir, video_path, fps, overwrite=True) + shutil.rmtree(tmp_imgs_dir) logging.info("Concatenating episodes") ep_dicts = [] diff --git a/poetry.lock b/poetry.lock index 40bf29eff..a46d38b59 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand. [[package]] name = "absl-py" @@ -2406,7 +2406,6 @@ description = "Nvidia JIT LTO Library" optional = false python-versions = ">=3" files = [ - {file = "nvidia_nvjitlink_cu12-12.5.82-py3-none-manylinux2014_aarch64.whl", hash = "sha256:98103729cc5226e13ca319a10bbf9433bbbd44ef64fe72f45f067cacc14b8d27"}, {file = "nvidia_nvjitlink_cu12-12.5.82-py3-none-manylinux2014_x86_64.whl", hash = "sha256:f9b37bc5c8cf7509665cb6ada5aaa0ce65618f2332b7d3e78e9790511f111212"}, {file = "nvidia_nvjitlink_cu12-12.5.82-py3-none-win_amd64.whl", hash = "sha256:e782564d705ff0bf61ac3e1bf730166da66dd2fe9012f111ede5fc49b64ae697"}, ] @@ -4578,7 +4577,7 @@ dora = ["gym-dora"] dynamixel = ["dynamixel-sdk", "pynput"] intelrealsense = ["pyrealsense2"] pusht = ["gym-pusht"] -test = ["pytest", "pytest-cov"] +test = ["pyserial", "pytest", "pytest-cov"] umi = ["imagecodecs"] video-benchmark = ["pandas", "scikit-image"] xarm = ["gym-xarm"] @@ -4586,4 +4585,4 @@ xarm = ["gym-xarm"] [metadata] lock-version = "2.0" python-versions = ">=3.10,<3.13" -content-hash = "c9c3beac71f760738baf2fd169378eefdaef7d3a9cd068270bc5190fbefdb42a" +content-hash = "5e4f6b9727d67a37d1c6d94af7661bb688a0866afd30878c5e523b8e768deac6" diff --git a/pyproject.toml b/pyproject.toml index f46e39da1..119244419 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -67,6 +67,7 @@ pynput = {version = ">=1.7.7", optional = true} # TODO(rcadene, salibert): 71.0.1 has a bug setuptools = {version = "!=71.0.1", optional = true} pyrealsense2 = {version = ">=2.55.1.6486", markers = "sys_platform != 'darwin'", optional = true} +pyserial = {version = ">=3.5", optional = true} [tool.poetry.extras] @@ -75,7 +76,7 @@ pusht = ["gym-pusht"] xarm = ["gym-xarm"] aloha = ["gym-aloha"] dev = ["pre-commit", "debugpy"] -test = ["pytest", "pytest-cov"] +test = ["pytest", "pytest-cov", "pyserial"] umi = ["imagecodecs"] video_benchmark = ["scikit-image", "pandas"] dynamixel = ["dynamixel-sdk", "pynput"] diff --git a/tests/conftest.py b/tests/conftest.py index 52006f331..386441e5d 100644 --- a/tests/conftest.py +++ b/tests/conftest.py @@ -13,13 +13,15 @@ # 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 traceback import pytest +from serial import SerialException +from lerobot import available_cameras, available_motors, available_robots from lerobot.common.utils.utils import init_hydra_config - -from .utils import DEVICE, ROBOT_CONFIG_PATH_TEMPLATE +from tests.utils import DEVICE, ROBOT_CONFIG_PATH_TEMPLATE, make_camera, make_motors_bus def pytest_collection_finish(): @@ -28,6 +30,11 @@ def pytest_collection_finish(): @pytest.fixture def is_robot_available(robot_type): + if robot_type not in available_robots: + raise ValueError( + f"The robot type '{robot_type}' is not valid. Expected one of these '{available_robots}" + ) + try: from lerobot.common.robot_devices.robots.factory import make_robot @@ -37,7 +44,73 @@ def is_robot_available(robot_type): robot.connect() del robot return True - except Exception: - traceback.print_exc() + + except Exception as e: print(f"\nA {robot_type} robot is not available.") + + if isinstance(e, ModuleNotFoundError): + print(f"\nInstall module '{e.name}'") + elif isinstance(e, SerialException): + print("\nNo physical motors bus detected.") + + traceback.print_exc() + return False + + +@pytest.fixture +def is_camera_available(camera_type): + if camera_type not in available_cameras: + raise ValueError( + f"The camera type '{camera_type}' is not valid. Expected one of these '{available_cameras}" + ) + + try: + camera = make_camera(camera_type) + camera.connect() + del camera + return True + + except Exception as e: + print(f"\nA {camera_type} camera is not available.") + + if isinstance(e, ModuleNotFoundError): + print(f"\nInstall module '{e.name}'") + elif isinstance(e, ValueError) and "camera_index" in e.args[0]: + print("\nNo physical camera detected.") + + traceback.print_exc() return False + + +@pytest.fixture +def is_motor_available(motor_type): + if motor_type not in available_motors: + raise ValueError( + f"The motor type '{motor_type}' is not valid. Expected one of these '{available_motors}" + ) + + try: + motors_bus = make_motors_bus(motor_type) + motors_bus.connect() + del motors_bus + return True + + except Exception as e: + print(f"\nA {motor_type} motor is not available.") + + if isinstance(e, ModuleNotFoundError): + print(f"\nInstall module '{e.name}'") + elif isinstance(e, SerialException): + print("\nNo physical motors bus detected.") + + traceback.print_exc() + return False + + +@pytest.fixture +def patch_builtins_input(monkeypatch): + def print_text(text=None): + if text is not None: + print(text) + + monkeypatch.setattr("builtins.input", print_text) diff --git a/tests/mock_cv2.py b/tests/mock_cv2.py new file mode 100644 index 000000000..a3e19e550 --- /dev/null +++ b/tests/mock_cv2.py @@ -0,0 +1,66 @@ +from functools import cache + +import numpy as np + +CAP_PROP_FPS = 5 +CAP_PROP_FRAME_WIDTH = 3 +CAP_PROP_FRAME_HEIGHT = 4 +COLOR_RGB2BGR = 4 +COLOR_BGR2RGB = 4 + + +@cache +def _generate_image(width: int, height: int): + return np.random.randint(0, 256, size=(height, width, 3), dtype=np.uint8) + + +def cvtColor(color_image, color_convertion): # noqa: N802 + if color_convertion in [COLOR_RGB2BGR, COLOR_BGR2RGB]: + return color_image[:, :, [2, 1, 0]] + else: + raise NotImplementedError(color_convertion) + + +class VideoCapture: + def __init__(self, *args, **kwargs): + self._mock_dict = { + CAP_PROP_FPS: 30, + CAP_PROP_FRAME_WIDTH: 640, + CAP_PROP_FRAME_HEIGHT: 480, + } + self._is_opened = True + + def isOpened(self): # noqa: N802 + return self._is_opened + + def set(self, propId: int, value: float) -> bool: # noqa: N803 + if not self._is_opened: + raise RuntimeError("Camera is not opened") + self._mock_dict[propId] = value + return True + + def get(self, propId: int) -> float: # noqa: N803 + if not self._is_opened: + raise RuntimeError("Camera is not opened") + value = self._mock_dict[propId] + if value == 0: + if propId == CAP_PROP_FRAME_HEIGHT: + value = 480 + elif propId == CAP_PROP_FRAME_WIDTH: + value = 640 + return value + + def read(self): + if not self._is_opened: + raise RuntimeError("Camera is not opened") + h = self.get(CAP_PROP_FRAME_HEIGHT) + w = self.get(CAP_PROP_FRAME_WIDTH) + ret = True + return ret, _generate_image(width=w, height=h) + + def release(self): + self._is_opened = False + + def __del__(self): + if self._is_opened: + self.release() diff --git a/tests/mock_dynamixel_sdk.py b/tests/mock_dynamixel_sdk.py new file mode 100644 index 000000000..6d0ed20e5 --- /dev/null +++ b/tests/mock_dynamixel_sdk.py @@ -0,0 +1,87 @@ +"""Mocked classes and functions from dynamixel_sdk to allow for continuous integration +and testing code logic that requires hardware and devices (e.g. robot arms, cameras) + +Warning: These mocked versions are minimalist. They do not exactly mock every behaviors +from the original classes and functions (e.g. return types might be None instead of boolean). +""" + +# from dynamixel_sdk import COMM_SUCCESS + +DEFAULT_BAUDRATE = 9_600 +COMM_SUCCESS = 0 # tx or rx packet communication success + + +def convert_to_bytes(value, bytes): + # TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform + # `convert_bytes_to_value` + del bytes # unused + return value + + +class PortHandler: + def __init__(self, port): + self.port = port + # factory default baudrate + self.baudrate = DEFAULT_BAUDRATE + + def openPort(self): # noqa: N802 + return True + + def closePort(self): # noqa: N802 + pass + + def setPacketTimeoutMillis(self, timeout_ms): # noqa: N802 + del timeout_ms # unused + + def getBaudRate(self): # noqa: N802 + return self.baudrate + + def setBaudRate(self, baudrate): # noqa: N802 + self.baudrate = baudrate + + +class PacketHandler: + def __init__(self, protocol_version): + del protocol_version # unused + # Use packet_handler.data to communicate across Read and Write + self.data = {} + + +class GroupSyncRead: + def __init__(self, port_handler, packet_handler, address, bytes): + self.packet_handler = packet_handler + + def addParam(self, motor_index): # noqa: N802 + if motor_index not in self.packet_handler.data: + # Initialize motor default values + self.packet_handler.data[motor_index] = { + # Key (int) are from X_SERIES_CONTROL_TABLE + 7: motor_index, # ID + 8: DEFAULT_BAUDRATE, # Baud_rate + 10: 0, # Drive_Mode + 64: 0, # Torque_Enable + # Set 2560 since calibration values for Aloha gripper is between start_pos=2499 and end_pos=3144 + # For other joints, 2560 will be autocorrected to be in calibration range + 132: 2560, # Present_Position + } + + def txRxPacket(self): # noqa: N802 + return COMM_SUCCESS + + def getData(self, index, address, bytes): # noqa: N802 + return self.packet_handler.data[index][address] + + +class GroupSyncWrite: + def __init__(self, port_handler, packet_handler, address, bytes): + self.packet_handler = packet_handler + self.address = address + + def addParam(self, index, data): # noqa: N802 + self.changeParam(index, data) + + def txPacket(self): # noqa: N802 + return COMM_SUCCESS + + def changeParam(self, index, data): # noqa: N802 + self.packet_handler.data[index][self.address] = data diff --git a/tests/mock_pyrealsense2.py b/tests/mock_pyrealsense2.py new file mode 100644 index 000000000..b9c6ccf96 --- /dev/null +++ b/tests/mock_pyrealsense2.py @@ -0,0 +1,134 @@ +import enum + +import numpy as np + + +class RSStream(enum.Enum): + color = 0 + depth = 1 + + +class RSFormat(enum.Enum): + rgb8 = 0 + z16 = 1 + + +class RSConfig: + def enable_device(self, device_id: str): + self.device_enabled = device_id + + def enable_stream( + self, stream_type: RSStream, width=None, height=None, color_format: RSFormat = None, fps=None + ): + self.stream_type = stream_type + # Overwrite default values when possible + self.width = 848 if width is None else width + self.height = 480 if height is None else height + self.color_format = RSFormat.rgb8 if color_format is None else color_format + self.fps = 30 if fps is None else fps + + +class RSColorProfile: + def __init__(self, config: RSConfig): + self.config = config + + def fps(self): + return self.config.fps + + def width(self): + return self.config.width + + def height(self): + return self.config.height + + +class RSColorStream: + def __init__(self, config: RSConfig): + self.config = config + + def as_video_stream_profile(self): + return RSColorProfile(self.config) + + +class RSProfile: + def __init__(self, config: RSConfig): + self.config = config + + def get_stream(self, color_format: RSFormat): + del color_format # unused + return RSColorStream(self.config) + + +class RSPipeline: + def __init__(self): + self.started = False + self.config = None + + def start(self, config: RSConfig): + self.started = True + self.config = config + return RSProfile(self.config) + + def stop(self): + if not self.started: + raise RuntimeError("You need to start the camera before stop.") + self.started = False + self.config = None + + def wait_for_frames(self, timeout_ms=50000): + del timeout_ms # unused + return RSFrames(self.config) + + +class RSFrames: + def __init__(self, config: RSConfig): + self.config = config + + def get_color_frame(self): + return RSColorFrame(self.config) + + def get_depth_frame(self): + return RSDepthFrame(self.config) + + +class RSColorFrame: + def __init__(self, config: RSConfig): + self.config = config + + def get_data(self): + data = np.ones((self.config.height, self.config.width, 3), dtype=np.uint8) + # Create a difference between rgb and bgr + data[:, :, 0] = 2 + return data + + +class RSDepthFrame: + def __init__(self, config: RSConfig): + self.config = config + + def get_data(self): + return np.ones((self.config.height, self.config.width), dtype=np.uint16) + + +class RSDevice: + def __init__(self): + pass + + def get_info(self, camera_info) -> str: + del camera_info # unused + # return fake serial number + return "123456789" + + +class RSContext: + def __init__(self): + pass + + def query_devices(self): + return [RSDevice()] + + +class RSCameraInfo: + def __init__(self, serial_number): + del serial_number + pass diff --git a/tests/test_cameras.py b/tests/test_cameras.py index 0d5d94425..72da248d6 100644 --- a/tests/test_cameras.py +++ b/tests/test_cameras.py @@ -1,21 +1,32 @@ """ -Tests meant to be used locally and launched manually. +Tests for physical cameras and their mocked versions. +If the physical camera is not connected to the computer, or not working, +the test will be skipped. -Example usage: +Example of running a specific test: ```bash pytest -sx tests/test_cameras.py::test_camera ``` + +Example of running test on a real camera connected to the computer: +```bash +pytest -sx 'tests/test_cameras.py::test_camera[opencv-False]' +pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-False]' +``` + +Example of running test on a mocked version of the camera: +```bash +pytest -sx 'tests/test_cameras.py::test_camera[opencv-True]' +pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-True]' +``` """ import numpy as np import pytest -from lerobot import available_robots -from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera, save_images_from_cameras from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError -from tests.utils import require_robot +from tests.utils import TEST_CAMERA_TYPES, make_camera, require_camera -CAMERA_INDEX = 2 # Maximum absolute difference between two consecutive images recored by a camera. # This value differs with respect to the camera. MAX_PIXEL_DIFFERENCE = 25 @@ -25,9 +36,9 @@ def compute_max_pixel_difference(first_image, second_image): return np.abs(first_image.astype(float) - second_image.astype(float)).max() -@pytest.mark.parametrize("robot_type", available_robots) -@require_robot -def test_camera(request, robot_type): +@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES) +@require_camera +def test_camera(request, camera_type, mock): """Test assumes that `camera.read()` returns the same image when called multiple times in a row. So the environment should not change (you shouldnt be in front of the camera) and the camera should not be moving. @@ -36,10 +47,12 @@ def test_camera(request, robot_type): """ # TODO(rcadene): measure fps in nightly? # TODO(rcadene): test logs - # TODO(rcadene): add compatibility with other camera APIs + + if camera_type == "opencv" and not mock: + pytest.skip("TODO(rcadene): fix test for opencv physical camera") # Test instantiating - camera = OpenCVCamera(CAMERA_INDEX) + camera = make_camera(camera_type, mock=mock) # Test reading, async reading, disconnecting before connecting raises an error with pytest.raises(RobotDeviceNotConnectedError): @@ -53,7 +66,7 @@ def test_camera(request, robot_type): del camera # Test connecting - camera = OpenCVCamera(CAMERA_INDEX) + camera = make_camera(camera_type, mock=mock) camera.connect() assert camera.is_connected assert camera.fps is not None @@ -78,11 +91,14 @@ def test_camera(request, robot_type): camera.read() color_image = camera.read() async_color_image = camera.async_read() - print( + error_msg = ( "max_pixel_difference between read() and async_read()", compute_max_pixel_difference(color_image, async_color_image), ) - assert np.allclose(color_image, async_color_image, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE) + # TODO(rcadene): properly set `rtol` + np.testing.assert_allclose( + color_image, async_color_image, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg + ) # Test disconnecting camera.disconnect() @@ -90,29 +106,25 @@ def test_camera(request, robot_type): assert camera.thread is None # Test disconnecting with `__del__` - camera = OpenCVCamera(CAMERA_INDEX) + camera = make_camera(camera_type, mock=mock) camera.connect() del camera # Test acquiring a bgr image - camera = OpenCVCamera(CAMERA_INDEX, color_mode="bgr") + camera = make_camera(camera_type, color_mode="bgr", mock=mock) camera.connect() assert camera.color_mode == "bgr" bgr_color_image = camera.read() - assert np.allclose(color_image, bgr_color_image[:, :, [2, 1, 0]], rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE) + np.testing.assert_allclose( + color_image, bgr_color_image[:, :, [2, 1, 0]], rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg + ) del camera # TODO(rcadene): Add a test for a camera that doesnt support fps=60 and raises an OSError # TODO(rcadene): Add a test for a camera that supports fps=60 - # Test fps=10 raises an OSError - camera = OpenCVCamera(CAMERA_INDEX, fps=10) - with pytest.raises(OSError): - camera.connect() - del camera - # Test width and height can be set - camera = OpenCVCamera(CAMERA_INDEX, fps=30, width=1280, height=720) + camera = make_camera(camera_type, fps=30, width=1280, height=720, mock=mock) camera.connect() assert camera.fps == 30 assert camera.width == 1280 @@ -125,13 +137,19 @@ def test_camera(request, robot_type): del camera # Test not supported width and height raise an error - camera = OpenCVCamera(CAMERA_INDEX, fps=30, width=0, height=0) + camera = make_camera(camera_type, fps=30, width=0, height=0, mock=mock) with pytest.raises(OSError): camera.connect() del camera -@pytest.mark.parametrize("robot_type", available_robots) -@require_robot -def test_save_images_from_cameras(tmpdir, request, robot_type): - save_images_from_cameras(tmpdir, record_time_s=1) +@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES) +@require_camera +def test_save_images_from_cameras(tmpdir, request, camera_type, mock): + # TODO(rcadene): refactor + if camera_type == "opencv": + from lerobot.common.robot_devices.cameras.opencv import save_images_from_cameras + elif camera_type == "intelrealsense": + from lerobot.common.robot_devices.cameras.intelrealsense import save_images_from_cameras + + save_images_from_cameras(tmpdir, record_time_s=1, mock=mock) diff --git a/tests/test_control_robot.py b/tests/test_control_robot.py index 406edeb4f..f554c2511 100644 --- a/tests/test_control_robot.py +++ b/tests/test_control_robot.py @@ -1,55 +1,146 @@ +""" +Tests for physical robots and their mocked versions. +If the physical robots are not connected to the computer, or not working, +the test will be skipped. + +Example of running a specific test: +```bash +pytest -sx tests/test_control_robot.py::test_teleoperate +``` + +Example of running test on real robots connected to the computer: +```bash +pytest -sx 'tests/test_control_robot.py::test_teleoperate[koch-False]' +pytest -sx 'tests/test_control_robot.py::test_teleoperate[koch_bimanual-False]' +pytest -sx 'tests/test_control_robot.py::test_teleoperate[aloha-False]' +``` + +Example of running test on a mocked version of robots: +```bash +pytest -sx 'tests/test_control_robot.py::test_teleoperate[koch-True]' +pytest -sx 'tests/test_control_robot.py::test_teleoperate[koch_bimanual-True]' +pytest -sx 'tests/test_control_robot.py::test_teleoperate[aloha-True]' +``` +""" + from pathlib import Path import pytest -from lerobot import available_robots from lerobot.common.policies.factory import make_policy from lerobot.common.utils.utils import init_hydra_config -from lerobot.scripts.control_robot import calibrate, record, replay, teleoperate +from lerobot.scripts.control_robot import calibrate, get_available_arms, record, replay, teleoperate from tests.test_robots import make_robot -from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_robot +from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, require_robot -@pytest.mark.parametrize("robot_type", available_robots) +@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES) @require_robot -def test_teleoperate(request, robot_type): - robot = make_robot(robot_type) +def test_teleoperate(tmpdir, request, robot_type, mock): + if mock: + request.getfixturevalue("patch_builtins_input") + + # Create an empty calibration directory to trigger manual calibration + # and avoid writing calibration files in user .cache/calibration folder + tmpdir = Path(tmpdir) + calibration_dir = tmpdir / robot_type + overrides = [f"calibration_dir={calibration_dir}"] + else: + # Use the default .cache/calibration folder when mock=False + overrides = None + + robot = make_robot(robot_type, overrides=overrides, mock=mock) teleoperate(robot, teleop_time_s=1) teleoperate(robot, fps=30, teleop_time_s=1) teleoperate(robot, fps=60, teleop_time_s=1) del robot -@pytest.mark.parametrize("robot_type", available_robots) +@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES) @require_robot -def test_calibrate(request, robot_type): - robot = make_robot(robot_type) - calibrate(robot) +def test_calibrate(tmpdir, request, robot_type, mock): + if mock: + request.getfixturevalue("patch_builtins_input") + + # Create an empty calibration directory to trigger manual calibration + tmpdir = Path(tmpdir) + calibration_dir = tmpdir / robot_type + overrides_calibration_dir = [f"calibration_dir={calibration_dir}"] + + robot = make_robot(robot_type, overrides=overrides_calibration_dir, mock=mock) + calibrate(robot, arms=get_available_arms(robot)) del robot -@pytest.mark.parametrize("robot_type", available_robots) +@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES) @require_robot -def test_record_without_cameras(tmpdir, request, robot_type): - root = Path(tmpdir) +def test_record_without_cameras(tmpdir, request, robot_type, mock): + # Avoid using cameras + overrides = ["~cameras"] + + if mock: + request.getfixturevalue("patch_builtins_input") + + # Create an empty calibration directory to trigger manual calibration + # and avoid writing calibration files in user .cache/calibration folder + calibration_dir = Path(tmpdir) / robot_type + overrides.append(f"calibration_dir={calibration_dir}") + + root = Path(tmpdir) / "data" repo_id = "lerobot/debug" - robot = make_robot(robot_type, overrides=["~cameras"]) - record(robot, fps=30, root=root, repo_id=repo_id, warmup_time_s=1, episode_time_s=1, num_episodes=2) + robot = make_robot(robot_type, overrides=overrides, mock=mock) + record( + robot, + fps=30, + root=root, + repo_id=repo_id, + warmup_time_s=1, + episode_time_s=1, + num_episodes=2, + run_compute_stats=False, + push_to_hub=False, + video=False, + ) -@pytest.mark.parametrize("robot_type", available_robots) +@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES) @require_robot -def test_record_and_replay_and_policy(tmpdir, request, robot_type): +def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock): + if mock: + request.getfixturevalue("patch_builtins_input") + + # Create an empty calibration directory to trigger manual calibration + # and avoid writing calibration files in user .cache/calibration folder + calibration_dir = Path(tmpdir) / robot_type + overrides = [f"calibration_dir={calibration_dir}"] + else: + # Use the default .cache/calibration folder when mock=False + overrides = None + + if robot_type == "aloha": + pytest.skip("TODO(rcadene): enable test once aloha_real and act_aloha_real are merged") + env_name = "koch_real" policy_name = "act_koch_real" - root = Path(tmpdir) + root = Path(tmpdir) / "data" repo_id = "lerobot/debug" - robot = make_robot(robot_type) + robot = make_robot(robot_type, overrides=overrides, mock=mock) dataset = record( - robot, fps=30, root=root, repo_id=repo_id, warmup_time_s=1, episode_time_s=1, num_episodes=2 + robot, + fps=30, + root=root, + repo_id=repo_id, + warmup_time_s=1, + episode_time_s=1, + num_episodes=2, + push_to_hub=False, + # TODO(rcadene, aliberts): test video=True + video=False, + # TODO(rcadene): display cameras through cv2 sometimes crashes on mac + display_cameras=False, ) replay(robot, episode=0, fps=30, root=root, repo_id=repo_id) @@ -65,6 +156,17 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type): policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats) - record(robot, policy, cfg, run_time_s=1) + record( + robot, + policy, + cfg, + warmup_time_s=1, + episode_time_s=1, + num_episodes=2, + run_compute_stats=False, + push_to_hub=False, + video=False, + display_cameras=False, + ) del robot diff --git a/tests/test_motors.py b/tests/test_motors.py index 48c2e8d8d..672234071 100644 --- a/tests/test_motors.py +++ b/tests/test_motors.py @@ -1,11 +1,23 @@ """ -Tests meant to be used locally and launched manually. +Tests for physical motors and their mocked versions. +If the physical motors are not connected to the computer, or not working, +the test will be skipped. -Example usage: +Example of running a specific test: ```bash pytest -sx tests/test_motors.py::test_find_port pytest -sx tests/test_motors.py::test_motors_bus ``` + +Example of running test on real dynamixel motors connected to the computer: +```bash +pytest -sx 'tests/test_motors.py::test_motors_bus[dynamixel-False]' +``` + +Example of running test on a mocked version of dynamixel motors: +```bash +pytest -sx 'tests/test_motors.py::test_motors_bus[dynamixel-True]' +``` """ # TODO(rcadene): measure fps in nightly? @@ -18,38 +30,31 @@ import numpy as np import pytest -from lerobot import available_robots -from lerobot.common.robot_devices.motors.utils import MotorsBus -from lerobot.common.robot_devices.robots.factory import make_robot +from lerobot.common.robot_devices.motors.dynamixel import find_port from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError -from lerobot.common.utils.utils import init_hydra_config -from tests.utils import ROBOT_CONFIG_PATH_TEMPLATE, require_robot - +from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, require_motor -def make_motors_bus(robot_type: str) -> MotorsBus: - # Instantiate a robot and return one of its leader arms - config_path = ROBOT_CONFIG_PATH_TEMPLATE.format(robot=robot_type) - robot_cfg = init_hydra_config(config_path) - robot = make_robot(robot_cfg) - first_bus_name = list(robot.leader_arms.keys())[0] - motors_bus = robot.leader_arms[first_bus_name] - return motors_bus +@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES) +@require_motor +def test_find_port(request, motor_type, mock): + if mock: + request.getfixturevalue("patch_builtins_input") + with pytest.raises(OSError): + find_port() + else: + find_port() -@pytest.mark.parametrize("robot_type", available_robots) -@require_robot -def test_find_port(request, robot_type): - from lerobot.common.robot_devices.motors.dynamixel import find_port - find_port() +@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES) +@require_motor +def test_configure_motors_all_ids_1(request, motor_type, mock): + if mock: + request.getfixturevalue("patch_builtins_input") - -@pytest.mark.parametrize("robot_type", available_robots) -@require_robot -def test_configure_motors_all_ids_1(request, robot_type): input("Are you sure you want to re-configure the motors? Press enter to continue...") # This test expect the configuration was already correct. - motors_bus = make_motors_bus(robot_type) + motors_bus = make_motors_bus(motor_type, mock=mock) motors_bus.connect() motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors)) motors_bus.set_bus_baudrate(9_600) @@ -57,16 +62,19 @@ def test_configure_motors_all_ids_1(request, robot_type): del motors_bus # Test configure - motors_bus = make_motors_bus(robot_type) + motors_bus = make_motors_bus(motor_type, mock=mock) motors_bus.connect() assert motors_bus.are_motors_configured() del motors_bus -@pytest.mark.parametrize("robot_type", available_robots) -@require_robot -def test_motors_bus(request, robot_type): - motors_bus = make_motors_bus(robot_type) +@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES) +@require_motor +def test_motors_bus(request, motor_type, mock): + if mock: + request.getfixturevalue("patch_builtins_input") + + motors_bus = make_motors_bus(motor_type, mock=mock) # Test reading and writting before connecting raises an error with pytest.raises(RobotDeviceNotConnectedError): @@ -80,7 +88,7 @@ def test_motors_bus(request, robot_type): del motors_bus # Test connecting - motors_bus = make_motors_bus(robot_type) + motors_bus = make_motors_bus(motor_type, mock=mock) motors_bus.connect() # Test connecting twice raises an error diff --git a/tests/test_robots.py b/tests/test_robots.py index 4ce3805ee..72f0c9444 100644 --- a/tests/test_robots.py +++ b/tests/test_robots.py @@ -1,10 +1,26 @@ """ -Tests meant to be used locally and launched manually. +Tests for physical robots and their mocked versions. +If the physical robots are not connected to the computer, or not working, +the test will be skipped. -Example usage: +Example of running a specific test: ```bash pytest -sx tests/test_robots.py::test_robot ``` + +Example of running test on real robots connected to the computer: +```bash +pytest -sx 'tests/test_robots.py::test_robot[koch-False]' +pytest -sx 'tests/test_robots.py::test_robot[koch_bimanual-False]' +pytest -sx 'tests/test_robots.py::test_robot[aloha-False]' +``` + +Example of running test on a mocked version of robots: +```bash +pytest -sx 'tests/test_robots.py::test_robot[koch-True]' +pytest -sx 'tests/test_robots.py::test_robot[koch_bimanual-True]' +pytest -sx 'tests/test_robots.py::test_robot[aloha-True]' +``` """ from pathlib import Path @@ -12,41 +28,42 @@ import pytest import torch -from lerobot import available_robots -from lerobot.common.robot_devices.robots.factory import make_robot as make_robot_from_cfg -from lerobot.common.robot_devices.robots.utils import Robot +from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError -from lerobot.common.utils.utils import init_hydra_config -from tests.utils import ROBOT_CONFIG_PATH_TEMPLATE, require_robot - +from tests.utils import TEST_ROBOT_TYPES, make_robot, require_robot -def make_robot(robot_type: str, overrides: list[str] | None = None) -> Robot: - config_path = ROBOT_CONFIG_PATH_TEMPLATE.format(robot=robot_type) - robot_cfg = init_hydra_config(config_path, overrides) - robot = make_robot_from_cfg(robot_cfg) - return robot - -@pytest.mark.parametrize("robot_type", available_robots) +@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES) @require_robot -def test_robot(tmpdir, request, robot_type): +def test_robot(tmpdir, request, robot_type, mock): # TODO(rcadene): measure fps in nightly? # TODO(rcadene): test logs # TODO(rcadene): add compatibility with other robots - from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot - # Save calibration preset - tmpdir = Path(tmpdir) - calibration_dir = tmpdir / robot_type + robot_kwargs = {"robot_type": robot_type} + + if robot_type == "aloha" and mock: + # To simplify unit test, we do not rerun manual calibration for Aloha mock=True. + # Instead, we use the files from '.cache/calibration/aloha_default' + overrides_calibration_dir = None + else: + if mock: + request.getfixturevalue("patch_builtins_input") + + # Create an empty calibration directory to trigger manual calibration + tmpdir = Path(tmpdir) + calibration_dir = tmpdir / robot_type + overrides_calibration_dir = [f"calibration_dir={calibration_dir}"] + robot_kwargs["calibration_dir"] = calibration_dir # Test connecting without devices raises an error - robot = ManipulatorRobot() + robot = ManipulatorRobot(**robot_kwargs) with pytest.raises(ValueError): robot.connect() del robot # Test using robot before connecting raises an error - robot = ManipulatorRobot() + robot = ManipulatorRobot(**robot_kwargs) with pytest.raises(RobotDeviceNotConnectedError): robot.teleop_step() with pytest.raises(RobotDeviceNotConnectedError): @@ -61,21 +78,23 @@ def test_robot(tmpdir, request, robot_type): # Test deleting the object without connecting first del robot - # Test connecting - robot = make_robot(robot_type, overrides=[f"calibration_dir={calibration_dir}"]) - robot.connect() # run the manual calibration precedure + # Test connecting (triggers manual calibration) + robot = make_robot(robot_type, overrides=overrides_calibration_dir, mock=mock) + robot.connect() assert robot.is_connected # Test connecting twice raises an error with pytest.raises(RobotDeviceAlreadyConnectedError): robot.connect() - # Test disconnecting with `__del__` - del robot + # TODO(rcadene, aliberts): Test disconnecting with `__del__` instead of `disconnect` + # del robot + robot.disconnect() # Test teleop can run - robot = make_robot(robot_type, overrides=[f"calibration_dir={calibration_dir}"]) - robot.calibration_dir = calibration_dir + robot = make_robot(robot_type, overrides=overrides_calibration_dir, mock=mock) + if overrides_calibration_dir is not None: + robot.calibration_dir = calibration_dir robot.connect() robot.teleop_step() @@ -121,4 +140,3 @@ def test_robot(tmpdir, request, robot_type): assert not robot.leader_arms[name].is_connected for name in robot.cameras: assert not robot.cameras[name].is_connected - del robot diff --git a/tests/utils.py b/tests/utils.py index db214aeac..0c4b94d89 100644 --- a/tests/utils.py +++ b/tests/utils.py @@ -13,13 +13,21 @@ # 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 os import platform +from copy import copy from functools import wraps import pytest import torch +from lerobot import available_cameras, available_motors, available_robots +from lerobot.common.robot_devices.cameras.utils import Camera +from lerobot.common.robot_devices.motors.utils import MotorsBus +from lerobot.common.robot_devices.robots.factory import make_robot as make_robot_from_cfg +from lerobot.common.robot_devices.robots.utils import Robot from lerobot.common.utils.import_utils import is_package_available +from lerobot.common.utils.utils import init_hydra_config DEVICE = "cuda" if torch.cuda.is_available() else "cpu" @@ -28,6 +36,32 @@ ROBOT_CONFIG_PATH_TEMPLATE = "lerobot/configs/robot/{robot}.yaml" +TEST_ROBOT_TYPES = [] +for robot_type in available_robots: + TEST_ROBOT_TYPES += [(robot_type, True), (robot_type, False)] + +TEST_CAMERA_TYPES = [] +for camera_type in available_cameras: + TEST_CAMERA_TYPES += [(camera_type, True), (camera_type, False)] + +TEST_MOTOR_TYPES = [] +for motor_type in available_motors: + TEST_MOTOR_TYPES += [(motor_type, True), (motor_type, False)] + +# Camera indices used for connecting physical cameras +OPENCV_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_OPENCV_CAMERA_INDEX", 0)) +INTELREALSENSE_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_INTELREALSENSE_CAMERA_INDEX", 128422271614)) + +DYNAMIXEL_PORT = "/dev/tty.usbmodem575E0032081" +DYNAMIXEL_MOTORS = { + "shoulder_pan": [1, "xl430-w250"], + "shoulder_lift": [2, "xl430-w250"], + "elbow_flex": [3, "xl330-m288"], + "wrist_flex": [4, "xl330-m288"], + "wrist_roll": [5, "xl330-m288"], + "gripper": [6, "xl330-m288"], +} + def require_x86_64_kernel(func): """ @@ -173,13 +207,136 @@ def wrapper(*args, **kwargs): # Access the pytest request context to get the is_robot_available fixture request = kwargs.get("request") robot_type = kwargs.get("robot_type") + mock = kwargs.get("mock") + if robot_type is None: + raise ValueError("The 'robot_type' must be an argument of the test function.") if request is None: - raise ValueError("The 'request' fixture must be passed to the test function as a parameter.") + raise ValueError("The 'request' fixture must be an argument of the test function.") + if mock is None: + raise ValueError("The 'mock' variable must be an argument of the test function.") - # The function `is_robot_available` is defined in `tests/conftest.py` - if not request.getfixturevalue("is_robot_available"): + # Run test with a real robot. Skip test if robot connection fails. + if not mock and not request.getfixturevalue("is_robot_available"): pytest.skip(f"A {robot_type} robot is not available.") + return func(*args, **kwargs) return wrapper + + +def require_camera(func): + @wraps(func) + def wrapper(*args, **kwargs): + # Access the pytest request context to get the is_camera_available fixture + request = kwargs.get("request") + camera_type = kwargs.get("camera_type") + mock = kwargs.get("mock") + + if request is None: + raise ValueError("The 'request' fixture must be an argument of the test function.") + if camera_type is None: + raise ValueError("The 'camera_type' must be an argument of the test function.") + if mock is None: + raise ValueError("The 'mock' variable must be an argument of the test function.") + + if not mock and not request.getfixturevalue("is_camera_available"): + pytest.skip(f"A {camera_type} camera is not available.") + + return func(*args, **kwargs) + + return wrapper + + +def require_motor(func): + @wraps(func) + def wrapper(*args, **kwargs): + # Access the pytest request context to get the is_motor_available fixture + request = kwargs.get("request") + motor_type = kwargs.get("motor_type") + mock = kwargs.get("mock") + + if request is None: + raise ValueError("The 'request' fixture must be an argument of the test function.") + if motor_type is None: + raise ValueError("The 'motor_type' must be an argument of the test function.") + if mock is None: + raise ValueError("The 'mock' variable must be an argument of the test function.") + + if not mock and not request.getfixturevalue("is_motor_available"): + pytest.skip(f"A {motor_type} motor is not available.") + + return func(*args, **kwargs) + + return wrapper + + +def make_robot(robot_type: str, overrides: list[str] | None = None, mock=False) -> Robot: + if mock: + overrides = [] if overrides is None else copy(overrides) + + # Explicitely add mock argument to the cameras and set it to true + # TODO(rcadene, aliberts): redesign when we drop hydra + if robot_type == "koch": + overrides.append("+leader_arms.main.mock=true") + overrides.append("+follower_arms.main.mock=true") + if "~cameras" not in overrides: + overrides.append("+cameras.laptop.mock=true") + overrides.append("+cameras.phone.mock=true") + + elif robot_type == "koch_bimanual": + overrides.append("+leader_arms.left.mock=true") + overrides.append("+leader_arms.right.mock=true") + overrides.append("+follower_arms.left.mock=true") + overrides.append("+follower_arms.right.mock=true") + if "~cameras" not in overrides: + overrides.append("+cameras.laptop.mock=true") + overrides.append("+cameras.phone.mock=true") + + elif robot_type == "aloha": + overrides.append("+leader_arms.left.mock=true") + overrides.append("+leader_arms.right.mock=true") + overrides.append("+follower_arms.left.mock=true") + overrides.append("+follower_arms.right.mock=true") + if "~cameras" not in overrides: + overrides.append("+cameras.cam_high.mock=true") + overrides.append("+cameras.cam_low.mock=true") + overrides.append("+cameras.cam_left_wrist.mock=true") + overrides.append("+cameras.cam_right_wrist.mock=true") + + else: + raise NotImplementedError(robot_type) + + config_path = ROBOT_CONFIG_PATH_TEMPLATE.format(robot=robot_type) + robot_cfg = init_hydra_config(config_path, overrides) + robot = make_robot_from_cfg(robot_cfg) + return robot + + +def make_camera(camera_type, **kwargs) -> Camera: + if camera_type == "opencv": + from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera + + camera_index = kwargs.pop("camera_index", OPENCV_CAMERA_INDEX) + return OpenCVCamera(camera_index, **kwargs) + + elif camera_type == "intelrealsense": + from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera + + camera_index = kwargs.pop("camera_index", INTELREALSENSE_CAMERA_INDEX) + return IntelRealSenseCamera(camera_index, **kwargs) + + else: + raise ValueError(f"The camera type '{camera_type}' is not valid.") + + +def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus: + if motor_type == "dynamixel": + from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus + + port = kwargs.pop("port", DYNAMIXEL_PORT) + motors = kwargs.pop("motors", DYNAMIXEL_MOTORS) + return DynamixelMotorsBus(port, motors, **kwargs) + + else: + raise ValueError(f"The motor type '{motor_type}' is not valid.") From 1a343c359101c7fe0099dc64c5fe867cfc4be898 Mon Sep 17 00:00:00 2001 From: Simon Alibert <75076266+aliberts@users.noreply.github.com> Date: Fri, 4 Oct 2024 18:56:42 +0200 Subject: [PATCH 02/29] Add support for Stretch (hello-robot) (#409) Co-authored-by: Remi Co-authored-by: Remi Cadene --- .github/workflows/test.yml | 10 +- examples/7_get_started_with_real_robot.md | 2 +- examples/8_use_stretch.md | 158 + .../robot_devices/cameras/intelrealsense.py | 208 +- .../common/robot_devices/cameras/opencv.py | 148 +- lerobot/common/robot_devices/cameras/utils.py | 47 - .../common/robot_devices/motors/dynamixel.py | 73 +- .../common/robot_devices/robots/factory.py | 4 +- .../robot_devices/robots/manipulator.py | 4 + .../common/robot_devices/robots/stretch.py | 216 + lerobot/common/robot_devices/robots/utils.py | 6 +- lerobot/common/robot_devices/utils.py | 14 + lerobot/configs/robot/aloha.yaml | 8 +- lerobot/configs/robot/stretch.yaml | 24 + lerobot/scripts/control_robot.py | 64 +- poetry.lock | 5618 +++++++++++++---- pyproject.toml | 8 +- tests/mock_cv2.py | 17 + tests/mock_pyrealsense2.py | 37 +- tests/test_cameras.py | 38 +- 20 files changed, 5052 insertions(+), 1652 deletions(-) create mode 100644 examples/8_use_stretch.md create mode 100644 lerobot/common/robot_devices/robots/stretch.py create mode 100644 lerobot/configs/robot/stretch.yaml diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 953b1e4c3..10c90f841 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -37,7 +37,10 @@ jobs: lfs: true # Ensure LFS files are pulled - name: Install apt dependencies - run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev ffmpeg + # portaudio19-dev is needed to install pyaudio + run: | + sudo apt-get update && \ + sudo apt-get install -y libegl1-mesa-dev ffmpeg portaudio19-dev - name: Install poetry run: | @@ -111,7 +114,10 @@ jobs: lfs: true # Ensure LFS files are pulled - name: Install apt dependencies - run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev + # portaudio19-dev is needed to install pyaudio + run: | + sudo apt-get update && \ + sudo apt-get install -y libegl1-mesa-dev portaudio19-dev - name: Install poetry run: | diff --git a/examples/7_get_started_with_real_robot.md b/examples/7_get_started_with_real_robot.md index 50a2c6452..58bfc66c3 100644 --- a/examples/7_get_started_with_real_robot.md +++ b/examples/7_get_started_with_real_robot.md @@ -45,7 +45,7 @@ poetry install --sync --extras "dynamixel" ```bash conda install -c conda-forge ffmpeg pip uninstall opencv-python -conda install -c conda-forge opencv>=4.10.0 +conda install -c conda-forge "opencv>=4.10.0" ``` You are now ready to plug the 5V power supply to the motor bus of the leader arm (the smaller one) since all its motors only require 5V. diff --git a/examples/8_use_stretch.md b/examples/8_use_stretch.md new file mode 100644 index 000000000..fcd1cacee --- /dev/null +++ b/examples/8_use_stretch.md @@ -0,0 +1,158 @@ +This tutorial explains how to use [Stretch 3](https://hello-robot.com/stretch-3-product) with LeRobot. + +## Setup + +Familiarize yourself with Stretch by following its [tutorials](https://docs.hello-robot.com/0.3/getting_started/hello_robot/) (recommended). + +To use LeRobot on Stretch, 3 options are available: +- [tethered setup](https://docs.hello-robot.com/0.3/getting_started/connecting_to_stretch/#tethered-setup) +- [untethered setup](https://docs.hello-robot.com/0.3/getting_started/connecting_to_stretch/#untethered-setup) +- ssh directly into Stretch (you will first need to install and configure openssh-server on stretch using one of the two above setups) + + +## Install LeRobot + +On Stretch's CLI, follow these steps: + +1. [Install Miniconda](https://docs.anaconda.com/miniconda/#quick-command-line-install): +```bash +mkdir -p ~/miniconda3 +wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh +bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 +rm ~/miniconda3/miniconda.sh +~/miniconda3/bin/conda init bash +``` + +2. Comment out these lines in `~/.profile` (this can mess up paths used by conda and ~/.local/bin should already be in your PATH) +``` +# set PATH so it includes user's private bin if it exists +if [ -d "$HOME/.local/bin" ] ; then + PATH="$HOME/.local/bin:$PATH" +fi +``` + +3. Restart shell or `source ~/.bashrc` + +4. Create and activate a fresh conda environment for lerobot +```bash +conda create -y -n lerobot python=3.10 && conda activate lerobot +``` + +5. Clone LeRobot: +```bash +git clone https://github.com/huggingface/lerobot.git ~/lerobot +``` + +6. Install LeRobot with stretch dependencies: +```bash +cd ~/lerobot && pip install -e ".[stretch]" +``` + +> **Note:** If you get this message, you can ignore it: `ERROR: pip's dependency resolver does not currently take into account all the packages that are installed.` + +And install extra dependencies for recording datasets on Linux: +```bash +conda install -y -c conda-forge ffmpeg +pip uninstall -y opencv-python +conda install -y -c conda-forge "opencv>=4.10.0" +``` + +7. Run a [system check](https://docs.hello-robot.com/0.3/getting_started/stretch_hardware_overview/#system-check) to make sure your robot is ready: +```bash +stretch_system_check.py +``` + +> **Note:** You may need to free the "robot process" after booting Stretch by running `stretch_free_robot_process.py`. For more info this Stretch's [doc](https://docs.hello-robot.com/0.3/getting_started/stretch_hardware_overview/#turning-off-gamepad-teleoperation). + +You should get something like this: +```bash +For use with S T R E T C H (R) from Hello Robot Inc. +--------------------------------------------------------------------- + +Model = Stretch 3 +Tool = DexWrist 3 w/ Gripper +Serial Number = stretch-se3-3054 + +---- Checking Hardware ---- +[Pass] Comms are ready +[Pass] Actuators are ready +[Warn] Sensors not ready (IMU AZ = -10.19 out of range -10.1 to -9.5) +[Pass] Battery voltage is 13.6 V + +---- Checking Software ---- +[Pass] Ubuntu 22.04 is ready +[Pass] All APT pkgs are setup correctly +[Pass] Firmware is up-to-date +[Pass] Python pkgs are up-to-date +[Pass] ROS2 Humble is ready +``` + +## Teleoperate, record a dataset and run a policy + +**Calibrate (Optional)** +Before operating Stretch, you need to [home](https://docs.hello-robot.com/0.3/getting_started/stretch_hardware_overview/#homing) it first. Be mindful about giving Stretch some space as this procedure will move the robot's arm and gripper. Now run this command: +```bash +python lerobot/scripts/control_robot.py calibrate \ + --robot-path lerobot/configs/robot/stretch.yaml +``` +This is equivalent to running `stretch_robot_home.py` + +> **Note:** If you run any of the LeRobot scripts below and Stretch is not poperly homed, it will automatically home/calibrate first. + +**Teleoperate** +Before trying teleoperation, you need activate the gamepad controller by pressing the middle button. For more info, see Stretch's [doc](https://docs.hello-robot.com/0.3/getting_started/hello_robot/#gamepad-teleoperation). + +Now try out teleoperation (see above documentation to learn about the gamepad controls): +```bash +python lerobot/scripts/control_robot.py teleoperate \ + --robot-path lerobot/configs/robot/stretch.yaml +``` +This is essentially the same as running `stretch_gamepad_teleop.py` + +**Record a dataset** +Once you're familiar with the gamepad controls and after a bit of practice, you can try to record your first dataset with Stretch. + +If you want to use the Hugging Face hub features for uploading your dataset and you haven't previously done it, make sure you've logged in using a write-access token, which can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens): +```bash +huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential +``` + +Store your Hugging Face repository name in a variable to run these commands: +```bash +HF_USER=$(huggingface-cli whoami | head -n 1) +echo $HF_USER +``` + +Record one episode: +```bash +python lerobot/scripts/control_robot.py record \ + --robot-path lerobot/configs/robot/stretch.yaml \ + --fps 20 \ + --root data \ + --repo-id ${HF_USER}/stretch_test \ + --tags stretch tutorial \ + --warmup-time-s 3 \ + --episode-time-s 40 \ + --reset-time-s 10 \ + --num-episodes 1 \ + --push-to-hub 0 +``` + +> **Note:** If you're using ssh to connect to Stretch and run this script, you won't be able to visualize its cameras feed (though they will still be recording). To see the cameras stream, use [tethered](https://docs.hello-robot.com/0.3/getting_started/connecting_to_stretch/#tethered-setup) or [untethered setup](https://docs.hello-robot.com/0.3/getting_started/connecting_to_stretch/#untethered-setup). + +**Replay an episode** +Now try to replay this episode (make sure the robot's initial position is the same): +```bash +python lerobot/scripts/control_robot.py replay \ + --robot-path lerobot/configs/robot/stretch.yaml \ + --fps 20 \ + --root data \ + --repo-id ${HF_USER}/stretch_test \ + --episode 0 +``` + +Follow [previous tutorial](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data) to train a policy on your data and run inference on your robot. You will need to adapt the code for Stretch. + +> TODO(rcadene, aliberts): Add already setup environment and policy yaml configuration files + +If you need help, please reach out on Discord in the channel `#stretch3-mobile-arm`. diff --git a/lerobot/common/robot_devices/cameras/intelrealsense.py b/lerobot/common/robot_devices/cameras/intelrealsense.py index c949109b8..66c7fe5cb 100644 --- a/lerobot/common/robot_devices/cameras/intelrealsense.py +++ b/lerobot/common/robot_devices/cameras/intelrealsense.py @@ -10,6 +10,7 @@ import threading import time import traceback +from collections import Counter from dataclasses import dataclass, replace from pathlib import Path from threading import Thread @@ -27,47 +28,49 @@ SERIAL_NUMBER_INDEX = 1 -def find_camera_indices(raise_when_empty=True, mock=False) -> list[int]: +def find_cameras(raise_when_empty=True, mock=False) -> list[dict]: """ - Find the serial numbers of the Intel RealSense cameras + Find the names and the serial numbers of the Intel RealSense cameras connected to the computer. """ if mock: - from tests.mock_pyrealsense2 import ( - RSCameraInfo, - RSContext, - ) + import tests.mock_pyrealsense2 as rs else: - from pyrealsense2 import camera_info as RSCameraInfo # noqa: N812 - from pyrealsense2 import context as RSContext # noqa: N812 + import pyrealsense2 as rs - camera_ids = [] - for device in RSContext().query_devices(): - serial_number = int(device.get_info(RSCameraInfo(SERIAL_NUMBER_INDEX))) - camera_ids.append(serial_number) + cameras = [] + for device in rs.context().query_devices(): + serial_number = int(device.get_info(rs.camera_info(SERIAL_NUMBER_INDEX))) + name = device.get_info(rs.camera_info.name) + cameras.append( + { + "serial_number": serial_number, + "name": name, + } + ) - if raise_when_empty and len(camera_ids) == 0: + if raise_when_empty and len(cameras) == 0: raise OSError( "Not a single camera was detected. Try re-plugging, or re-installing `librealsense` and its python wrapper `pyrealsense2`, or updating the firmware." ) - return camera_ids + return cameras -def save_image(img_array, camera_idx, frame_index, images_dir): +def save_image(img_array, serial_number, frame_index, images_dir): try: img = Image.fromarray(img_array) - path = images_dir / f"camera_{camera_idx}_frame_{frame_index:06d}.png" + path = images_dir / f"camera_{serial_number}_frame_{frame_index:06d}.png" path.parent.mkdir(parents=True, exist_ok=True) img.save(str(path), quality=100) logging.info(f"Saved image: {path}") except Exception as e: - logging.error(f"Failed to save image for camera {camera_idx} frame {frame_index}: {e}") + logging.error(f"Failed to save image for camera {serial_number} frame {frame_index}: {e}") def save_images_from_cameras( images_dir: Path, - camera_ids: list[int] | None = None, + serial_numbers: list[int] | None = None, fps=None, width=None, height=None, @@ -76,23 +79,25 @@ def save_images_from_cameras( ): """ Initializes all the cameras and saves images to the directory. Useful to visually identify the camera - associated to a given camera index. + associated to a given serial number. """ - if camera_ids is None: - camera_ids = find_camera_indices(mock=mock) + if serial_numbers is None or len(serial_numbers) == 0: + camera_infos = find_cameras(mock=mock) + serial_numbers = [cam["serial_number"] for cam in camera_infos] if mock: - from tests.mock_cv2 import COLOR_RGB2BGR, cvtColor + import tests.mock_cv2 as cv2 else: - from cv2 import COLOR_RGB2BGR, cvtColor + import cv2 print("Connecting cameras") cameras = [] - for cam_idx in camera_ids: - camera = IntelRealSenseCamera(cam_idx, fps=fps, width=width, height=height, mock=mock) + for cam_sn in serial_numbers: + print(f"{cam_sn=}") + camera = IntelRealSenseCamera(cam_sn, fps=fps, width=width, height=height, mock=mock) camera.connect() print( - f"IntelRealSenseCamera({camera.camera_index}, fps={camera.fps}, width={camera.width}, height={camera.height}, color_mode={camera.color_mode})" + f"IntelRealSenseCamera({camera.serial_number}, fps={camera.fps}, width={camera.width}, height={camera.height}, color_mode={camera.color_mode})" ) cameras.append(camera) @@ -107,7 +112,7 @@ def save_images_from_cameras( frame_index = 0 start_time = time.perf_counter() try: - with concurrent.futures.ThreadPoolExecutor(max_workers=4) as executor: + with concurrent.futures.ThreadPoolExecutor(max_workers=1) as executor: while True: now = time.perf_counter() @@ -118,12 +123,12 @@ def save_images_from_cameras( if image is None: print("No Frame") - bgr_converted_image = cvtColor(image, COLOR_RGB2BGR) + bgr_converted_image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR) executor.submit( save_image, bgr_converted_image, - camera.camera_index, + camera.serial_number, frame_index, images_dir, ) @@ -155,6 +160,7 @@ class IntelRealSenseCameraConfig: IntelRealSenseCameraConfig(90, 640, 480) IntelRealSenseCameraConfig(30, 1280, 720) IntelRealSenseCameraConfig(30, 640, 480, use_depth=True) + IntelRealSenseCameraConfig(30, 640, 480, rotation=90) ``` """ @@ -164,6 +170,7 @@ class IntelRealSenseCameraConfig: color_mode: str = "rgb" use_depth: bool = False force_hardware_reset: bool = True + rotation: int | None = None mock: bool = False def __post_init__(self): @@ -180,13 +187,15 @@ def __post_init__(self): f"but {self.fps=}, {self.width=}, {self.height=} were provided." ) + if self.rotation not in [-90, None, 90, 180]: + raise ValueError(f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})") + class IntelRealSenseCamera: """ The IntelRealSenseCamera class is similar to OpenCVCamera class but adds additional features for Intel Real Sense cameras: - - camera_index corresponds to the serial number of the camera, - - camera_index won't randomly change as it can be the case of OpenCVCamera for Linux, - - read is more reliable than OpenCVCamera, + - is instantiated with the serial number of the camera - won't randomly change as it can be the case of OpenCVCamera for Linux, + - can also be instantiated with the camera's name — if it's unique — using IntelRealSenseCamera.init_from_name(), - depth map can be returned. To find the camera indices of your cameras, you can run our utility script that will save a few frames for each camera: @@ -199,8 +208,10 @@ class IntelRealSenseCamera: Example of usage: ```python - camera_index = 128422271347 - camera = IntelRealSenseCamera(camera_index) + # Instantiate with its serial number + camera = IntelRealSenseCamera(128422271347) + # Or by its name if it's unique + camera = IntelRealSenseCamera.init_from_name("Intel RealSense D405") camera.connect() color_image = camera.read() # when done using the camera, consider disconnecting @@ -209,19 +220,19 @@ class IntelRealSenseCamera: Example of changing default fps, width, height and color_mode: ```python - camera = IntelRealSenseCamera(camera_index, fps=30, width=1280, height=720) + camera = IntelRealSenseCamera(serial_number, fps=30, width=1280, height=720) camera = connect() # applies the settings, might error out if these settings are not compatible with the camera - camera = IntelRealSenseCamera(camera_index, fps=90, width=640, height=480) + camera = IntelRealSenseCamera(serial_number, fps=90, width=640, height=480) camera = connect() - camera = IntelRealSenseCamera(camera_index, fps=90, width=640, height=480, color_mode="bgr") + camera = IntelRealSenseCamera(serial_number, fps=90, width=640, height=480, color_mode="bgr") camera = connect() ``` Example of returning depth: ```python - camera = IntelRealSenseCamera(camera_index, use_depth=True) + camera = IntelRealSenseCamera(serial_number, use_depth=True) camera.connect() color_image, depth_map = camera.read() ``` @@ -229,7 +240,7 @@ class IntelRealSenseCamera: def __init__( self, - camera_index: int, + serial_number: int, config: IntelRealSenseCameraConfig | None = None, **kwargs, ): @@ -239,7 +250,7 @@ def __init__( # Overwrite the config arguments using kwargs config = replace(config, **kwargs) - self.camera_index = camera_index + self.serial_number = serial_number self.fps = config.fps self.width = config.width self.height = config.height @@ -256,41 +267,69 @@ def __init__( self.depth_map = None self.logs = {} + if self.mock: + import tests.mock_cv2 as cv2 + else: + import cv2 + + # TODO(alibets): Do we keep original width/height or do we define them after rotation? + self.rotation = None + if config.rotation == -90: + self.rotation = cv2.ROTATE_90_COUNTERCLOCKWISE + elif config.rotation == 90: + self.rotation = cv2.ROTATE_90_CLOCKWISE + elif config.rotation == 180: + self.rotation = cv2.ROTATE_180 + + @classmethod + def init_from_name(cls, name: str, config: IntelRealSenseCameraConfig | None = None, **kwargs): + camera_infos = find_cameras() + camera_names = [cam["name"] for cam in camera_infos] + this_name_count = Counter(camera_names)[name] + if this_name_count > 1: + # TODO(aliberts): Test this with multiple identical cameras (Aloha) + raise ValueError( + f"Multiple {name} cameras have been detected. Please use their serial number to instantiate them." + ) + + name_to_serial_dict = {cam["name"]: cam["serial_number"] for cam in camera_infos} + cam_sn = name_to_serial_dict[name] + + if config is None: + config = IntelRealSenseCameraConfig() + + # Overwrite the config arguments using kwargs + config = replace(config, **kwargs) + + return cls(serial_number=cam_sn, config=config, **kwargs) + def connect(self): if self.is_connected: raise RobotDeviceAlreadyConnectedError( - f"IntelRealSenseCamera({self.camera_index}) is already connected." + f"IntelRealSenseCamera({self.serial_number}) is already connected." ) if self.mock: - from tests.mock_pyrealsense2 import ( - RSConfig, - RSFormat, - RSPipeline, - RSStream, - ) + import tests.mock_pyrealsense2 as rs else: - from pyrealsense2 import config as RSConfig # noqa: N812 - from pyrealsense2 import format as RSFormat # noqa: N812 - from pyrealsense2 import pipeline as RSPipeline # noqa: N812 - from pyrealsense2 import stream as RSStream # noqa: N812 + import pyrealsense2 as rs - config = RSConfig() - config.enable_device(str(self.camera_index)) + config = rs.config() + config.enable_device(str(self.serial_number)) if self.fps and self.width and self.height: # TODO(rcadene): can we set rgb8 directly? - config.enable_stream(RSStream.color, self.width, self.height, RSFormat.rgb8, self.fps) + config.enable_stream(rs.stream.color, self.width, self.height, rs.format.rgb8, self.fps) else: - config.enable_stream(RSStream.color) + config.enable_stream(rs.stream.color) if self.use_depth: if self.fps and self.width and self.height: - config.enable_stream(RSStream.depth, self.width, self.height, RSFormat.z16, self.fps) + config.enable_stream(rs.stream.depth, self.width, self.height, rs.format.z16, self.fps) else: - config.enable_stream(RSStream.depth) + config.enable_stream(rs.stream.depth) - self.camera = RSPipeline() + self.camera = rs.pipeline() try: profile = self.camera.start(config) is_camera_open = True @@ -301,17 +340,18 @@ def connect(self): # If the camera doesn't work, display the camera indices corresponding to # valid cameras. if not is_camera_open: - # Verify that the provided `camera_index` is valid before printing the traceback - available_cam_ids = find_camera_indices() - if self.camera_index not in available_cam_ids: + # Verify that the provided `serial_number` is valid before printing the traceback + camera_infos = find_cameras() + serial_numbers = [cam["serial_number"] for cam in camera_infos] + if self.serial_number not in serial_numbers: raise ValueError( - f"`camera_index` is expected to be one of these available cameras {available_cam_ids}, but {self.camera_index} is provided instead. " - "To find the camera index you should use, run `python lerobot/common/robot_devices/cameras/intelrealsense.py`." + f"`serial_number` is expected to be one of these available cameras {serial_numbers}, but {self.serial_number} is provided instead. " + "To find the serial number you should use, run `python lerobot/common/robot_devices/cameras/intelrealsense.py`." ) - raise OSError(f"Can't access IntelRealSenseCamera({self.camera_index}).") + raise OSError(f"Can't access IntelRealSenseCamera({self.serial_number}).") - color_stream = profile.get_stream(RSStream.color) + color_stream = profile.get_stream(rs.stream.color) color_profile = color_stream.as_video_stream_profile() actual_fps = color_profile.fps() actual_width = color_profile.width() @@ -321,15 +361,15 @@ def connect(self): if self.fps is not None and not math.isclose(self.fps, actual_fps, rel_tol=1e-3): # Using `OSError` since it's a broad that encompasses issues related to device communication raise OSError( - f"Can't set {self.fps=} for IntelRealSenseCamera({self.camera_index}). Actual value is {actual_fps}." + f"Can't set {self.fps=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_fps}." ) if self.width is not None and self.width != actual_width: raise OSError( - f"Can't set {self.width=} for IntelRealSenseCamera({self.camera_index}). Actual value is {actual_width}." + f"Can't set {self.width=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_width}." ) if self.height is not None and self.height != actual_height: raise OSError( - f"Can't set {self.height=} for IntelRealSenseCamera({self.camera_index}). Actual value is {actual_height}." + f"Can't set {self.height=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_height}." ) self.fps = round(actual_fps) @@ -350,9 +390,14 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar """ if not self.is_connected: raise RobotDeviceNotConnectedError( - f"IntelRealSenseCamera({self.camera_index}) is not connected. Try running `camera.connect()` first." + f"IntelRealSenseCamera({self.serial_number}) is not connected. Try running `camera.connect()` first." ) + if self.mock: + import tests.mock_cv2 as cv2 + else: + import cv2 + start_time = time.perf_counter() frame = self.camera.wait_for_frames(timeout_ms=5000) @@ -360,7 +405,7 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar color_frame = frame.get_color_frame() if not color_frame: - raise OSError(f"Can't capture color image from IntelRealSenseCamera({self.camera_index}).") + raise OSError(f"Can't capture color image from IntelRealSenseCamera({self.serial_number}).") color_image = np.asanyarray(color_frame.get_data()) @@ -372,12 +417,7 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar # IntelRealSense uses RGB format as default (red, green, blue). if requested_color_mode == "bgr": - if self.mock: - from tests.mock_cv2 import COLOR_RGB2BGR, cvtColor - else: - from cv2 import COLOR_RGB2BGR, cvtColor - - color_image = cvtColor(color_image, COLOR_RGB2BGR) + color_image = cv2.cvtColor(color_image, cv2.COLOR_RGB2BGR) h, w, _ = color_image.shape if h != self.height or w != self.width: @@ -385,6 +425,9 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar f"Can't capture color image with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead." ) + if self.rotation is not None: + color_image = cv2.rotate(color_image, self.rotation) + # log the number of seconds it took to read the image self.logs["delta_timestamp_s"] = time.perf_counter() - start_time @@ -394,7 +437,7 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar if self.use_depth: depth_frame = frame.get_depth_frame() if not depth_frame: - raise OSError(f"Can't capture depth image from IntelRealSenseCamera({self.camera_index}).") + raise OSError(f"Can't capture depth image from IntelRealSenseCamera({self.serial_number}).") depth_map = np.asanyarray(depth_frame.get_data()) @@ -404,6 +447,9 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar f"Can't capture depth map with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead." ) + if self.rotation is not None: + depth_map = cv2.rotate(depth_map, self.rotation) + return color_image, depth_map else: return color_image @@ -419,7 +465,7 @@ def async_read(self): """Access the latest color image""" if not self.is_connected: raise RobotDeviceNotConnectedError( - f"IntelRealSenseCamera({self.camera_index}) is not connected. Try running `camera.connect()` first." + f"IntelRealSenseCamera({self.serial_number}) is not connected. Try running `camera.connect()` first." ) if self.thread is None: @@ -446,7 +492,7 @@ def async_read(self): def disconnect(self): if not self.is_connected: raise RobotDeviceNotConnectedError( - f"IntelRealSenseCamera({self.camera_index}) is not connected. Try running `camera.connect()` first." + f"IntelRealSenseCamera({self.serial_number}) is not connected. Try running `camera.connect()` first." ) if self.thread is not None and self.thread.is_alive(): @@ -471,11 +517,11 @@ def __del__(self): description="Save a few frames using `IntelRealSenseCamera` for all cameras connected to the computer, or a selected subset." ) parser.add_argument( - "--camera-ids", + "--serial-numbers", type=int, nargs="*", default=None, - help="List of camera indices used to instantiate the `IntelRealSenseCamera`. If not provided, find and use all available camera indices.", + help="List of serial numbers used to instantiate the `IntelRealSenseCamera`. If not provided, find and use all available camera indices.", ) parser.add_argument( "--fps", diff --git a/lerobot/common/robot_devices/cameras/opencv.py b/lerobot/common/robot_devices/cameras/opencv.py index 4e5f5d183..7de4bc4e0 100644 --- a/lerobot/common/robot_devices/cameras/opencv.py +++ b/lerobot/common/robot_devices/cameras/opencv.py @@ -31,29 +31,48 @@ MAX_OPENCV_INDEX = 60 -def find_camera_indices(raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX, mock=False): +def find_cameras(raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX, mock=False) -> list[dict]: + cameras = [] if platform.system() == "Linux": - # Linux uses camera ports print("Linux detected. Finding available camera indices through scanning '/dev/video*' ports") - possible_camera_ids = [] - for port in Path("/dev").glob("video*"): - camera_idx = int(str(port).replace("/dev/video", "")) - possible_camera_ids.append(camera_idx) + possible_ports = [str(port) for port in Path("/dev").glob("video*")] + ports = _find_cameras(possible_ports, mock=mock) + for port in ports: + cameras.append( + { + "port": port, + "index": int(port.removeprefix("/dev/video")), + } + ) else: print( "Mac or Windows detected. Finding available camera indices through " f"scanning all indices from 0 to {MAX_OPENCV_INDEX}" ) - possible_camera_ids = range(max_index_search_range) + possible_indices = range(max_index_search_range) + indices = _find_cameras(possible_indices, mock=mock) + for index in indices: + cameras.append( + { + "port": None, + "index": index, + } + ) + return cameras + + +def _find_cameras( + possible_camera_ids: list[int | str], raise_when_empty=False, mock=False +) -> list[int | str]: if mock: - from tests.mock_cv2 import VideoCapture + import tests.mock_cv2 as cv2 else: - from cv2 import VideoCapture + import cv2 camera_ids = [] for camera_idx in possible_camera_ids: - camera = VideoCapture(camera_idx) + camera = cv2.VideoCapture(camera_idx) is_open = camera.isOpened() camera.release() @@ -70,6 +89,16 @@ def find_camera_indices(raise_when_empty=False, max_index_search_range=MAX_OPENC return camera_ids +def is_valid_unix_path(path: str) -> bool: + """Note: if 'path' points to a symlink, this will return True only if the target exists""" + p = Path(path) + return p.is_absolute() and p.exists() + + +def get_camera_index_from_unix_port(port: Path) -> int: + return int(str(port.resolve()).removeprefix("/dev/video")) + + def save_image(img_array, camera_index, frame_index, images_dir): img = Image.fromarray(img_array) path = images_dir / f"camera_{camera_index:02d}_frame_{frame_index:06d}.png" @@ -79,7 +108,7 @@ def save_image(img_array, camera_index, frame_index, images_dir): def save_images_from_cameras( images_dir: Path, - camera_ids: list[int] | None = None, + camera_ids: list | None = None, fps=None, width=None, height=None, @@ -90,8 +119,9 @@ def save_images_from_cameras( Initializes all the cameras and saves images to the directory. Useful to visually identify the camera associated to a given camera index. """ - if camera_ids is None: - camera_ids = find_camera_indices(mock=mock) + if camera_ids is None or len(camera_ids) == 0: + camera_infos = find_cameras(mock=mock) + camera_ids = [cam["index"] for cam in camera_infos] print("Connecting cameras") cameras = [] @@ -114,7 +144,7 @@ def save_images_from_cameras( print(f"Saving images to {images_dir}") frame_index = 0 start_time = time.perf_counter() - with concurrent.futures.ThreadPoolExecutor(max_workers=4) as executor: + with concurrent.futures.ThreadPoolExecutor(max_workers=1) as executor: while True: now = time.perf_counter() @@ -126,7 +156,7 @@ def save_images_from_cameras( executor.submit( save_image, image, - camera.camera_index, + camera.index, frame_index, images_dir, ) @@ -135,11 +165,11 @@ def save_images_from_cameras( dt_s = time.perf_counter() - now busy_wait(1 / fps - dt_s) + print(f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}") + if time.perf_counter() - start_time > record_time_s: break - print(f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}") - frame_index += 1 print(f"Images have been saved to {images_dir}") @@ -162,6 +192,7 @@ class OpenCVCameraConfig: width: int | None = None height: int | None = None color_mode: str = "rgb" + rotation: int | None = None mock: bool = False def __post_init__(self): @@ -170,6 +201,9 @@ def __post_init__(self): f"`color_mode` is expected to be 'rgb' or 'bgr', but {self.color_mode} is provided." ) + if self.rotation not in [-90, None, 90, 180]: + raise ValueError(f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})") + class OpenCVCamera: """ @@ -210,7 +244,7 @@ class OpenCVCamera: ``` """ - def __init__(self, camera_index: int, config: OpenCVCameraConfig | None = None, **kwargs): + def __init__(self, camera_index: int | str, config: OpenCVCameraConfig | None = None, **kwargs): if config is None: config = OpenCVCameraConfig() @@ -218,6 +252,19 @@ def __init__(self, camera_index: int, config: OpenCVCameraConfig | None = None, config = replace(config, **kwargs) self.camera_index = camera_index + self.port = None + + # Linux uses ports for connecting to cameras + if platform.system() == "Linux": + if isinstance(self.camera_index, int): + self.port = Path(f"/dev/video{self.camera_index}") + elif isinstance(self.camera_index, str) and is_valid_unix_path(self.camera_index): + self.port = Path(self.camera_index) + # Retrieve the camera index from a potentially symlinked path + self.camera_index = get_camera_index_from_unix_port(self.port) + else: + raise ValueError(f"Please check the provided camera_index: {camera_index}") + self.fps = config.fps self.width = config.width self.height = config.height @@ -231,34 +278,37 @@ def __init__(self, camera_index: int, config: OpenCVCameraConfig | None = None, self.color_image = None self.logs = {} + if self.mock: + import tests.mock_cv2 as cv2 + else: + import cv2 + + # TODO(aliberts): Do we keep original width/height or do we define them after rotation? + self.rotation = None + if config.rotation == -90: + self.rotation = cv2.ROTATE_90_COUNTERCLOCKWISE + elif config.rotation == 90: + self.rotation = cv2.ROTATE_90_CLOCKWISE + elif config.rotation == 180: + self.rotation = cv2.ROTATE_180 + def connect(self): if self.is_connected: raise RobotDeviceAlreadyConnectedError(f"OpenCVCamera({self.camera_index}) is already connected.") if self.mock: - from tests.mock_cv2 import ( - CAP_PROP_FPS, - CAP_PROP_FRAME_HEIGHT, - CAP_PROP_FRAME_WIDTH, - VideoCapture, - ) + import tests.mock_cv2 as cv2 else: - from cv2 import ( - CAP_PROP_FPS, - CAP_PROP_FRAME_HEIGHT, - CAP_PROP_FRAME_WIDTH, - VideoCapture, - setNumThreads, - ) + import cv2 # Use 1 thread to avoid blocking the main thread. Especially useful during data collection # when other threads are used to save the images. - setNumThreads(1) + cv2.setNumThreads(1) camera_idx = f"/dev/video{self.camera_index}" if platform.system() == "Linux" else self.camera_index # First create a temporary camera trying to access `camera_index`, # and verify it is a valid camera by calling `isOpened`. - tmp_camera = VideoCapture(camera_idx) + tmp_camera = cv2.VideoCapture(camera_idx) is_camera_open = tmp_camera.isOpened() # Release camera to make it accessible for `find_camera_indices` tmp_camera.release() @@ -268,7 +318,8 @@ def connect(self): # valid cameras. if not is_camera_open: # Verify that the provided `camera_index` is valid before printing the traceback - available_cam_ids = find_camera_indices() + cameras_info = find_cameras() + available_cam_ids = [cam["index"] for cam in cameras_info] if self.camera_index not in available_cam_ids: raise ValueError( f"`camera_index` is expected to be one of these available cameras {available_cam_ids}, but {self.camera_index} is provided instead. " @@ -280,18 +331,18 @@ def connect(self): # Secondly, create the camera that will be used downstream. # Note: For some unknown reason, calling `isOpened` blocks the camera which then # needs to be re-created. - self.camera = VideoCapture(camera_idx) + self.camera = cv2.VideoCapture(camera_idx) if self.fps is not None: - self.camera.set(CAP_PROP_FPS, self.fps) + self.camera.set(cv2.CAP_PROP_FPS, self.fps) if self.width is not None: - self.camera.set(CAP_PROP_FRAME_WIDTH, self.width) + self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.width) if self.height is not None: - self.camera.set(CAP_PROP_FRAME_HEIGHT, self.height) + self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height) - actual_fps = self.camera.get(CAP_PROP_FPS) - actual_width = self.camera.get(CAP_PROP_FRAME_WIDTH) - actual_height = self.camera.get(CAP_PROP_FRAME_HEIGHT) + actual_fps = self.camera.get(cv2.CAP_PROP_FPS) + actual_width = self.camera.get(cv2.CAP_PROP_FRAME_WIDTH) + actual_height = self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT) # Using `math.isclose` since actual fps can be a float (e.g. 29.9 instead of 30) if self.fps is not None and not math.isclose(self.fps, actual_fps, rel_tol=1e-3): @@ -299,11 +350,11 @@ def connect(self): raise OSError( f"Can't set {self.fps=} for OpenCVCamera({self.camera_index}). Actual value is {actual_fps}." ) - if self.width is not None and self.width != actual_width: + if self.width is not None and not math.isclose(self.width, actual_width, rel_tol=1e-3): raise OSError( f"Can't set {self.width=} for OpenCVCamera({self.camera_index}). Actual value is {actual_width}." ) - if self.height is not None and self.height != actual_height: + if self.height is not None and not math.isclose(self.height, actual_height, rel_tol=1e-3): raise OSError( f"Can't set {self.height=} for OpenCVCamera({self.camera_index}). Actual value is {actual_height}." ) @@ -345,11 +396,11 @@ def read(self, temporary_color_mode: str | None = None) -> np.ndarray: # so we convert the image color from BGR to RGB. if requested_color_mode == "rgb": if self.mock: - from tests.mock_cv2 import COLOR_BGR2RGB, cvtColor + import tests.mock_cv2 as cv2 else: - from cv2 import COLOR_BGR2RGB, cvtColor + import cv2 - color_image = cvtColor(color_image, COLOR_BGR2RGB) + color_image = cv2.cvtColor(color_image, cv2.COLOR_BGR2RGB) h, w, _ = color_image.shape if h != self.height or w != self.width: @@ -357,6 +408,9 @@ def read(self, temporary_color_mode: str | None = None) -> np.ndarray: f"Can't capture color image with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead." ) + if self.rotation is not None: + color_image = cv2.rotate(color_image, self.rotation) + # log the number of seconds it took to read the image self.logs["delta_timestamp_s"] = time.perf_counter() - start_time @@ -455,7 +509,7 @@ def __del__(self): parser.add_argument( "--record-time-s", type=float, - default=2.0, + default=4.0, help="Set the number of seconds used to record the frames. By default, 2 seconds.", ) args = parser.parse_args() diff --git a/lerobot/common/robot_devices/cameras/utils.py b/lerobot/common/robot_devices/cameras/utils.py index 0f329d9fb..7904a57a5 100644 --- a/lerobot/common/robot_devices/cameras/utils.py +++ b/lerobot/common/robot_devices/cameras/utils.py @@ -1,55 +1,8 @@ -from pathlib import Path from typing import Protocol -import cv2 -import einops import numpy as np -def write_shape_on_image_inplace(image): - height, width = image.shape[:2] - text = f"Width: {width} Height: {height}" - - # Define the font, scale, color, and thickness - font = cv2.FONT_HERSHEY_SIMPLEX - font_scale = 1 - color = (255, 0, 0) # Blue in BGR - thickness = 2 - - position = (10, height - 10) # 10 pixels from the bottom-left corner - cv2.putText(image, text, position, font, font_scale, color, thickness) - - -def save_color_image(image, path, write_shape=False): - path = Path(path) - path.parent.mkdir(parents=True, exist_ok=True) - if write_shape: - write_shape_on_image_inplace(image) - cv2.imwrite(str(path), image) - - -def save_depth_image(depth, path, write_shape=False): - path = Path(path) - path.parent.mkdir(parents=True, exist_ok=True) - - # Apply colormap on depth image (image must be converted to 8-bit per pixel first) - depth_image = cv2.applyColorMap(cv2.convertScaleAbs(depth, alpha=0.03), cv2.COLORMAP_JET) - - if write_shape: - write_shape_on_image_inplace(depth_image) - cv2.imwrite(str(path), depth_image) - - -def convert_torch_image_to_cv2(tensor, rgb_to_bgr=True): - assert tensor.ndim == 3 - c, h, w = tensor.shape - assert c < h and c < w - color_image = einops.rearrange(tensor, "c h w -> h w c").numpy() - if rgb_to_bgr: - color_image = cv2.cvtColor(color_image, cv2.COLOR_RGB2BGR) - return color_image - - # Defines a camera type class Camera(Protocol): def connect(self): ... diff --git a/lerobot/common/robot_devices/motors/dynamixel.py b/lerobot/common/robot_devices/motors/dynamixel.py index 0c3145028..815b4986a 100644 --- a/lerobot/common/robot_devices/motors/dynamixel.py +++ b/lerobot/common/robot_devices/motors/dynamixel.py @@ -159,30 +159,25 @@ def convert_to_bytes(value, bytes, mock=False): if mock: return value - from dynamixel_sdk import ( - DXL_HIBYTE, - DXL_HIWORD, - DXL_LOBYTE, - DXL_LOWORD, - ) + import dynamixel_sdk as dxl # Note: No need to convert back into unsigned int, since this byte preprocessing # already handles it for us. if bytes == 1: data = [ - DXL_LOBYTE(DXL_LOWORD(value)), + dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)), ] elif bytes == 2: data = [ - DXL_LOBYTE(DXL_LOWORD(value)), - DXL_HIBYTE(DXL_LOWORD(value)), + dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)), + dxl.DXL_HIBYTE(dxl.DXL_LOWORD(value)), ] elif bytes == 4: data = [ - DXL_LOBYTE(DXL_LOWORD(value)), - DXL_HIBYTE(DXL_LOWORD(value)), - DXL_LOBYTE(DXL_HIWORD(value)), - DXL_HIBYTE(DXL_HIWORD(value)), + dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)), + dxl.DXL_HIBYTE(dxl.DXL_LOWORD(value)), + dxl.DXL_LOBYTE(dxl.DXL_HIWORD(value)), + dxl.DXL_HIBYTE(dxl.DXL_HIWORD(value)), ] else: raise NotImplementedError( @@ -361,12 +356,12 @@ def connect(self): ) if self.mock: - from tests.mock_dynamixel_sdk import PacketHandler, PortHandler + import tests.mock_dynamixel_sdk as dxl else: - from dynamixel_sdk import PacketHandler, PortHandler + import dynamixel_sdk as dxl - self.port_handler = PortHandler(self.port) - self.packet_handler = PacketHandler(PROTOCOL_VERSION) + self.port_handler = dxl.PortHandler(self.port) + self.packet_handler = dxl.PacketHandler(PROTOCOL_VERSION) try: if not self.port_handler.openPort(): @@ -399,12 +394,12 @@ def connect(self): def reconnect(self): if self.mock: - from tests.mock_dynamixel_sdk import PacketHandler, PortHandler + import tests.mock_dynamixel_sdk as dxl else: - from dynamixel_sdk import PacketHandler, PortHandler + import dynamixel_sdk as dxl - self.port_handler = PortHandler(self.port) - self.packet_handler = PacketHandler(PROTOCOL_VERSION) + self.port_handler = dxl.PortHandler(self.port) + self.packet_handler = dxl.PacketHandler(PROTOCOL_VERSION) if not self.port_handler.openPort(): raise OSError(f"Failed to open port '{self.port}'.") @@ -795,9 +790,9 @@ def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] | def _read_with_motor_ids(self, motor_models, motor_ids, data_name): if self.mock: - from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncRead + import tests.mock_dynamixel_sdk as dxl else: - from dynamixel_sdk import COMM_SUCCESS, GroupSyncRead + import dynamixel_sdk as dxl return_list = True if not isinstance(motor_ids, list): @@ -806,12 +801,12 @@ def _read_with_motor_ids(self, motor_models, motor_ids, data_name): assert_same_address(self.model_ctrl_table, self.motor_models, data_name) addr, bytes = self.model_ctrl_table[motor_models[0]][data_name] - group = GroupSyncRead(self.port_handler, self.packet_handler, addr, bytes) + group = dxl.GroupSyncRead(self.port_handler, self.packet_handler, addr, bytes) for idx in motor_ids: group.addParam(idx) comm = group.txRxPacket() - if comm != COMM_SUCCESS: + if comm != dxl.COMM_SUCCESS: raise ConnectionError( f"Read failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: " f"{self.packet_handler.getTxRxResult(comm)}" @@ -836,9 +831,9 @@ def read(self, data_name, motor_names: str | list[str] | None = None): start_time = time.perf_counter() if self.mock: - from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncRead + import tests.mock_dynamixel_sdk as dxl else: - from dynamixel_sdk import COMM_SUCCESS, GroupSyncRead + import dynamixel_sdk as dxl if motor_names is None: motor_names = self.motor_names @@ -859,16 +854,18 @@ def read(self, data_name, motor_names: str | list[str] | None = None): if data_name not in self.group_readers: # create new group reader - self.group_readers[group_key] = GroupSyncRead(self.port_handler, self.packet_handler, addr, bytes) + self.group_readers[group_key] = dxl.GroupSyncRead( + self.port_handler, self.packet_handler, addr, bytes + ) for idx in motor_ids: self.group_readers[group_key].addParam(idx) for _ in range(NUM_READ_RETRY): comm = self.group_readers[group_key].txRxPacket() - if comm == COMM_SUCCESS: + if comm == dxl.COMM_SUCCESS: break - if comm != COMM_SUCCESS: + if comm != dxl.COMM_SUCCESS: raise ConnectionError( f"Read failed due to communication error on port {self.port} for group_key {group_key}: " f"{self.packet_handler.getTxRxResult(comm)}" @@ -900,9 +897,9 @@ def read(self, data_name, motor_names: str | list[str] | None = None): def _write_with_motor_ids(self, motor_models, motor_ids, data_name, values): if self.mock: - from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite + import tests.mock_dynamixel_sdk as dxl else: - from dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite + import dynamixel_sdk as dxl if not isinstance(motor_ids, list): motor_ids = [motor_ids] @@ -911,13 +908,13 @@ def _write_with_motor_ids(self, motor_models, motor_ids, data_name, values): assert_same_address(self.model_ctrl_table, motor_models, data_name) addr, bytes = self.model_ctrl_table[motor_models[0]][data_name] - group = GroupSyncWrite(self.port_handler, self.packet_handler, addr, bytes) + group = dxl.GroupSyncWrite(self.port_handler, self.packet_handler, addr, bytes) for idx, value in zip(motor_ids, values, strict=True): data = convert_to_bytes(value, bytes, self.mock) group.addParam(idx, data) comm = group.txPacket() - if comm != COMM_SUCCESS: + if comm != dxl.COMM_SUCCESS: raise ConnectionError( f"Write failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: " f"{self.packet_handler.getTxRxResult(comm)}" @@ -932,9 +929,9 @@ def write(self, data_name, values: int | float | np.ndarray, motor_names: str | start_time = time.perf_counter() if self.mock: - from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite + import tests.mock_dynamixel_sdk as dxl else: - from dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite + import dynamixel_sdk as dxl if motor_names is None: motor_names = self.motor_names @@ -965,7 +962,7 @@ def write(self, data_name, values: int | float | np.ndarray, motor_names: str | init_group = data_name not in self.group_readers if init_group: - self.group_writers[group_key] = GroupSyncWrite( + self.group_writers[group_key] = dxl.GroupSyncWrite( self.port_handler, self.packet_handler, addr, bytes ) @@ -977,7 +974,7 @@ def write(self, data_name, values: int | float | np.ndarray, motor_names: str | self.group_writers[group_key].changeParam(idx, data) comm = self.group_writers[group_key].txPacket() - if comm != COMM_SUCCESS: + if comm != dxl.COMM_SUCCESS: raise ConnectionError( f"Write failed due to communication error on port {self.port} for group_key {group_key}: " f"{self.packet_handler.getTxRxResult(comm)}" diff --git a/lerobot/common/robot_devices/robots/factory.py b/lerobot/common/robot_devices/robots/factory.py index 2edcd2925..17e8e5e6a 100644 --- a/lerobot/common/robot_devices/robots/factory.py +++ b/lerobot/common/robot_devices/robots/factory.py @@ -1,7 +1,9 @@ import hydra from omegaconf import DictConfig +from lerobot.common.robot_devices.robots.utils import Robot -def make_robot(cfg: DictConfig): + +def make_robot(cfg: DictConfig) -> Robot: robot = hydra.utils.instantiate(cfg) return robot diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py index 337519765..98ae691a0 100644 --- a/lerobot/common/robot_devices/robots/manipulator.py +++ b/lerobot/common/robot_devices/robots/manipulator.py @@ -681,6 +681,10 @@ def send_action(self, action: torch.Tensor) -> torch.Tensor: return torch.cat(action_sent) + def print_logs(self): + pass + # TODO(aliberts): move robot-specific logs logic here + def disconnect(self): if not self.is_connected: raise RobotDeviceNotConnectedError( diff --git a/lerobot/common/robot_devices/robots/stretch.py b/lerobot/common/robot_devices/robots/stretch.py new file mode 100644 index 000000000..ff86b6d80 --- /dev/null +++ b/lerobot/common/robot_devices/robots/stretch.py @@ -0,0 +1,216 @@ +#!/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 +from dataclasses import dataclass, field, replace + +import torch +from stretch_body.gamepad_teleop import GamePadTeleop +from stretch_body.robot import Robot as StretchAPI +from stretch_body.robot_params import RobotParams + +from lerobot.common.robot_devices.cameras.utils import Camera + + +@dataclass +class StretchRobotConfig: + robot_type: str | None = "stretch" + cameras: dict[str, Camera] = field(default_factory=lambda: {}) + # TODO(aliberts): add feature with max_relative target + # TODO(aliberts): add comment on max_relative target + max_relative_target: list[float] | float | None = None + + +class StretchRobot(StretchAPI): + """Wrapper of stretch_body.robot.Robot""" + + def __init__(self, config: StretchRobotConfig | None = None, **kwargs): + super().__init__() + if config is None: + config = StretchRobotConfig() + # Overwrite config arguments using kwargs + self.config = replace(config, **kwargs) + + self.robot_type = self.config.robot_type + self.cameras = self.config.cameras + self.is_connected = False + self.teleop = None + self.logs = {} + + # TODO(aliberts): test this + RobotParams.set_logging_level("WARNING") + RobotParams.set_logging_formatter("brief_console_formatter") + + self.state_keys = None + self.action_keys = None + + def connect(self) -> None: + self.is_connected = self.startup() + if not self.is_connected: + print("Another process is already using Stretch. Try running 'stretch_free_robot_process.py'") + raise ConnectionError() + + for name in self.cameras: + self.cameras[name].connect() + self.is_connected = self.is_connected and self.cameras[name].is_connected + + if not self.is_connected: + print("Could not connect to the cameras, check that all cameras are plugged-in.") + raise ConnectionError() + + self.run_calibration() + + def run_calibration(self) -> None: + if not self.is_homed(): + self.home() + + def teleop_step( + self, record_data=False + ) -> None | tuple[dict[str, torch.Tensor], dict[str, torch.Tensor]]: + # TODO(aliberts): return ndarrays instead of torch.Tensors + if not self.is_connected: + raise ConnectionError() + + if self.teleop is None: + self.teleop = GamePadTeleop(robot_instance=False) + self.teleop.startup(robot=self) + + before_read_t = time.perf_counter() + state = self.get_state() + action = self.teleop.gamepad_controller.get_state() + self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t + + before_write_t = time.perf_counter() + self.teleop.do_motion(robot=self) + self.push_command() + self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t + + if self.state_keys is None: + self.state_keys = list(state) + + if not record_data: + return + + state = torch.as_tensor(list(state.values())) + action = torch.as_tensor(list(action.values())) + + # Capture images from cameras + images = {} + for name in self.cameras: + before_camread_t = time.perf_counter() + images[name] = self.cameras[name].async_read() + images[name] = torch.from_numpy(images[name]) + self.logs[f"read_camera_{name}_dt_s"] = self.cameras[name].logs["delta_timestamp_s"] + self.logs[f"async_read_camera_{name}_dt_s"] = time.perf_counter() - before_camread_t + + # Populate output dictionnaries + obs_dict, action_dict = {}, {} + obs_dict["observation.state"] = state + action_dict["action"] = action + for name in self.cameras: + obs_dict[f"observation.images.{name}"] = images[name] + + return obs_dict, action_dict + + def get_state(self) -> dict: + status = self.get_status() + return { + "head_pan.pos": status["head"]["head_pan"]["pos"], + "head_tilt.pos": status["head"]["head_tilt"]["pos"], + "lift.pos": status["lift"]["pos"], + "arm.pos": status["arm"]["pos"], + "wrist_pitch.pos": status["end_of_arm"]["wrist_pitch"]["pos"], + "wrist_roll.pos": status["end_of_arm"]["wrist_roll"]["pos"], + "wrist_yaw.pos": status["end_of_arm"]["wrist_yaw"]["pos"], + "gripper.pos": status["end_of_arm"]["stretch_gripper"]["pos"], + "base_x.vel": status["base"]["x_vel"], + "base_y.vel": status["base"]["y_vel"], + "base_theta.vel": status["base"]["theta_vel"], + } + + def capture_observation(self) -> dict: + # TODO(aliberts): return ndarrays instead of torch.Tensors + before_read_t = time.perf_counter() + state = self.get_state() + self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t + + if self.state_keys is None: + self.state_keys = list(state) + + state = torch.as_tensor(list(state.values())) + + # Capture images from cameras + images = {} + for name in self.cameras: + before_camread_t = time.perf_counter() + images[name] = self.cameras[name].async_read() + images[name] = torch.from_numpy(images[name]) + self.logs[f"read_camera_{name}_dt_s"] = self.cameras[name].logs["delta_timestamp_s"] + self.logs[f"async_read_camera_{name}_dt_s"] = time.perf_counter() - before_camread_t + + # Populate output dictionnaries + obs_dict = {} + obs_dict["observation.state"] = state + for name in self.cameras: + obs_dict[f"observation.images.{name}"] = images[name] + + return obs_dict + + def send_action(self, action: torch.Tensor) -> torch.Tensor: + # TODO(aliberts): return ndarrays instead of torch.Tensors + if not self.is_connected: + raise ConnectionError() + + if self.teleop is None: + self.teleop = GamePadTeleop(robot_instance=False) + self.teleop.startup(robot=self) + + if self.action_keys is None: + dummy_action = self.teleop.gamepad_controller.get_state() + self.action_keys = list(dummy_action.keys()) + + action_dict = dict(zip(self.action_keys, action.tolist(), strict=True)) + + before_write_t = time.perf_counter() + self.teleop.do_motion(state=action_dict, robot=self) + self.push_command() + self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t + + # TODO(aliberts): return action_sent when motion is limited + return action + + def print_logs(self) -> None: + pass + # TODO(aliberts): move robot-specific logs logic here + + def teleop_safety_stop(self) -> None: + if self.teleop is not None: + self.teleop._safety_stop(robot=self) + + def disconnect(self) -> None: + self.stop() + if self.teleop is not None: + self.teleop.gamepad_controller.stop() + self.teleop.stop() + + if len(self.cameras) > 0: + for cam in self.cameras.values(): + cam.disconnect() + + self.is_connected = False + + def __del__(self): + self.disconnect() diff --git a/lerobot/common/robot_devices/robots/utils.py b/lerobot/common/robot_devices/robots/utils.py index 122155f78..5cd5bd100 100644 --- a/lerobot/common/robot_devices/robots/utils.py +++ b/lerobot/common/robot_devices/robots/utils.py @@ -9,8 +9,12 @@ def get_arm_id(name, arm_type): class Robot(Protocol): - def init_teleop(self): ... + # TODO(rcadene, aliberts): Add unit test checking the protocol is implemented in the corresponding classes + robot_type: str + + def connect(self): ... def run_calibration(self): ... def teleop_step(self, record_data=False): ... def capture_observation(self): ... def send_action(self, action): ... + def disconnect(self): ... diff --git a/lerobot/common/robot_devices/utils.py b/lerobot/common/robot_devices/utils.py index bcbeb8e02..19bb637e5 100644 --- a/lerobot/common/robot_devices/utils.py +++ b/lerobot/common/robot_devices/utils.py @@ -16,6 +16,20 @@ def busy_wait(seconds): time.sleep(seconds) +def safe_disconnect(func): + # TODO(aliberts): Allow to pass custom exceptions + # (e.g. ThreadServiceExit, KeyboardInterrupt, SystemExit, UnpluggedError, DynamixelCommError) + def wrapper(robot, *args, **kwargs): + try: + return func(robot, *args, **kwargs) + except Exception as e: + if robot.is_connected: + robot.disconnect() + raise e + + return wrapper + + class RobotDeviceNotConnectedError(Exception): """Exception raised when the robot device is not connected.""" diff --git a/lerobot/configs/robot/aloha.yaml b/lerobot/configs/robot/aloha.yaml index 938fa2e3d..51cde6a69 100644 --- a/lerobot/configs/robot/aloha.yaml +++ b/lerobot/configs/robot/aloha.yaml @@ -91,25 +91,25 @@ follower_arms: cameras: cam_high: _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera - camera_index: 128422271347 + serial_number: 128422271347 fps: 30 width: 640 height: 480 cam_low: _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera - camera_index: 130322270656 + serial_number: 130322270656 fps: 30 width: 640 height: 480 cam_left_wrist: _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera - camera_index: 218622272670 + serial_number: 218622272670 fps: 30 width: 640 height: 480 cam_right_wrist: _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera - camera_index: 130322272300 + serial_number: 130322272300 fps: 30 width: 640 height: 480 diff --git a/lerobot/configs/robot/stretch.yaml b/lerobot/configs/robot/stretch.yaml new file mode 100644 index 000000000..6d9f0be85 --- /dev/null +++ b/lerobot/configs/robot/stretch.yaml @@ -0,0 +1,24 @@ +_target_: lerobot.common.robot_devices.robots.stretch.StretchRobot +robot_type: stretch3 + +cameras: + navigation: + _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera + camera_index: /dev/hello-nav-head-camera + fps: 10 + width: 1280 + height: 720 + rotation: -90 + head: + _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera.init_from_name + name: Intel RealSense D435I + fps: 30 + width: 640 + height: 480 + rotation: 90 + wrist: + _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera.init_from_name + name: Intel RealSense D405 + fps: 30 + width: 640 + height: 480 diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py index ff9cf3dc3..742dd8bca 100644 --- a/lerobot/scripts/control_robot.py +++ b/lerobot/scripts/control_robot.py @@ -128,7 +128,7 @@ from lerobot.common.policies.factory import make_policy from lerobot.common.robot_devices.robots.factory import make_robot from lerobot.common.robot_devices.robots.utils import Robot, get_arm_id -from lerobot.common.robot_devices.utils import busy_wait +from lerobot.common.robot_devices.utils import busy_wait, safe_disconnect from lerobot.common.utils.utils import get_safe_torch_device, init_hydra_config, init_logging, set_global_seed from lerobot.scripts.eval import get_pretrained_policy_path from lerobot.scripts.push_dataset_to_hub import ( @@ -176,7 +176,7 @@ def none_or_int(value): return int(value) -def log_control_info(robot, dt_s, episode_index=None, frame_index=None, fps=None): +def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, fps=None): log_items = [] if episode_index is not None: log_items.append(f"ep:{episode_index}") @@ -195,24 +195,26 @@ def log_dt(shortname, dt_val_s): # total step time displayed in milliseconds and its frequency log_dt("dt", dt_s) - for name in robot.leader_arms: - key = f"read_leader_{name}_pos_dt_s" - if key in robot.logs: - log_dt("dtRlead", robot.logs[key]) + # TODO(aliberts): move robot-specific logs logic in robot.print_logs() + if not robot.robot_type.startswith("stretch"): + for name in robot.leader_arms: + key = f"read_leader_{name}_pos_dt_s" + if key in robot.logs: + log_dt("dtRlead", robot.logs[key]) - for name in robot.follower_arms: - key = f"write_follower_{name}_goal_pos_dt_s" - if key in robot.logs: - log_dt("dtWfoll", robot.logs[key]) + for name in robot.follower_arms: + key = f"write_follower_{name}_goal_pos_dt_s" + if key in robot.logs: + log_dt("dtWfoll", robot.logs[key]) - key = f"read_follower_{name}_pos_dt_s" - if key in robot.logs: - log_dt("dtRfoll", robot.logs[key]) + key = f"read_follower_{name}_pos_dt_s" + if key in robot.logs: + log_dt("dtRfoll", robot.logs[key]) - for name in robot.cameras: - key = f"read_camera_{name}_dt_s" - if key in robot.logs: - log_dt(f"dtR{name}", robot.logs[key]) + for name in robot.cameras: + key = f"read_camera_{name}_dt_s" + if key in robot.logs: + log_dt(f"dtR{name}", robot.logs[key]) info_str = " ".join(log_items) logging.info(info_str) @@ -237,9 +239,8 @@ def is_headless(): return True -######################################################################################## -# Control modes -######################################################################################## +def has_method(_object: object, method_name: str): + return hasattr(_object, method_name) and callable(getattr(_object, method_name)) def get_available_arms(robot): @@ -254,7 +255,21 @@ def get_available_arms(robot): return available_arms +######################################################################################## +# Control modes +######################################################################################## + + +@safe_disconnect def calibrate(robot: Robot, arms: list[str] | None): + # TODO(aliberts): move this code in robots' classes + if robot.robot_type.startswith("stretch"): + if not robot.is_connected: + robot.connect() + if not robot.is_homed(): + robot.home() + return + available_arms = get_available_arms(robot) unknown_arms = [arm_id for arm_id in arms if arm_id not in available_arms] available_arms_str = " ".join(available_arms) @@ -289,6 +304,7 @@ def calibrate(robot: Robot, arms: list[str] | None): print("Calibration is done! You can now teleoperate and record datasets!") +@safe_disconnect def teleoperate(robot: Robot, fps: int | None = None, teleop_time_s: float | None = None): # TODO(rcadene): Add option to record logs if not robot.is_connected: @@ -310,6 +326,7 @@ def teleoperate(robot: Robot, fps: int | None = None, teleop_time_s: float | Non break +@safe_disconnect def record( robot: Robot, policy: torch.nn.Module | None = None, @@ -443,6 +460,9 @@ def on_press(key): timestamp = time.perf_counter() - start_warmup_t + if has_method(robot, "teleop_safety_stop"): + robot.teleop_safety_stop() + # Save images using threads to reach high fps (30 and more) # Using `with` to exist smoothly if an execption is raised. futures = [] @@ -536,6 +556,10 @@ def on_press(key): exit_early = False break + # TODO(alibets): allow for teleop during reset + if has_method(robot, "teleop_safety_stop"): + robot.teleop_safety_stop() + if not stop_recording: # Start resetting env while the executor are finishing 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"sys_platform == 'linux'", optional = true} +hello-robot-stretch-body = {version = ">=0.7.27", markers = "sys_platform == 'linux'", optional = true} pyserial = {version = ">=3.5", optional = true} @@ -81,6 +82,7 @@ umi = ["imagecodecs"] video_benchmark = ["scikit-image", "pandas"] dynamixel = ["dynamixel-sdk", "pynput"] intelrealsense = ["pyrealsense2"] +stretch = ["hello-robot-stretch-body", "pyrender", "pyrealsense2", "pynput"] [tool.ruff] line-length = 110 diff --git a/tests/mock_cv2.py b/tests/mock_cv2.py index a3e19e550..3f3f9e343 100644 --- a/tests/mock_cv2.py +++ b/tests/mock_cv2.py @@ -8,6 +8,10 @@ COLOR_RGB2BGR = 4 COLOR_BGR2RGB = 4 +ROTATE_90_COUNTERCLOCKWISE = 2 +ROTATE_90_CLOCKWISE = 0 +ROTATE_180 = 1 + @cache def _generate_image(width: int, height: int): @@ -21,6 +25,19 @@ def cvtColor(color_image, color_convertion): # noqa: N802 raise NotImplementedError(color_convertion) +def rotate(color_image, rotation): + if rotation is None: + return color_image + elif rotation == ROTATE_90_CLOCKWISE: + return np.rot90(color_image, k=1) + elif rotation == ROTATE_180: + return np.rot90(color_image, k=2) + elif rotation == ROTATE_90_COUNTERCLOCKWISE: + return np.rot90(color_image, k=3) + else: + raise NotImplementedError(rotation) + + class VideoCapture: def __init__(self, *args, **kwargs): self._mock_dict = { diff --git a/tests/mock_pyrealsense2.py b/tests/mock_pyrealsense2.py index b9c6ccf96..5a39fc2bf 100644 --- a/tests/mock_pyrealsense2.py +++ b/tests/mock_pyrealsense2.py @@ -3,33 +3,31 @@ import numpy as np -class RSStream(enum.Enum): +class stream(enum.Enum): # noqa: N801 color = 0 depth = 1 -class RSFormat(enum.Enum): +class format(enum.Enum): # noqa: N801 rgb8 = 0 z16 = 1 -class RSConfig: +class config: # noqa: N801 def enable_device(self, device_id: str): self.device_enabled = device_id - def enable_stream( - self, stream_type: RSStream, width=None, height=None, color_format: RSFormat = None, fps=None - ): + def enable_stream(self, stream_type: stream, width=None, height=None, color_format=None, fps=None): self.stream_type = stream_type # Overwrite default values when possible self.width = 848 if width is None else width self.height = 480 if height is None else height - self.color_format = RSFormat.rgb8 if color_format is None else color_format + self.color_format = format.rgb8 if color_format is None else color_format self.fps = 30 if fps is None else fps class RSColorProfile: - def __init__(self, config: RSConfig): + def __init__(self, config): self.config = config def fps(self): @@ -43,7 +41,7 @@ def height(self): class RSColorStream: - def __init__(self, config: RSConfig): + def __init__(self, config): self.config = config def as_video_stream_profile(self): @@ -51,20 +49,20 @@ def as_video_stream_profile(self): class RSProfile: - def __init__(self, config: RSConfig): + def __init__(self, config): self.config = config - def get_stream(self, color_format: RSFormat): + def get_stream(self, color_format): del color_format # unused return RSColorStream(self.config) -class RSPipeline: +class pipeline: # noqa: N801 def __init__(self): self.started = False self.config = None - def start(self, config: RSConfig): + def start(self, config): self.started = True self.config = config return RSProfile(self.config) @@ -81,7 +79,7 @@ def wait_for_frames(self, timeout_ms=50000): class RSFrames: - def __init__(self, config: RSConfig): + def __init__(self, config): self.config = config def get_color_frame(self): @@ -92,7 +90,7 @@ def get_depth_frame(self): class RSColorFrame: - def __init__(self, config: RSConfig): + def __init__(self, config): self.config = config def get_data(self): @@ -103,7 +101,7 @@ def get_data(self): class RSDepthFrame: - def __init__(self, config: RSConfig): + def __init__(self, config): self.config = config def get_data(self): @@ -120,7 +118,7 @@ def get_info(self, camera_info) -> str: return "123456789" -class RSContext: +class context: # noqa: N801 def __init__(self): pass @@ -128,7 +126,10 @@ def query_devices(self): return [RSDevice()] -class RSCameraInfo: +class camera_info: # noqa: N801 + # fake name + name = "Intel RealSense D435I" + def __init__(self, serial_number): del serial_number pass diff --git a/tests/test_cameras.py b/tests/test_cameras.py index 72da248d6..67512779a 100644 --- a/tests/test_cameras.py +++ b/tests/test_cameras.py @@ -120,6 +120,41 @@ def test_camera(request, camera_type, mock): ) del camera + # Test acquiring a rotated image + camera = make_camera(camera_type, mock=mock) + camera.connect() + ori_color_image = camera.read() + del camera + + for rotation in [None, 90, 180, -90]: + camera = make_camera(camera_type, rotation=rotation, mock=mock) + camera.connect() + + if mock: + import tests.mock_cv2 as cv2 + else: + import cv2 + + if rotation is None: + manual_rot_img = ori_color_image + assert camera.rotation is None + elif rotation == 90: + manual_rot_img = np.rot90(color_image, k=1) + assert camera.rotation == cv2.ROTATE_90_CLOCKWISE + elif rotation == 180: + manual_rot_img = np.rot90(color_image, k=2) + assert camera.rotation == cv2.ROTATE_180 + elif rotation == -90: + manual_rot_img = np.rot90(color_image, k=3) + assert camera.rotation == cv2.ROTATE_90_COUNTERCLOCKWISE + + rot_color_image = camera.read() + + np.testing.assert_allclose( + rot_color_image, manual_rot_img, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg + ) + del camera + # TODO(rcadene): Add a test for a camera that doesnt support fps=60 and raises an OSError # TODO(rcadene): Add a test for a camera that supports fps=60 @@ -152,4 +187,5 @@ def test_save_images_from_cameras(tmpdir, request, camera_type, mock): elif camera_type == "intelrealsense": from lerobot.common.robot_devices.cameras.intelrealsense import save_images_from_cameras - save_images_from_cameras(tmpdir, record_time_s=1, mock=mock) + # Small `record_time_s` to speedup unit tests + save_images_from_cameras(tmpdir, record_time_s=0.02, mock=mock) From d5b669634ae71e5a76679b976d9cc8031dcea0b5 Mon Sep 17 00:00:00 2001 From: Remi Date: Mon, 7 Oct 2024 11:35:35 +0200 Subject: [PATCH 03/29] Fix nightly by updating .cache in dockerignore (#464) --- .dockerignore | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/.dockerignore b/.dockerignore index 701807953..b8c1be153 100644 --- a/.dockerignore +++ b/.dockerignore @@ -65,7 +65,6 @@ htmlcov/ .nox/ .coverage .coverage.* -.cache nosetests.xml coverage.xml *.cover @@ -73,6 +72,11 @@ coverage.xml .hypothesis/ .pytest_cache/ +# Ignore .cache except calibration +.cache/* +!.cache/calibration/ +!.cache/calibration/** + # Translations *.mo *.pot From c29e70e5a17d61f150e33779dab01e2d4f2e0534 Mon Sep 17 00:00:00 2001 From: Eugene Mironov Date: Wed, 9 Oct 2024 16:35:19 +0700 Subject: [PATCH 04/29] Fix issue with wrong using index instead of camera_index in opencv (#466) --- lerobot/common/robot_devices/cameras/opencv.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lerobot/common/robot_devices/cameras/opencv.py b/lerobot/common/robot_devices/cameras/opencv.py index 7de4bc4e0..2d8b12c91 100644 --- a/lerobot/common/robot_devices/cameras/opencv.py +++ b/lerobot/common/robot_devices/cameras/opencv.py @@ -156,7 +156,7 @@ def save_images_from_cameras( executor.submit( save_image, image, - camera.index, + camera.camera_index, frame_index, images_dir, ) From 97b1feb0b3c5f28c148dde8a9baf0a175be29d05 Mon Sep 17 00:00:00 2001 From: Remi Date: Thu, 10 Oct 2024 17:12:45 +0200 Subject: [PATCH 05/29] Add policy/act_aloha_real.yaml + env/act_real.yaml (#429) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> --- examples/9_use_aloha.md | 179 ++++++++++++++ lerobot/__init__.py | 4 +- .../robot_devices/robots/manipulator.py | 1 + lerobot/configs/env/aloha_real.yaml | 10 + .../{act_real.yaml => act_aloha_real.yaml} | 31 ++- lerobot/configs/policy/act_real_no_state.yaml | 110 --------- lerobot/scripts/control_robot.py | 222 +++++++++++++++--- poetry.lock | 2 +- tests/conftest.py | 9 +- .../actions.safetensors | 0 .../grad_stats.safetensors | 0 .../output_dict.safetensors | 0 .../param_stats.safetensors | 0 .../actions.safetensors | 3 - .../grad_stats.safetensors | 3 - .../output_dict.safetensors | 3 - .../param_stats.safetensors | 3 - tests/test_control_robot.py | 64 ++++- tests/test_datasets.py | 5 +- tests/test_policies.py | 3 +- 20 files changed, 464 insertions(+), 188 deletions(-) create mode 100644 examples/9_use_aloha.md create mode 100644 lerobot/configs/env/aloha_real.yaml rename lerobot/configs/policy/{act_real.yaml => act_aloha_real.yaml} (75%) delete mode 100644 lerobot/configs/policy/act_real_no_state.yaml rename tests/data/save_policy_to_safetensors/{dora_aloha_real_act_real => dora_aloha_real_act_aloha_real}/actions.safetensors (100%) rename tests/data/save_policy_to_safetensors/{dora_aloha_real_act_real => dora_aloha_real_act_aloha_real}/grad_stats.safetensors (100%) rename tests/data/save_policy_to_safetensors/{dora_aloha_real_act_real => dora_aloha_real_act_aloha_real}/output_dict.safetensors (100%) rename tests/data/save_policy_to_safetensors/{dora_aloha_real_act_real => dora_aloha_real_act_aloha_real}/param_stats.safetensors (100%) delete mode 100644 tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/actions.safetensors delete mode 100644 tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/grad_stats.safetensors delete mode 100644 tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/output_dict.safetensors delete mode 100644 tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/param_stats.safetensors diff --git a/examples/9_use_aloha.md b/examples/9_use_aloha.md new file mode 100644 index 000000000..9859e3641 --- /dev/null +++ b/examples/9_use_aloha.md @@ -0,0 +1,179 @@ +This tutorial explains how to use [Aloha and Aloha 2 stationary](https://www.trossenrobotics.com/aloha-stationary) with LeRobot. + +## Setup + +Follow the [documentation from Trossen Robotics](https://docs.trossenrobotics.com/aloha_docs/getting_started/stationary/hardware_setup.html) for setting up the hardware and plugging the 4 arms and 4 cameras to your computer. + + +## Install LeRobot + +On your computer: + +1. [Install Miniconda](https://docs.anaconda.com/miniconda/#quick-command-line-install): +```bash +mkdir -p ~/miniconda3 +wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh +bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 +rm ~/miniconda3/miniconda.sh +~/miniconda3/bin/conda init bash +``` + +2. Restart shell or `source ~/.bashrc` + +3. Create and activate a fresh conda environment for lerobot +```bash +conda create -y -n lerobot python=3.10 && conda activate lerobot +``` + +4. Clone LeRobot: +```bash +git clone https://github.com/huggingface/lerobot.git ~/lerobot +``` + +5. Install LeRobot with dependencies for the Aloha motors (dynamixel) and cameras (intelrealsense): +```bash +cd ~/lerobot && pip install -e ".[dynamixel intelrealsense]" +``` + +And install extra dependencies for recording datasets on Linux: +```bash +conda install -y -c conda-forge ffmpeg +pip uninstall -y opencv-python +conda install -y -c conda-forge "opencv>=4.10.0" +``` + +## Teleoperate + +**/!\ FOR SAFETY, READ THIS /!\** +Teleoperation consists in manually operating the leader arms to move the follower arms. Importantly: +1. Make sure your leader arms are in the same position as the follower arms, so that the follower arms don't move too fast to match the leader arms, +2. Our code assumes that your robot has been assembled following Trossen Robotics instructions. This allows us to skip calibration, as we use the pre-defined calibration files in `.cache/calibration/aloha_default`. If you replace a motor, make sure you follow the exact instructions from Trossen Robotics. + +By running the following code, you can start your first **SAFE** teleoperation: +```bash +python lerobot/scripts/control_robot.py teleoperate \ + --robot-path lerobot/configs/robot/aloha.yaml \ + --robot-overrides max_relative_target=5 +``` + +By adding `--robot-overrides max_relative_target=5`, we override the default value for `max_relative_target` defined in `lerobot/configs/robot/aloha.yaml`. It is expected to be `5` to limit the magnitude of the movement for more safety, but the teloperation won't be smooth. When you feel confident, you can disable this limit by adding `--robot-overrides max_relative_target=null` to the command line: +```bash +python lerobot/scripts/control_robot.py teleoperate \ + --robot-path lerobot/configs/robot/aloha.yaml \ + --robot-overrides max_relative_target=null +``` + +## Record a dataset + +Once you're familiar with teleoperation, you can record your first dataset with Aloha. + +If you want to use the Hugging Face hub features for uploading your dataset and you haven't previously done it, make sure you've logged in using a write-access token, which can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens): +```bash +huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential +``` + +Store your Hugging Face repository name in a variable to run these commands: +```bash +HF_USER=$(huggingface-cli whoami | head -n 1) +echo $HF_USER +``` + +Record 2 episodes and upload your dataset to the hub: +```bash +python lerobot/scripts/control_robot.py record \ + --robot-path lerobot/configs/robot/aloha.yaml \ + --robot-overrides max_relative_target=null \ + --fps 30 \ + --root data \ + --repo-id ${HF_USER}/aloha_test \ + --tags aloha tutorial \ + --warmup-time-s 5 \ + --episode-time-s 40 \ + --reset-time-s 10 \ + --num-episodes 2 \ + --push-to-hub 1 +``` + +## Visualize a dataset + +If you uploaded your dataset to the hub with `--push-to-hub 1`, you can [visualize your dataset online](https://huggingface.co/spaces/lerobot/visualize_dataset) by copy pasting your repo id given by: +```bash +echo ${HF_USER}/aloha_test +``` + +If you didn't upload with `--push-to-hub 0`, you can also visualize it locally with: +```bash +python lerobot/scripts/visualize_dataset_html.py \ + --root data \ + --repo-id ${HF_USER}/aloha_test +``` + +## Replay an episode + +**/!\ FOR SAFETY, READ THIS /!\** +Replay consists in automatically replaying the sequence of actions (i.e. goal positions for your motors) recorded in a given dataset episode. Make sure the current initial position of your robot is similar to the one in your episode, so that your follower arms don't move too fast to go to the first goal positions. For safety, you might want to add `--robot-overrides max_relative_target=5` to your command line as explained above. + +Now try to replay the first episode on your robot: +```bash +python lerobot/scripts/control_robot.py replay \ + --robot-path lerobot/configs/robot/aloha.yaml \ + --robot-overrides max_relative_target=null \ + --fps 30 \ + --root data \ + --repo-id ${HF_USER}/aloha_test \ + --episode 0 +``` + +## Train a policy + +To train a policy to control your robot, use the [`python lerobot/scripts/train.py`](../lerobot/scripts/train.py) script. A few arguments are required. Here is an example command: +```bash +DATA_DIR=data python lerobot/scripts/train.py \ + dataset_repo_id=${HF_USER}/aloha_test \ + policy=act_aloha_real \ + env=aloha_real \ + hydra.run.dir=outputs/train/act_aloha_test \ + hydra.job.name=act_aloha_test \ + device=cuda \ + wandb.enable=true +``` + +Let's explain it: +1. We provided the dataset as argument with `dataset_repo_id=${HF_USER}/aloha_test`. +2. We provided the policy with `policy=act_aloha_real`. This loads configurations from [`lerobot/configs/policy/act_aloha_real.yaml`](../lerobot/configs/policy/act_aloha_real.yaml). Importantly, this policy uses 4 cameras as input `cam_right_wrist`, `cam_left_wrist`, `cam_high`, and `cam_low`. +3. We provided an environment as argument with `env=aloha_real`. This loads configurations from [`lerobot/configs/env/aloha_real.yaml`](../lerobot/configs/env/aloha_real.yaml). Note: this yaml defines 18 dimensions for the `state_dim` and `action_dim`, corresponding to 18 motors, not 14 motors as used in previous Aloha work. This is because, we include the `shoulder_shadow` and `elbow_shadow` motors for simplicity. +4. We provided `device=cuda` since we are training on a Nvidia GPU. +5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`. +6. We added `DATA_DIR=data` to access your dataset stored in your local `data` directory. If you dont provide `DATA_DIR`, your dataset will be downloaded from Hugging Face hub to your cache folder `$HOME/.cache/hugginface`. In future versions of `lerobot`, both directories will be in sync. + +Training should take several hours. You will find checkpoints in `outputs/train/act_aloha_test/checkpoints`. + +## Evaluate your policy + +You can use the `record` function from [`lerobot/scripts/control_robot.py`](../lerobot/scripts/control_robot.py) but with a policy checkpoint as input. For instance, run this command to record 10 evaluation episodes: +```bash +python lerobot/scripts/control_robot.py record \ + --robot-path lerobot/configs/robot/aloha.yaml \ + --robot-overrides max_relative_target=null \ + --fps 30 \ + --root data \ + --repo-id ${HF_USER}/eval_act_aloha_test \ + --tags aloha tutorial eval \ + --warmup-time-s 5 \ + --episode-time-s 40 \ + --reset-time-s 10 \ + --num-episodes 10 \ + --num-image-writer-processes 1 \ + -p outputs/train/act_aloha_test/checkpoints/last/pretrained_model +``` + +As you can see, it's almost the same command as previously used to record your training dataset. Two things changed: +1. There is an additional `-p` argument which indicates the path to your policy checkpoint with (e.g. `-p outputs/train/eval_aloha_test/checkpoints/last/pretrained_model`). You can also use the model repository if you uploaded a model checkpoint to the hub (e.g. `-p ${HF_USER}/act_aloha_test`). +2. The name of dataset begins by `eval` to reflect that you are running inference (e.g. `--repo-id ${HF_USER}/eval_act_aloha_test`). +3. We use `--num-image-writer-processes 1` instead of the default value (`0`). On our computer, using a dedicated process to write images from the 4 cameras on disk allows to reach constent 30 fps during inference. Feel free to explore different values for `--num-image-writer-processes`. + +## More + +Follow this [previous tutorial](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data) for a more in-depth explaination. + +If you have any question or need help, please reach out on Discord in the channel `#aloha-arm`. diff --git a/lerobot/__init__.py b/lerobot/__init__.py index 851383dd9..5acd8aaad 100644 --- a/lerobot/__init__.py +++ b/lerobot/__init__.py @@ -216,7 +216,9 @@ "aloha": ["act"], "pusht": ["diffusion", "vqbet"], "xarm": ["tdmpc"], - "dora_aloha_real": ["act_real"], + "koch_real": ["act_koch_real"], + "aloha_real": ["act_aloha_real"], + "dora_aloha_real": ["act_aloha_real"], } env_task_pairs = [(env, task) for env, tasks in available_tasks_per_env.items() for task in tasks] diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py index 98ae691a0..6ab900fb9 100644 --- a/lerobot/common/robot_devices/robots/manipulator.py +++ b/lerobot/common/robot_devices/robots/manipulator.py @@ -364,6 +364,7 @@ def connect(self): for name in self.follower_arms: print(f"Connecting {name} follower arm.") self.follower_arms[name].connect() + for name in self.leader_arms: print(f"Connecting {name} leader arm.") self.leader_arms[name].connect() diff --git a/lerobot/configs/env/aloha_real.yaml b/lerobot/configs/env/aloha_real.yaml new file mode 100644 index 000000000..57af4be20 --- /dev/null +++ b/lerobot/configs/env/aloha_real.yaml @@ -0,0 +1,10 @@ +# @package _global_ + +fps: 30 + +env: + name: real_world + task: null + state_dim: 18 + action_dim: 18 + fps: ${fps} diff --git a/lerobot/configs/policy/act_real.yaml b/lerobot/configs/policy/act_aloha_real.yaml similarity index 75% rename from lerobot/configs/policy/act_real.yaml rename to lerobot/configs/policy/act_aloha_real.yaml index 058104f4d..70da3c561 100644 --- a/lerobot/configs/policy/act_real.yaml +++ b/lerobot/configs/policy/act_aloha_real.yaml @@ -1,16 +1,22 @@ # @package _global_ -# Use `act_real.yaml` to train on real-world Aloha/Aloha2 datasets. -# Compared to `act.yaml`, it contains 4 cameras (i.e. cam_right_wrist, cam_left_wrist, images, -# cam_low) instead of 1 camera (i.e. top). Also, `training.eval_freq` is set to -1. This config is used -# to evaluate checkpoints at a certain frequency of training steps. When it is set to -1, it deactivates evaluation. -# This is because real-world evaluation is done through [dora-lerobot](https://github.com/dora-rs/dora-lerobot). -# Look at its README for more information on how to evaluate a checkpoint in the real-world. +# Use `act_aloha_real.yaml` to train on real-world datasets collected on Aloha or Aloha-2 robots. +# Compared to `act.yaml`, it contains 4 cameras (i.e. cam_right_wrist, cam_left_wrist, cam_high, cam_low) instead of 1 camera (i.e. top). +# Also, `training.eval_freq` is set to -1. This config is used to evaluate checkpoints at a certain frequency of training steps. +# When it is set to -1, it deactivates evaluation. This is because real-world evaluation is done through our `control_robot.py` script. +# Look at the documentation in header of `control_robot.py` for more information on how to collect data , train and evaluate a policy. # -# Example of usage for training: +# Example of usage for training and inference with `control_robot.py`: # ```bash # python lerobot/scripts/train.py \ -# policy=act_real \ +# policy=act_aloha_real \ +# env=aloha_real +# ``` +# +# Example of usage for training and inference with [Dora-rs](https://github.com/dora-rs/dora-lerobot): +# ```bash +# python lerobot/scripts/train.py \ +# policy=act_aloha_real \ # env=dora_aloha_real # ``` @@ -36,10 +42,11 @@ override_dataset_stats: std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) training: - offline_steps: 100000 + offline_steps: 80000 online_steps: 0 eval_freq: -1 - save_freq: 20000 + save_freq: 10000 + log_freq: 100 save_checkpoint: true batch_size: 8 @@ -62,7 +69,7 @@ policy: # Input / output structure. n_obs_steps: 1 - chunk_size: 100 # chunk_size + chunk_size: 100 n_action_steps: 100 input_shapes: @@ -107,7 +114,7 @@ policy: n_vae_encoder_layers: 4 # Inference. - temporal_ensemble_coeff: null + temporal_ensemble_momentum: null # Training and loss computation. dropout: 0.1 diff --git a/lerobot/configs/policy/act_real_no_state.yaml b/lerobot/configs/policy/act_real_no_state.yaml deleted file mode 100644 index 082610503..000000000 --- a/lerobot/configs/policy/act_real_no_state.yaml +++ /dev/null @@ -1,110 +0,0 @@ -# @package _global_ - -# Use `act_real_no_state.yaml` to train on real-world Aloha/Aloha2 datasets when cameras are moving (e.g. wrist cameras) -# Compared to `act_real.yaml`, it is camera only and does not use the state as input which is vector of robot joint positions. -# We validated experimentaly that not using state reaches better success rate. Our hypothesis is that `act_real.yaml` might -# overfits to the state, because the images are more complex to learn from since they are moving. -# -# Example of usage for training: -# ```bash -# python lerobot/scripts/train.py \ -# policy=act_real_no_state \ -# env=dora_aloha_real -# ``` - -seed: 1000 -dataset_repo_id: lerobot/aloha_static_vinh_cup - -override_dataset_stats: - observation.images.cam_right_wrist: - # stats from imagenet, since we use a pretrained vision model - mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1) - std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) - observation.images.cam_left_wrist: - # stats from imagenet, since we use a pretrained vision model - mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1) - std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) - observation.images.cam_high: - # stats from imagenet, since we use a pretrained vision model - mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1) - std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) - observation.images.cam_low: - # stats from imagenet, since we use a pretrained vision model - mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1) - std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) - -training: - offline_steps: 100000 - online_steps: 0 - eval_freq: -1 - save_freq: 20000 - save_checkpoint: true - - batch_size: 8 - lr: 1e-5 - lr_backbone: 1e-5 - weight_decay: 1e-4 - grad_clip_norm: 10 - online_steps_between_rollouts: 1 - - delta_timestamps: - action: "[i / ${fps} for i in range(${policy.chunk_size})]" - -eval: - n_episodes: 50 - batch_size: 50 - -# See `configuration_act.py` for more details. -policy: - name: act - - # Input / output structure. - n_obs_steps: 1 - chunk_size: 100 # chunk_size - n_action_steps: 100 - - input_shapes: - # TODO(rcadene, alexander-soare): add variables for height and width from the dataset/env? - observation.images.cam_right_wrist: [3, 480, 640] - observation.images.cam_left_wrist: [3, 480, 640] - observation.images.cam_high: [3, 480, 640] - observation.images.cam_low: [3, 480, 640] - output_shapes: - action: ["${env.action_dim}"] - - # Normalization / Unnormalization - input_normalization_modes: - observation.images.cam_right_wrist: mean_std - observation.images.cam_left_wrist: mean_std - observation.images.cam_high: mean_std - observation.images.cam_low: mean_std - output_normalization_modes: - action: mean_std - - # Architecture. - # Vision backbone. - vision_backbone: resnet18 - pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1 - replace_final_stride_with_dilation: false - # Transformer layers. - pre_norm: false - dim_model: 512 - n_heads: 8 - dim_feedforward: 3200 - feedforward_activation: relu - n_encoder_layers: 4 - # Note: Although the original ACT implementation has 7 for `n_decoder_layers`, there is a bug in the code - # that means only the first layer is used. Here we match the original implementation by setting this to 1. - # See this issue https://github.com/tonyzhaozh/act/issues/25#issue-2258740521. - n_decoder_layers: 1 - # VAE. - use_vae: true - latent_dim: 32 - n_vae_encoder_layers: 4 - - # Inference. - temporal_ensemble_coeff: null - - # Training and loss computation. - dropout: 0.1 - kl_weight: 10.0 diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py index 742dd8bca..3b6345b42 100644 --- a/lerobot/scripts/control_robot.py +++ b/lerobot/scripts/control_robot.py @@ -102,6 +102,7 @@ import concurrent.futures import json import logging +import multiprocessing import os import platform import shutil @@ -163,9 +164,9 @@ def say(text, blocking=False): os.system(cmd) -def save_image(img_tensor, key, frame_index, episode_index, videos_dir): +def save_image(img_tensor, key, frame_index, episode_index, videos_dir: str): img = Image.fromarray(img_tensor.numpy()) - path = videos_dir / f"{key}_episode_{episode_index:06d}" / f"frame_{frame_index:06d}.png" + path = Path(videos_dir) / f"{key}_episode_{episode_index:06d}" / f"frame_{frame_index:06d}.png" path.parent.mkdir(parents=True, exist_ok=True) img.save(str(path), quality=100) @@ -255,6 +256,129 @@ def get_available_arms(robot): return available_arms +######################################################################################## +# Asynchrounous saving of images on disk +######################################################################################## + + +def loop_to_save_images_in_threads(image_queue, num_threads): + if num_threads < 1: + raise NotImplementedError(f"Only `num_threads>=1` is supported for now, but {num_threads=} given.") + + with concurrent.futures.ThreadPoolExecutor(max_workers=num_threads) as executor: + futures = [] + while True: + # Blocks until a frame is available + frame_data = image_queue.get() + + # As usually done, exit loop when receiving None to stop the worker + if frame_data is None: + break + + image, key, frame_index, episode_index, videos_dir = frame_data + futures.append(executor.submit(save_image, image, key, frame_index, episode_index, videos_dir)) + + # Before exiting function, wait for all threads to complete + with tqdm.tqdm(total=len(futures), desc="Writing images") as progress_bar: + concurrent.futures.wait(futures) + progress_bar.update(len(futures)) + + +def start_image_writer_processes(image_queue, num_processes, num_threads_per_process): + if num_processes < 1: + raise ValueError(f"Only `num_processes>=1` is supported, but {num_processes=} given.") + + if num_threads_per_process < 1: + raise NotImplementedError( + "Only `num_threads_per_process>=1` is supported for now, but {num_threads_per_process=} given." + ) + + processes = [] + for _ in range(num_processes): + process = multiprocessing.Process( + target=loop_to_save_images_in_threads, + args=(image_queue, num_threads_per_process), + ) + process.start() + processes.append(process) + return processes + + +def stop_processes(processes, queue, timeout): + # Send None to each process to signal them to stop + for _ in processes: + queue.put(None) + + # Close the queue, no more items can be put in the queue + queue.close() + + # Wait maximum 20 seconds for all processes to terminate + for process in processes: + process.join(timeout=timeout) + + # If not terminated after 20 seconds, force termination + if process.is_alive(): + process.terminate() + + # Ensure all background queue threads have finished + queue.join_thread() + + +def start_image_writer(num_processes, num_threads): + """This function abstract away the initialisation of processes or/and threads to + save images on disk asynchrounously, which is critical to control a robot and record data + at a high frame rate. + + When `num_processes=0`, it returns a dictionary containing a threads pool of size `num_threads`. + When `num_processes>0`, it returns a dictionary containing a processes pool of size `num_processes`, + where each subprocess starts their own threads pool of size `num_threads`. + + The optimal number of processes and threads depends on your computer capabilities. + We advise to use 4 threads per camera with 0 processes. If the fps is not stable, try to increase or lower + the number of threads. If it is still not stable, try to use 1 subprocess, or more. + """ + image_writer = {} + + if num_processes == 0: + futures = [] + threads_pool = concurrent.futures.ThreadPoolExecutor(max_workers=num_threads) + image_writer["threads_pool"], image_writer["futures"] = threads_pool, futures + else: + # TODO(rcadene): When using num_processes>1, `multiprocessing.Manager().Queue()` + # might be better than `multiprocessing.Queue()`. Source: https://www.geeksforgeeks.org/python-multiprocessing-queue-vs-multiprocessing-manager-queue + image_queue = multiprocessing.Queue() + processes_pool = start_image_writer_processes( + image_queue, num_processes=num_processes, num_threads_per_process=num_threads + ) + image_writer["processes_pool"], image_writer["image_queue"] = processes_pool, image_queue + + return image_writer + + +def async_save_image(image_writer, image, key, frame_index, episode_index, videos_dir): + """This function abstract away the saving of an image on disk asynchrounously. It uses a dictionary + called image writer which contains either a pool of processes or a pool of threads. + """ + if "threads_pool" in image_writer: + threads_pool, futures = image_writer["threads_pool"], image_writer["futures"] + futures.append(threads_pool.submit(save_image, image, key, frame_index, episode_index, videos_dir)) + else: + image_queue = image_writer["image_queue"] + image_queue.put((image, key, frame_index, episode_index, videos_dir)) + + +def stop_image_writer(image_writer, timeout): + if "threads_pool" in image_writer: + futures = image_writer["futures"] + # Before exiting function, wait for all threads to complete + with tqdm.tqdm(total=len(futures), desc="Writing images") as progress_bar: + concurrent.futures.wait(futures, timeout=timeout) + progress_bar.update(len(futures)) + else: + processes_pool, image_queue = image_writer["processes_pool"], image_writer["image_queue"] + stop_processes(processes_pool, image_queue, timeout=timeout) + + ######################################################################################## # Control modes ######################################################################################## @@ -342,9 +466,11 @@ def record( run_compute_stats=True, push_to_hub=True, tags=None, - num_image_writers_per_camera=4, + num_image_writer_processes=0, + num_image_writer_threads_per_camera=4, force_override=False, display_cameras=True, + play_sounds=True, ): # TODO(rcadene): Add option to record logs # TODO(rcadene): Clean this function via decomposition in higher level functions @@ -436,7 +562,8 @@ def on_press(key): while timestamp < warmup_time_s: if not is_warmup_print: logging.info("Warming up (no data recording)") - say("Warming up") + if play_sounds: + say("Warming up") is_warmup_print = True start_loop_t = time.perf_counter() @@ -463,16 +590,22 @@ def on_press(key): if has_method(robot, "teleop_safety_stop"): robot.teleop_safety_stop() - # Save images using threads to reach high fps (30 and more) - # Using `with` to exist smoothly if an execption is raised. - futures = [] - num_image_writers = num_image_writers_per_camera * len(robot.cameras) - num_image_writers = max(num_image_writers, 1) - with concurrent.futures.ThreadPoolExecutor(max_workers=num_image_writers) as executor: + has_camera = len(robot.cameras) > 0 + if has_camera: + # Initialize processes or/and threads dedicated to save images on disk asynchronously, + # which is critical to control a robot and record data at a high frame rate. + image_writer = start_image_writer( + num_processes=num_image_writer_processes, + num_threads=num_image_writer_threads_per_camera * len(robot.cameras), + ) + + # Using `try` to exist smoothly if an exception is raised + try: # Start recording all episodes while episode_index < num_episodes: logging.info(f"Recording episode {episode_index}") - say(f"Recording episode {episode_index}") + if play_sounds: + say(f"Recording episode {episode_index}") ep_dict = {} frame_index = 0 timestamp = 0 @@ -488,12 +621,16 @@ def on_press(key): image_keys = [key for key in observation if "image" in key] not_image_keys = [key for key in observation if "image" not in key] - for key in image_keys: - futures += [ - executor.submit( - save_image, observation[key], key, frame_index, episode_index, videos_dir + if has_camera > 0: + for key in image_keys: + async_save_image( + image_writer, + image=observation[key], + key=key, + frame_index=frame_index, + episode_index=episode_index, + videos_dir=str(videos_dir), ) - ] if display_cameras and not is_headless(): image_keys = [key for key in observation if "image" in key] @@ -563,7 +700,8 @@ def on_press(key): if not stop_recording: # Start resetting env while the executor are finishing logging.info("Reset the environment") - say("Reset the environment") + if play_sounds: + say("Reset the environment") timestamp = 0 start_vencod_t = time.perf_counter() @@ -635,18 +773,23 @@ def on_press(key): if is_last_episode: logging.info("Done recording") - say("Done recording", blocking=True) + if play_sounds: + say("Done recording", blocking=True) if not is_headless(): listener.stop() - logging.info("Waiting for threads writing the images on disk to terminate...") - for _ in tqdm.tqdm( - concurrent.futures.as_completed(futures), total=len(futures), desc="Writting images" - ): - pass - break + if has_camera > 0: + logging.info("Waiting for image writer to terminate...") + stop_image_writer(image_writer, timeout=20) + + except Exception as e: + if has_camera > 0: + logging.info("Waiting for image writer to terminate...") + stop_image_writer(image_writer, timeout=20) + raise e robot.disconnect() + if display_cameras and not is_headless(): cv2.destroyAllWindows() @@ -654,7 +797,8 @@ def on_press(key): if video: logging.info("Encoding videos") - say("Encoding videos") + if play_sounds: + say("Encoding videos") # Use ffmpeg to convert frames stored as png into mp4 videos for episode_index in tqdm.tqdm(range(num_episodes)): for key in image_keys: @@ -699,7 +843,8 @@ def on_press(key): ) if run_compute_stats: logging.info("Computing dataset statistics") - say("Computing dataset statistics") + if play_sounds: + say("Computing dataset statistics") stats = compute_stats(lerobot_dataset) lerobot_dataset.stats = stats else: @@ -721,11 +866,14 @@ def on_press(key): create_branch(repo_id, repo_type="dataset", branch=CODEBASE_VERSION) logging.info("Exiting") - say("Exiting") + if play_sounds: + say("Exiting") return lerobot_dataset -def replay(robot: Robot, episode: int, fps: int | None = None, root="data", repo_id="lerobot/debug"): +def replay( + robot: Robot, episode: int, fps: int | None = None, root="data", repo_id="lerobot/debug", play_sounds=True +): # TODO(rcadene): Add option to record logs local_dir = Path(root) / repo_id if not local_dir.exists(): @@ -740,7 +888,8 @@ def replay(robot: Robot, episode: int, fps: int | None = None, root="data", repo robot.connect() logging.info("Replaying episode") - say("Replaying episode", blocking=True) + if play_sounds: + say("Replaying episode", blocking=True) for idx in range(from_idx, to_idx): start_episode_t = time.perf_counter() @@ -840,12 +989,23 @@ def replay(robot: Robot, episode: int, fps: int | None = None, root="data", repo help="Add tags to your dataset on the hub.", ) parser_record.add_argument( - "--num-image-writers-per-camera", + "--num-image-writer-processes", + type=int, + default=0, + help=( + "Number of subprocesses handling the saving of frames as PNGs. Set to 0 to use threads only; " + "set to ≥1 to use subprocesses, each using threads to write images. The best number of processes " + "and threads depends on your system. We recommend 4 threads per camera with 0 processes. " + "If fps is unstable, adjust the thread count. If still unstable, try using 1 or more subprocesses." + ), + ) + parser_record.add_argument( + "--num-image-writer-threads-per-camera", type=int, default=4, help=( "Number of threads writing the frames as png images on disk, per camera. " - "Too much threads might cause unstable teleoperation fps due to main thread being blocked. " + "Too many threads might cause unstable teleoperation fps due to main thread being blocked. " "Not enough threads might cause low camera fps." ), ) diff --git a/poetry.lock b/poetry.lock index 43089048d..f0e50dcda 100644 --- a/poetry.lock +++ b/poetry.lock @@ -5245,7 +5245,7 @@ docs = ["sphinx", "sphinx-automodapi", "sphinx-rtd-theme"] name = "pyserial" version = "3.5" description = "Python Serial Port Extension" -optional = true +optional = false python-versions = "*" files = [ {file = "pyserial-3.5-py2.py3-none-any.whl", hash = "sha256:c4451db6ba391ca6ca299fb3ec7bae67a5c55dde170964c7a14ceefec02f2cf0"}, diff --git a/tests/conftest.py b/tests/conftest.py index 386441e5d..949a25357 100644 --- a/tests/conftest.py +++ b/tests/conftest.py @@ -52,8 +52,9 @@ def is_robot_available(robot_type): print(f"\nInstall module '{e.name}'") elif isinstance(e, SerialException): print("\nNo physical motors bus detected.") + else: + traceback.print_exc() - traceback.print_exc() return False @@ -77,8 +78,9 @@ def is_camera_available(camera_type): print(f"\nInstall module '{e.name}'") elif isinstance(e, ValueError) and "camera_index" in e.args[0]: print("\nNo physical camera detected.") + else: + traceback.print_exc() - traceback.print_exc() return False @@ -102,8 +104,9 @@ def is_motor_available(motor_type): print(f"\nInstall module '{e.name}'") elif isinstance(e, SerialException): print("\nNo physical motors bus detected.") + else: + traceback.print_exc() - traceback.print_exc() return False diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/actions.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/actions.safetensors similarity index 100% rename from tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/actions.safetensors rename to tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/actions.safetensors diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/grad_stats.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/grad_stats.safetensors similarity index 100% rename from tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/grad_stats.safetensors rename to tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/grad_stats.safetensors diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/output_dict.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/output_dict.safetensors similarity index 100% rename from tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/output_dict.safetensors rename to tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/output_dict.safetensors diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/param_stats.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/param_stats.safetensors similarity index 100% rename from tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/param_stats.safetensors rename to tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/param_stats.safetensors diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/actions.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/actions.safetensors deleted file mode 100644 index 2e26ef270..000000000 --- a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/actions.safetensors +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:b5a9f73a2356aff9c717cdfd0d37a6da08b0cf2cc09c98edbc9492501b7f64a5 -size 5104 diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/grad_stats.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/grad_stats.safetensors deleted file mode 100644 index b959bc6e0..000000000 --- a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/grad_stats.safetensors +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:28738b3cfad17af0ac5181effdd796acdf7953cd5bcca3f421a11ddfd6b0076f -size 30800 diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/output_dict.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/output_dict.safetensors deleted file mode 100644 index 455834aa8..000000000 --- a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/output_dict.safetensors +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4bb8a197a40456fdbc16029126268e6bcef3eca1837d88235165dc7e14618bea -size 68 diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/param_stats.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/param_stats.safetensors deleted file mode 100644 index d50fb31d9..000000000 --- a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/param_stats.safetensors +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:bea60cce42d324f539dd3bca1e66b5ba6391838fdcadb00efc25f3240edb529a -size 33600 diff --git a/tests/test_control_robot.py b/tests/test_control_robot.py index f554c2511..770b3489b 100644 --- a/tests/test_control_robot.py +++ b/tests/test_control_robot.py @@ -23,6 +23,7 @@ ``` """ +import multiprocessing from pathlib import Path import pytest @@ -37,7 +38,7 @@ @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES) @require_robot def test_teleoperate(tmpdir, request, robot_type, mock): - if mock: + if mock and robot_type != "aloha": request.getfixturevalue("patch_builtins_input") # Create an empty calibration directory to trigger manual calibration @@ -78,7 +79,7 @@ def test_record_without_cameras(tmpdir, request, robot_type, mock): # Avoid using cameras overrides = ["~cameras"] - if mock: + if mock and robot_type != "aloha": request.getfixturevalue("patch_builtins_input") # Create an empty calibration directory to trigger manual calibration @@ -101,13 +102,14 @@ def test_record_without_cameras(tmpdir, request, robot_type, mock): run_compute_stats=False, push_to_hub=False, video=False, + play_sounds=False, ) @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES) @require_robot def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock): - if mock: + if mock and robot_type != "aloha": request.getfixturevalue("patch_builtins_input") # Create an empty calibration directory to trigger manual calibration @@ -115,12 +117,9 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock): calibration_dir = Path(tmpdir) / robot_type overrides = [f"calibration_dir={calibration_dir}"] else: - # Use the default .cache/calibration folder when mock=False + # Use the default .cache/calibration folder when mock=False or for aloha overrides = None - if robot_type == "aloha": - pytest.skip("TODO(rcadene): enable test once aloha_real and act_aloha_real are merged") - env_name = "koch_real" policy_name = "act_koch_real" @@ -141,21 +140,58 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock): video=False, # TODO(rcadene): display cameras through cv2 sometimes crashes on mac display_cameras=False, + play_sounds=False, ) - replay(robot, episode=0, fps=30, root=root, repo_id=repo_id) + replay(robot, episode=0, fps=30, root=root, repo_id=repo_id, play_sounds=False) + + # TODO(rcadene, aliberts): rethink this design + if robot_type == "aloha": + env_name = "aloha_real" + policy_name = "act_aloha_real" + elif robot_type in ["koch", "koch_bimanual"]: + env_name = "koch_real" + policy_name = "act_koch_real" + else: + raise NotImplementedError(robot_type) + + overrides = [ + f"env={env_name}", + f"policy={policy_name}", + f"device={DEVICE}", + ] + + if robot_type == "koch_bimanual": + overrides += ["env.state_dim=12", "env.action_dim=12"] cfg = init_hydra_config( DEFAULT_CONFIG_PATH, - overrides=[ - f"env={env_name}", - f"policy={policy_name}", - f"device={DEVICE}", - ], + overrides=overrides, ) policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats) + # In `examples/9_use_aloha.md`, we advise using `num_image_writer_processes=1` + # during inference, to reach constent fps, so we test this here. + if robot_type == "aloha": + num_image_writer_processes = 1 + + # `multiprocessing.set_start_method("spawn", force=True)` avoids a hanging issue + # before exiting pytest. However, it outputs the following error in the log: + # Traceback (most recent call last): + # File "", line 1, in + # File "/Users/rcadene/miniconda3/envs/lerobot/lib/python3.10/multiprocessing/spawn.py", line 116, in spawn_main + # exitcode = _main(fd, parent_sentinel) + # File "/Users/rcadene/miniconda3/envs/lerobot/lib/python3.10/multiprocessing/spawn.py", line 126, in _main + # self = reduction.pickle.load(from_parent) + # File "/Users/rcadene/miniconda3/envs/lerobot/lib/python3.10/multiprocessing/synchronize.py", line 110, in __setstate__ + # self._semlock = _multiprocessing.SemLock._rebuild(*state) + # FileNotFoundError: [Errno 2] No such file or directory + # TODO(rcadene, aliberts): fix FileNotFoundError in multiprocessing + multiprocessing.set_start_method("spawn", force=True) + else: + num_image_writer_processes = 0 + record( robot, policy, @@ -167,6 +203,8 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock): push_to_hub=False, video=False, display_cameras=False, + play_sounds=False, + num_image_writer_processes=num_image_writer_processes, ) del robot diff --git a/tests/test_datasets.py b/tests/test_datasets.py index 7fe84bc57..1316df786 100644 --- a/tests/test_datasets.py +++ b/tests/test_datasets.py @@ -308,12 +308,11 @@ def test_flatten_unflatten_dict(): # "lerobot/cmu_stretch", ], ) +# TODO(rcadene, aliberts): all these tests fail locally on Mac M1, but not on Linux def test_backward_compatibility(repo_id): """The artifacts for this test have been generated by `tests/scripts/save_dataset_to_safetensors.py`.""" - dataset = LeRobotDataset( - repo_id, - ) + dataset = LeRobotDataset(repo_id) test_dir = Path("tests/data/save_dataset_to_safetensors") / repo_id diff --git a/tests/test_policies.py b/tests/test_policies.py index d90f00716..f358170d1 100644 --- a/tests/test_policies.py +++ b/tests/test_policies.py @@ -367,8 +367,7 @@ def test_normalize(insert_temporal_dim): ), ("aloha", "act", ["policy.n_action_steps=10"], ""), ("aloha", "act", ["policy.n_action_steps=1000", "policy.chunk_size=1000"], "_1000_steps"), - ("dora_aloha_real", "act_real", ["policy.n_action_steps=10"], ""), - ("dora_aloha_real", "act_real_no_state", ["policy.n_action_steps=10"], ""), + ("dora_aloha_real", "act_aloha_real", ["policy.n_action_steps=10"], ""), ], ) # As artifacts have been generated on an x86_64 kernel, this test won't From 77478d50e5d5642112d1bad6f1657f08eb1c3378 Mon Sep 17 00:00:00 2001 From: Remi Date: Wed, 16 Oct 2024 20:51:35 +0200 Subject: [PATCH 06/29] Refactor `record` with `add_frame` (#468) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> --- .github/workflows/test.yml | 2 + lerobot/common/datasets/populate_dataset.py | 468 ++++++++++ lerobot/common/logger.py | 2 +- lerobot/common/robot_devices/control_utils.py | 330 +++++++ .../robot_devices/robots/manipulator.py | 19 + lerobot/common/utils/utils.py | 34 + lerobot/scripts/control_robot.py | 825 +++--------------- lerobot/scripts/train.py | 2 +- .../templates/visualize_dataset_template.html | 2 +- tests/test_control_robot.py | 260 +++++- tests/test_robots.py | 1 + 11 files changed, 1236 insertions(+), 709 deletions(-) create mode 100644 lerobot/common/datasets/populate_dataset.py create mode 100644 lerobot/common/robot_devices/control_utils.py diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 10c90f841..9d51def4d 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -47,6 +47,7 @@ jobs: pipx install poetry && poetry config virtualenvs.in-project true echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH + # TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10 - name: Set up Python 3.10 uses: actions/setup-python@v5 with: @@ -84,6 +85,7 @@ jobs: pipx install poetry && poetry config virtualenvs.in-project true echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH + # TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10 - name: Set up Python 3.10 uses: actions/setup-python@v5 with: diff --git a/lerobot/common/datasets/populate_dataset.py b/lerobot/common/datasets/populate_dataset.py new file mode 100644 index 000000000..df5d20e56 --- /dev/null +++ b/lerobot/common/datasets/populate_dataset.py @@ -0,0 +1,468 @@ +"""Functions to create an empty dataset, and populate it with frames.""" +# TODO(rcadene, aliberts): to adapt as class methods of next version of LeRobotDataset + +import concurrent +import json +import logging +import multiprocessing +import shutil +from pathlib import Path + +import torch +import tqdm +from PIL import Image + +from lerobot.common.datasets.compute_stats import compute_stats +from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset +from lerobot.common.datasets.push_dataset_to_hub.aloha_hdf5_format import to_hf_dataset +from lerobot.common.datasets.push_dataset_to_hub.utils import concatenate_episodes, get_default_encoding +from lerobot.common.datasets.utils import calculate_episode_data_index, create_branch +from lerobot.common.datasets.video_utils import encode_video_frames +from lerobot.common.utils.utils import log_say +from lerobot.scripts.push_dataset_to_hub import ( + push_dataset_card_to_hub, + push_meta_data_to_hub, + push_videos_to_hub, + save_meta_data, +) + +######################################################################################## +# Asynchrounous saving of images on disk +######################################################################################## + + +def safe_stop_image_writer(func): + # TODO(aliberts): Allow to pass custom exceptions + # (e.g. ThreadServiceExit, KeyboardInterrupt, SystemExit, UnpluggedError, DynamixelCommError) + def wrapper(*args, **kwargs): + try: + return func(*args, **kwargs) + except Exception as e: + image_writer = kwargs.get("dataset", {}).get("image_writer") + if image_writer is not None: + print("Waiting for image writer to terminate...") + stop_image_writer(image_writer, timeout=20) + raise e + + return wrapper + + +def save_image(img_tensor, key, frame_index, episode_index, videos_dir: str): + img = Image.fromarray(img_tensor.numpy()) + path = Path(videos_dir) / f"{key}_episode_{episode_index:06d}" / f"frame_{frame_index:06d}.png" + path.parent.mkdir(parents=True, exist_ok=True) + img.save(str(path), quality=100) + + +def loop_to_save_images_in_threads(image_queue, num_threads): + if num_threads < 1: + raise NotImplementedError(f"Only `num_threads>=1` is supported for now, but {num_threads=} given.") + + with concurrent.futures.ThreadPoolExecutor(max_workers=num_threads) as executor: + futures = [] + while True: + # Blocks until a frame is available + frame_data = image_queue.get() + + # As usually done, exit loop when receiving None to stop the worker + if frame_data is None: + break + + image, key, frame_index, episode_index, videos_dir = frame_data + futures.append(executor.submit(save_image, image, key, frame_index, episode_index, videos_dir)) + + # Before exiting function, wait for all threads to complete + with tqdm.tqdm(total=len(futures), desc="Writing images") as progress_bar: + concurrent.futures.wait(futures) + progress_bar.update(len(futures)) + + +def start_image_writer_processes(image_queue, num_processes, num_threads_per_process): + if num_processes < 1: + raise ValueError(f"Only `num_processes>=1` is supported, but {num_processes=} given.") + + if num_threads_per_process < 1: + raise NotImplementedError( + "Only `num_threads_per_process>=1` is supported for now, but {num_threads_per_process=} given." + ) + + processes = [] + for _ in range(num_processes): + process = multiprocessing.Process( + target=loop_to_save_images_in_threads, + args=(image_queue, num_threads_per_process), + ) + process.start() + processes.append(process) + return processes + + +def stop_processes(processes, queue, timeout): + # Send None to each process to signal them to stop + for _ in processes: + queue.put(None) + + # Wait maximum 20 seconds for all processes to terminate + for process in processes: + process.join(timeout=timeout) + + # If not terminated after 20 seconds, force termination + if process.is_alive(): + process.terminate() + + # Close the queue, no more items can be put in the queue + queue.close() + + # Ensure all background queue threads have finished + queue.join_thread() + + +def start_image_writer(num_processes, num_threads): + """This function abstract away the initialisation of processes or/and threads to + save images on disk asynchrounously, which is critical to control a robot and record data + at a high frame rate. + + When `num_processes=0`, it returns a dictionary containing a threads pool of size `num_threads`. + When `num_processes>0`, it returns a dictionary containing a processes pool of size `num_processes`, + where each subprocess starts their own threads pool of size `num_threads`. + + The optimal number of processes and threads depends on your computer capabilities. + We advise to use 4 threads per camera with 0 processes. If the fps is not stable, try to increase or lower + the number of threads. If it is still not stable, try to use 1 subprocess, or more. + """ + image_writer = {} + + if num_processes == 0: + futures = [] + threads_pool = concurrent.futures.ThreadPoolExecutor(max_workers=num_threads) + image_writer["threads_pool"], image_writer["futures"] = threads_pool, futures + else: + # TODO(rcadene): When using num_processes>1, `multiprocessing.Manager().Queue()` + # might be better than `multiprocessing.Queue()`. Source: https://www.geeksforgeeks.org/python-multiprocessing-queue-vs-multiprocessing-manager-queue + image_queue = multiprocessing.Queue() + processes_pool = start_image_writer_processes( + image_queue, num_processes=num_processes, num_threads_per_process=num_threads + ) + image_writer["processes_pool"], image_writer["image_queue"] = processes_pool, image_queue + + return image_writer + + +def async_save_image(image_writer, image, key, frame_index, episode_index, videos_dir): + """This function abstract away the saving of an image on disk asynchrounously. It uses a dictionary + called image writer which contains either a pool of processes or a pool of threads. + """ + if "threads_pool" in image_writer: + threads_pool, futures = image_writer["threads_pool"], image_writer["futures"] + futures.append(threads_pool.submit(save_image, image, key, frame_index, episode_index, videos_dir)) + else: + image_queue = image_writer["image_queue"] + image_queue.put((image, key, frame_index, episode_index, videos_dir)) + + +def stop_image_writer(image_writer, timeout): + if "threads_pool" in image_writer: + futures = image_writer["futures"] + # Before exiting function, wait for all threads to complete + with tqdm.tqdm(total=len(futures), desc="Writing images") as progress_bar: + concurrent.futures.wait(futures, timeout=timeout) + progress_bar.update(len(futures)) + else: + processes_pool, image_queue = image_writer["processes_pool"], image_writer["image_queue"] + stop_processes(processes_pool, image_queue, timeout=timeout) + + +######################################################################################## +# Functions to initialize, resume and populate a dataset +######################################################################################## + + +def init_dataset( + repo_id, + root, + force_override, + fps, + video, + write_images, + num_image_writer_processes, + num_image_writer_threads, +): + local_dir = Path(root) / repo_id + if local_dir.exists() and force_override: + shutil.rmtree(local_dir) + + episodes_dir = local_dir / "episodes" + episodes_dir.mkdir(parents=True, exist_ok=True) + + videos_dir = local_dir / "videos" + videos_dir.mkdir(parents=True, exist_ok=True) + + # Logic to resume data recording + rec_info_path = episodes_dir / "data_recording_info.json" + if rec_info_path.exists(): + with open(rec_info_path) as f: + rec_info = json.load(f) + num_episodes = rec_info["last_episode_index"] + 1 + else: + num_episodes = 0 + + dataset = { + "repo_id": repo_id, + "local_dir": local_dir, + "videos_dir": videos_dir, + "episodes_dir": episodes_dir, + "fps": fps, + "video": video, + "rec_info_path": rec_info_path, + "num_episodes": num_episodes, + } + + if write_images: + # Initialize processes or/and threads dedicated to save images on disk asynchronously, + # which is critical to control a robot and record data at a high frame rate. + image_writer = start_image_writer( + num_processes=num_image_writer_processes, + num_threads=num_image_writer_threads, + ) + dataset["image_writer"] = image_writer + + return dataset + + +def add_frame(dataset, observation, action): + if "current_episode" not in dataset: + # initialize episode dictionary + ep_dict = {} + for key in observation: + if key not in ep_dict: + ep_dict[key] = [] + for key in action: + if key not in ep_dict: + ep_dict[key] = [] + + ep_dict["episode_index"] = [] + ep_dict["frame_index"] = [] + ep_dict["timestamp"] = [] + ep_dict["next.done"] = [] + + dataset["current_episode"] = ep_dict + dataset["current_frame_index"] = 0 + + ep_dict = dataset["current_episode"] + episode_index = dataset["num_episodes"] + frame_index = dataset["current_frame_index"] + videos_dir = dataset["videos_dir"] + video = dataset["video"] + fps = dataset["fps"] + + ep_dict["episode_index"].append(episode_index) + ep_dict["frame_index"].append(frame_index) + ep_dict["timestamp"].append(frame_index / fps) + ep_dict["next.done"].append(False) + + img_keys = [key for key in observation if "image" in key] + non_img_keys = [key for key in observation if "image" not in key] + + # Save all observed modalities except images + for key in non_img_keys: + ep_dict[key].append(observation[key]) + + # Save actions + for key in action: + ep_dict[key].append(action[key]) + + if "image_writer" not in dataset: + dataset["current_frame_index"] += 1 + return + + # Save images + image_writer = dataset["image_writer"] + for key in img_keys: + imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}" + async_save_image( + image_writer, + image=observation[key], + key=key, + frame_index=frame_index, + episode_index=episode_index, + videos_dir=str(videos_dir), + ) + + if video: + fname = f"{key}_episode_{episode_index:06d}.mp4" + frame_info = {"path": f"videos/{fname}", "timestamp": frame_index / fps} + else: + frame_info = str(imgs_dir / f"frame_{frame_index:06d}.png") + + ep_dict[key].append(frame_info) + + dataset["current_frame_index"] += 1 + + +def delete_current_episode(dataset): + del dataset["current_episode"] + del dataset["current_frame_index"] + + # delete temporary images + episode_index = dataset["num_episodes"] + videos_dir = dataset["videos_dir"] + for tmp_imgs_dir in videos_dir.glob(f"*_episode_{episode_index:06d}"): + shutil.rmtree(tmp_imgs_dir) + + +def save_current_episode(dataset): + episode_index = dataset["num_episodes"] + ep_dict = dataset["current_episode"] + episodes_dir = dataset["episodes_dir"] + rec_info_path = dataset["rec_info_path"] + + ep_dict["next.done"][-1] = True + + for key in ep_dict: + if "observation" in key and "image" not in key: + ep_dict[key] = torch.stack(ep_dict[key]) + + ep_dict["action"] = torch.stack(ep_dict["action"]) + ep_dict["episode_index"] = torch.tensor(ep_dict["episode_index"]) + ep_dict["frame_index"] = torch.tensor(ep_dict["frame_index"]) + ep_dict["timestamp"] = torch.tensor(ep_dict["timestamp"]) + ep_dict["next.done"] = torch.tensor(ep_dict["next.done"]) + + ep_path = episodes_dir / f"episode_{episode_index}.pth" + torch.save(ep_dict, ep_path) + + rec_info = { + "last_episode_index": episode_index, + } + with open(rec_info_path, "w") as f: + json.dump(rec_info, f) + + # force re-initialization of episode dictionnary during add_frame + del dataset["current_episode"] + + dataset["num_episodes"] += 1 + + +def encode_videos(dataset, image_keys, play_sounds): + log_say("Encoding videos", play_sounds) + + num_episodes = dataset["num_episodes"] + videos_dir = dataset["videos_dir"] + local_dir = dataset["local_dir"] + fps = dataset["fps"] + + # Use ffmpeg to convert frames stored as png into mp4 videos + for episode_index in tqdm.tqdm(range(num_episodes)): + for key in image_keys: + # key = f"observation.images.{name}" + tmp_imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}" + fname = f"{key}_episode_{episode_index:06d}.mp4" + video_path = local_dir / "videos" / fname + if video_path.exists(): + # Skip if video is already encoded. Could be the case when resuming data recording. + continue + # note: `encode_video_frames` is a blocking call. Making it asynchronous shouldn't speedup encoding, + # since video encoding with ffmpeg is already using multithreading. + encode_video_frames(tmp_imgs_dir, video_path, fps, overwrite=True) + shutil.rmtree(tmp_imgs_dir) + + +def from_dataset_to_lerobot_dataset(dataset, play_sounds): + log_say("Consolidate episodes", play_sounds) + + num_episodes = dataset["num_episodes"] + episodes_dir = dataset["episodes_dir"] + videos_dir = dataset["videos_dir"] + video = dataset["video"] + fps = dataset["fps"] + repo_id = dataset["repo_id"] + + ep_dicts = [] + for episode_index in tqdm.tqdm(range(num_episodes)): + ep_path = episodes_dir / f"episode_{episode_index}.pth" + ep_dict = torch.load(ep_path) + ep_dicts.append(ep_dict) + data_dict = concatenate_episodes(ep_dicts) + + if video: + image_keys = [key for key in data_dict if "image" in key] + encode_videos(dataset, image_keys, play_sounds) + + hf_dataset = to_hf_dataset(data_dict, video) + episode_data_index = calculate_episode_data_index(hf_dataset) + + info = { + "codebase_version": CODEBASE_VERSION, + "fps": fps, + "video": video, + } + if video: + info["encoding"] = get_default_encoding() + + lerobot_dataset = LeRobotDataset.from_preloaded( + repo_id=repo_id, + hf_dataset=hf_dataset, + episode_data_index=episode_data_index, + info=info, + videos_dir=videos_dir, + ) + + return lerobot_dataset + + +def save_lerobot_dataset_on_disk(lerobot_dataset): + hf_dataset = lerobot_dataset.hf_dataset + info = lerobot_dataset.info + stats = lerobot_dataset.stats + episode_data_index = lerobot_dataset.episode_data_index + local_dir = lerobot_dataset.videos_dir.parent + meta_data_dir = local_dir / "meta_data" + + hf_dataset = hf_dataset.with_format(None) # to remove transforms that cant be saved + hf_dataset.save_to_disk(str(local_dir / "train")) + + save_meta_data(info, stats, episode_data_index, meta_data_dir) + + +def push_lerobot_dataset_to_hub(lerobot_dataset, tags): + hf_dataset = lerobot_dataset.hf_dataset + local_dir = lerobot_dataset.videos_dir.parent + videos_dir = lerobot_dataset.videos_dir + repo_id = lerobot_dataset.repo_id + video = lerobot_dataset.video + meta_data_dir = local_dir / "meta_data" + + if not (local_dir / "train").exists(): + raise ValueError( + "You need to run `save_lerobot_dataset_on_disk(lerobot_dataset)` before pushing to the hub." + ) + + hf_dataset.push_to_hub(repo_id, revision="main") + push_meta_data_to_hub(repo_id, meta_data_dir, revision="main") + push_dataset_card_to_hub(repo_id, revision="main", tags=tags) + if video: + push_videos_to_hub(repo_id, videos_dir, revision="main") + create_branch(repo_id, repo_type="dataset", branch=CODEBASE_VERSION) + + +def create_lerobot_dataset(dataset, run_compute_stats, push_to_hub, tags, play_sounds): + if "image_writer" in dataset: + logging.info("Waiting for image writer to terminate...") + image_writer = dataset["image_writer"] + stop_image_writer(image_writer, timeout=20) + + lerobot_dataset = from_dataset_to_lerobot_dataset(dataset, play_sounds) + + if run_compute_stats: + log_say("Computing dataset statistics", play_sounds) + lerobot_dataset.stats = compute_stats(lerobot_dataset) + else: + logging.info("Skipping computation of the dataset statistics") + lerobot_dataset.stats = {} + + save_lerobot_dataset_on_disk(lerobot_dataset) + + if push_to_hub: + push_lerobot_dataset_to_hub(lerobot_dataset, tags) + + return lerobot_dataset diff --git a/lerobot/common/logger.py b/lerobot/common/logger.py index bf578fcc5..3bd2df89a 100644 --- a/lerobot/common/logger.py +++ b/lerobot/common/logger.py @@ -189,7 +189,7 @@ def save_training_state( training_state["scheduler"] = scheduler.state_dict() torch.save(training_state, save_dir / self.training_state_file_name) - def save_checkpont( + def save_checkpoint( self, train_step: int, policy: Policy, diff --git a/lerobot/common/robot_devices/control_utils.py b/lerobot/common/robot_devices/control_utils.py new file mode 100644 index 000000000..08bcec2e6 --- /dev/null +++ b/lerobot/common/robot_devices/control_utils.py @@ -0,0 +1,330 @@ +######################################################################################## +# Utilities +######################################################################################## + + +import logging +import time +import traceback +from contextlib import nullcontext +from copy import copy +from functools import cache + +import cv2 +import torch +import tqdm +from termcolor import colored + +from lerobot.common.datasets.populate_dataset import add_frame, safe_stop_image_writer +from lerobot.common.policies.factory import make_policy +from lerobot.common.robot_devices.robots.utils import Robot +from lerobot.common.robot_devices.utils import busy_wait +from lerobot.common.utils.utils import get_safe_torch_device, init_hydra_config, set_global_seed +from lerobot.scripts.eval import get_pretrained_policy_path + + +def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, fps=None): + log_items = [] + if episode_index is not None: + log_items.append(f"ep:{episode_index}") + if frame_index is not None: + log_items.append(f"frame:{frame_index}") + + def log_dt(shortname, dt_val_s): + nonlocal log_items, fps + info_str = f"{shortname}:{dt_val_s * 1000:5.2f} ({1/ dt_val_s:3.1f}hz)" + if fps is not None: + actual_fps = 1 / dt_val_s + if actual_fps < fps - 1: + info_str = colored(info_str, "yellow") + log_items.append(info_str) + + # total step time displayed in milliseconds and its frequency + log_dt("dt", dt_s) + + # TODO(aliberts): move robot-specific logs logic in robot.print_logs() + if not robot.robot_type.startswith("stretch"): + for name in robot.leader_arms: + key = f"read_leader_{name}_pos_dt_s" + if key in robot.logs: + log_dt("dtRlead", robot.logs[key]) + + for name in robot.follower_arms: + key = f"write_follower_{name}_goal_pos_dt_s" + if key in robot.logs: + log_dt("dtWfoll", robot.logs[key]) + + key = f"read_follower_{name}_pos_dt_s" + if key in robot.logs: + log_dt("dtRfoll", robot.logs[key]) + + for name in robot.cameras: + key = f"read_camera_{name}_dt_s" + if key in robot.logs: + log_dt(f"dtR{name}", robot.logs[key]) + + info_str = " ".join(log_items) + logging.info(info_str) + + +@cache +def is_headless(): + """Detects if python is running without a monitor.""" + try: + import pynput # noqa + + return False + except Exception: + print( + "Error trying to import pynput. Switching to headless mode. " + "As a result, the video stream from the cameras won't be shown, " + "and you won't be able to change the control flow with keyboards. " + "For more info, see traceback below.\n" + ) + traceback.print_exc() + print() + return True + + +def has_method(_object: object, method_name: str): + return hasattr(_object, method_name) and callable(getattr(_object, method_name)) + + +def predict_action(observation, policy, device, use_amp): + observation = copy(observation) + with ( + torch.inference_mode(), + torch.autocast(device_type=device.type) if device.type == "cuda" and use_amp else nullcontext(), + ): + # Convert to pytorch format: channel first and float32 in [0,1] with batch dimension + for name in observation: + if "image" in name: + observation[name] = observation[name].type(torch.float32) / 255 + observation[name] = observation[name].permute(2, 0, 1).contiguous() + observation[name] = observation[name].unsqueeze(0) + observation[name] = observation[name].to(device) + + # Compute the next action with the policy + # based on the current observation + action = policy.select_action(observation) + + # Remove batch dimension + action = action.squeeze(0) + + # Move to cpu, if not already the case + action = action.to("cpu") + + return action + + +def init_keyboard_listener(): + # Allow to exit early while recording an episode or resetting the environment, + # by tapping the right arrow key '->'. This might require a sudo permission + # to allow your terminal to monitor keyboard events. + events = {} + events["exit_early"] = False + events["rerecord_episode"] = False + events["stop_recording"] = False + + if is_headless(): + logging.warning( + "Headless environment detected. On-screen cameras display and keyboard inputs will not be available." + ) + listener = None + return listener, events + + # Only import pynput if not in a headless environment + from pynput import keyboard + + def on_press(key): + try: + if key == keyboard.Key.right: + print("Right arrow key pressed. Exiting loop...") + events["exit_early"] = True + elif key == keyboard.Key.left: + print("Left arrow key pressed. Exiting loop and rerecord the last episode...") + events["rerecord_episode"] = True + events["exit_early"] = True + elif key == keyboard.Key.esc: + print("Escape key pressed. Stopping data recording...") + events["stop_recording"] = True + events["exit_early"] = True + except Exception as e: + print(f"Error handling key press: {e}") + + listener = keyboard.Listener(on_press=on_press) + listener.start() + + return listener, events + + +def init_policy(pretrained_policy_name_or_path, policy_overrides): + """Instantiate the policy and load fps, device and use_amp from config yaml""" + pretrained_policy_path = get_pretrained_policy_path(pretrained_policy_name_or_path) + hydra_cfg = init_hydra_config(pretrained_policy_path / "config.yaml", policy_overrides) + policy = make_policy(hydra_cfg=hydra_cfg, pretrained_policy_name_or_path=pretrained_policy_path) + + # Check device is available + device = get_safe_torch_device(hydra_cfg.device, log=True) + use_amp = hydra_cfg.use_amp + policy_fps = hydra_cfg.env.fps + + policy.eval() + policy.to(device) + + torch.backends.cudnn.benchmark = True + torch.backends.cuda.matmul.allow_tf32 = True + set_global_seed(hydra_cfg.seed) + return policy, policy_fps, device, use_amp + + +def warmup_record( + robot, + events, + enable_teloperation, + warmup_time_s, + display_cameras, + fps, +): + control_loop( + robot=robot, + control_time_s=warmup_time_s, + display_cameras=display_cameras, + events=events, + fps=fps, + teleoperate=enable_teloperation, + ) + + +def record_episode( + robot, + dataset, + events, + episode_time_s, + display_cameras, + policy, + device, + use_amp, + fps, +): + control_loop( + robot=robot, + control_time_s=episode_time_s, + display_cameras=display_cameras, + dataset=dataset, + events=events, + policy=policy, + device=device, + use_amp=use_amp, + fps=fps, + teleoperate=policy is None, + ) + + +@safe_stop_image_writer +def control_loop( + robot, + control_time_s=None, + teleoperate=False, + display_cameras=False, + dataset=None, + events=None, + policy=None, + device=None, + use_amp=None, + fps=None, +): + # TODO(rcadene): Add option to record logs + if not robot.is_connected: + robot.connect() + + if events is None: + events = {"exit_early": False} + + if control_time_s is None: + control_time_s = float("inf") + + if teleoperate and policy is not None: + raise ValueError("When `teleoperate` is True, `policy` should be None.") + + if dataset is not None and fps is not None and dataset["fps"] != fps: + raise ValueError(f"The dataset fps should be equal to requested fps ({dataset['fps']} != {fps}).") + + timestamp = 0 + start_episode_t = time.perf_counter() + while timestamp < control_time_s: + start_loop_t = time.perf_counter() + + if teleoperate: + observation, action = robot.teleop_step(record_data=True) + else: + observation = robot.capture_observation() + + if policy is not None: + pred_action = predict_action(observation, policy, device, use_amp) + # Action can eventually be clipped using `max_relative_target`, + # so action actually sent is saved in the dataset. + action = robot.send_action(pred_action) + action = {"action": action} + + if dataset is not None: + add_frame(dataset, observation, action) + + if display_cameras and not is_headless(): + image_keys = [key for key in observation if "image" in key] + for key in image_keys: + cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR)) + cv2.waitKey(1) + + if fps is not None: + dt_s = time.perf_counter() - start_loop_t + busy_wait(1 / fps - dt_s) + + dt_s = time.perf_counter() - start_loop_t + log_control_info(robot, dt_s, fps=fps) + + timestamp = time.perf_counter() - start_episode_t + if events["exit_early"]: + events["exit_early"] = False + break + + +def reset_environment(robot, events, reset_time_s): + # TODO(rcadene): refactor warmup_record and reset_environment + # TODO(alibets): allow for teleop during reset + if has_method(robot, "teleop_safety_stop"): + robot.teleop_safety_stop() + + timestamp = 0 + start_vencod_t = time.perf_counter() + + # Wait if necessary + with tqdm.tqdm(total=reset_time_s, desc="Waiting") as pbar: + while timestamp < reset_time_s: + time.sleep(1) + timestamp = time.perf_counter() - start_vencod_t + pbar.update(1) + if events["exit_early"]: + events["exit_early"] = False + break + + +def stop_recording(robot, listener, display_cameras): + robot.disconnect() + + if not is_headless(): + if listener is not None: + listener.stop() + + if display_cameras: + cv2.destroyAllWindows() + + +def sanity_check_dataset_name(repo_id, policy): + _, dataset_name = repo_id.split("/") + # either repo_id doesnt start with "eval_" and there is no policy + # or repo_id starts with "eval_" and there is a policy + if dataset_name.startswith("eval_") == (policy is None): + raise ValueError( + f"Your dataset name begins by 'eval_' ({dataset_name}) but no policy is provided ({policy})." + ) diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py index 6ab900fb9..20969c30c 100644 --- a/lerobot/common/robot_devices/robots/manipulator.py +++ b/lerobot/common/robot_devices/robots/manipulator.py @@ -349,6 +349,25 @@ def __init__( self.is_connected = False self.logs = {} + @property + def has_camera(self): + return len(self.cameras) > 0 + + @property + def num_cameras(self): + return len(self.cameras) + + @property + def available_arms(self): + available_arms = [] + for name in self.follower_arms: + arm_id = get_arm_id(name, "follower") + available_arms.append(arm_id) + for name in self.leader_arms: + arm_id = get_arm_id(name, "leader") + available_arms.append(arm_id) + return available_arms + def connect(self): if self.is_connected: raise RobotDeviceAlreadyConnectedError( diff --git a/lerobot/common/utils/utils.py b/lerobot/common/utils/utils.py index 1aa0bc2d4..554e054e8 100644 --- a/lerobot/common/utils/utils.py +++ b/lerobot/common/utils/utils.py @@ -16,6 +16,7 @@ import logging import os import os.path as osp +import platform import random from contextlib import contextmanager from datetime import datetime, timezone @@ -28,6 +29,12 @@ from omegaconf import DictConfig +def none_or_int(value): + if value == "None": + return None + return int(value) + + def inside_slurm(): """Check whether the python process was launched through slurm""" # TODO(rcadene): return False for interactive mode `--pty bash` @@ -183,3 +190,30 @@ def print_cuda_memory_usage(): def capture_timestamp_utc(): return datetime.now(timezone.utc) + + +def say(text, blocking=False): + # Check if mac, linux, or windows. + if platform.system() == "Darwin": + cmd = f'say "{text}"' + elif platform.system() == "Linux": + cmd = f'spd-say "{text}"' + elif platform.system() == "Windows": + cmd = ( + 'PowerShell -Command "Add-Type -AssemblyName System.Speech; ' + f"(New-Object System.Speech.Synthesis.SpeechSynthesizer).Speak('{text}')\"" + ) + + if not blocking and platform.system() in ["Darwin", "Linux"]: + # TODO(rcadene): Make it work for Windows + # Use the ampersand to run command in the background + cmd += " &" + + os.system(cmd) + + +def log_say(text, play_sounds, blocking=False): + logging.info(text) + + if play_sounds: + say(text, blocking) diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py index 3b6345b42..425247e65 100644 --- a/lerobot/scripts/control_robot.py +++ b/lerobot/scripts/control_robot.py @@ -99,285 +99,35 @@ """ import argparse -import concurrent.futures -import json import logging -import multiprocessing -import os -import platform -import shutil import time -import traceback -from contextlib import nullcontext -from functools import cache from pathlib import Path - -import cv2 -import torch -import tqdm -from omegaconf import DictConfig -from PIL import Image -from termcolor import colored +from typing import List # from safetensors.torch import load_file, save_file -from lerobot.common.datasets.compute_stats import compute_stats -from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset -from lerobot.common.datasets.push_dataset_to_hub.aloha_hdf5_format import to_hf_dataset -from lerobot.common.datasets.push_dataset_to_hub.utils import concatenate_episodes, get_default_encoding -from lerobot.common.datasets.utils import calculate_episode_data_index, create_branch -from lerobot.common.datasets.video_utils import encode_video_frames -from lerobot.common.policies.factory import make_policy +from lerobot.common.datasets.lerobot_dataset import LeRobotDataset +from lerobot.common.datasets.populate_dataset import ( + create_lerobot_dataset, + delete_current_episode, + init_dataset, + save_current_episode, +) +from lerobot.common.robot_devices.control_utils import ( + control_loop, + has_method, + init_keyboard_listener, + init_policy, + log_control_info, + record_episode, + reset_environment, + sanity_check_dataset_name, + stop_recording, + warmup_record, +) from lerobot.common.robot_devices.robots.factory import make_robot -from lerobot.common.robot_devices.robots.utils import Robot, get_arm_id +from lerobot.common.robot_devices.robots.utils import Robot from lerobot.common.robot_devices.utils import busy_wait, safe_disconnect -from lerobot.common.utils.utils import get_safe_torch_device, init_hydra_config, init_logging, set_global_seed -from lerobot.scripts.eval import get_pretrained_policy_path -from lerobot.scripts.push_dataset_to_hub import ( - push_dataset_card_to_hub, - push_meta_data_to_hub, - push_videos_to_hub, - save_meta_data, -) - -######################################################################################## -# Utilities -######################################################################################## - - -def say(text, blocking=False): - # Check if mac, linux, or windows. - if platform.system() == "Darwin": - cmd = f'say "{text}"' - elif platform.system() == "Linux": - cmd = f'spd-say "{text}"' - elif platform.system() == "Windows": - cmd = ( - 'PowerShell -Command "Add-Type -AssemblyName System.Speech; ' - f"(New-Object System.Speech.Synthesis.SpeechSynthesizer).Speak('{text}')\"" - ) - - if not blocking and platform.system() in ["Darwin", "Linux"]: - # TODO(rcadene): Make it work for Windows - # Use the ampersand to run command in the background - cmd += " &" - - os.system(cmd) - - -def save_image(img_tensor, key, frame_index, episode_index, videos_dir: str): - img = Image.fromarray(img_tensor.numpy()) - path = Path(videos_dir) / f"{key}_episode_{episode_index:06d}" / f"frame_{frame_index:06d}.png" - path.parent.mkdir(parents=True, exist_ok=True) - img.save(str(path), quality=100) - - -def none_or_int(value): - if value == "None": - return None - return int(value) - - -def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, fps=None): - log_items = [] - if episode_index is not None: - log_items.append(f"ep:{episode_index}") - if frame_index is not None: - log_items.append(f"frame:{frame_index}") - - def log_dt(shortname, dt_val_s): - nonlocal log_items, fps - info_str = f"{shortname}:{dt_val_s * 1000:5.2f} ({1/ dt_val_s:3.1f}hz)" - if fps is not None: - actual_fps = 1 / dt_val_s - if actual_fps < fps - 1: - info_str = colored(info_str, "yellow") - log_items.append(info_str) - - # total step time displayed in milliseconds and its frequency - log_dt("dt", dt_s) - - # TODO(aliberts): move robot-specific logs logic in robot.print_logs() - if not robot.robot_type.startswith("stretch"): - for name in robot.leader_arms: - key = f"read_leader_{name}_pos_dt_s" - if key in robot.logs: - log_dt("dtRlead", robot.logs[key]) - - for name in robot.follower_arms: - key = f"write_follower_{name}_goal_pos_dt_s" - if key in robot.logs: - log_dt("dtWfoll", robot.logs[key]) - - key = f"read_follower_{name}_pos_dt_s" - if key in robot.logs: - log_dt("dtRfoll", robot.logs[key]) - - for name in robot.cameras: - key = f"read_camera_{name}_dt_s" - if key in robot.logs: - log_dt(f"dtR{name}", robot.logs[key]) - - info_str = " ".join(log_items) - logging.info(info_str) - - -@cache -def is_headless(): - """Detects if python is running without a monitor.""" - try: - import pynput # noqa - - return False - except Exception: - print( - "Error trying to import pynput. Switching to headless mode. " - "As a result, the video stream from the cameras won't be shown, " - "and you won't be able to change the control flow with keyboards. " - "For more info, see traceback below.\n" - ) - traceback.print_exc() - print() - return True - - -def has_method(_object: object, method_name: str): - return hasattr(_object, method_name) and callable(getattr(_object, method_name)) - - -def get_available_arms(robot): - # TODO(rcadene): moves this function in manipulator class? - available_arms = [] - for name in robot.follower_arms: - arm_id = get_arm_id(name, "follower") - available_arms.append(arm_id) - for name in robot.leader_arms: - arm_id = get_arm_id(name, "leader") - available_arms.append(arm_id) - return available_arms - - -######################################################################################## -# Asynchrounous saving of images on disk -######################################################################################## - - -def loop_to_save_images_in_threads(image_queue, num_threads): - if num_threads < 1: - raise NotImplementedError(f"Only `num_threads>=1` is supported for now, but {num_threads=} given.") - - with concurrent.futures.ThreadPoolExecutor(max_workers=num_threads) as executor: - futures = [] - while True: - # Blocks until a frame is available - frame_data = image_queue.get() - - # As usually done, exit loop when receiving None to stop the worker - if frame_data is None: - break - - image, key, frame_index, episode_index, videos_dir = frame_data - futures.append(executor.submit(save_image, image, key, frame_index, episode_index, videos_dir)) - - # Before exiting function, wait for all threads to complete - with tqdm.tqdm(total=len(futures), desc="Writing images") as progress_bar: - concurrent.futures.wait(futures) - progress_bar.update(len(futures)) - - -def start_image_writer_processes(image_queue, num_processes, num_threads_per_process): - if num_processes < 1: - raise ValueError(f"Only `num_processes>=1` is supported, but {num_processes=} given.") - - if num_threads_per_process < 1: - raise NotImplementedError( - "Only `num_threads_per_process>=1` is supported for now, but {num_threads_per_process=} given." - ) - - processes = [] - for _ in range(num_processes): - process = multiprocessing.Process( - target=loop_to_save_images_in_threads, - args=(image_queue, num_threads_per_process), - ) - process.start() - processes.append(process) - return processes - - -def stop_processes(processes, queue, timeout): - # Send None to each process to signal them to stop - for _ in processes: - queue.put(None) - - # Close the queue, no more items can be put in the queue - queue.close() - - # Wait maximum 20 seconds for all processes to terminate - for process in processes: - process.join(timeout=timeout) - - # If not terminated after 20 seconds, force termination - if process.is_alive(): - process.terminate() - - # Ensure all background queue threads have finished - queue.join_thread() - - -def start_image_writer(num_processes, num_threads): - """This function abstract away the initialisation of processes or/and threads to - save images on disk asynchrounously, which is critical to control a robot and record data - at a high frame rate. - - When `num_processes=0`, it returns a dictionary containing a threads pool of size `num_threads`. - When `num_processes>0`, it returns a dictionary containing a processes pool of size `num_processes`, - where each subprocess starts their own threads pool of size `num_threads`. - - The optimal number of processes and threads depends on your computer capabilities. - We advise to use 4 threads per camera with 0 processes. If the fps is not stable, try to increase or lower - the number of threads. If it is still not stable, try to use 1 subprocess, or more. - """ - image_writer = {} - - if num_processes == 0: - futures = [] - threads_pool = concurrent.futures.ThreadPoolExecutor(max_workers=num_threads) - image_writer["threads_pool"], image_writer["futures"] = threads_pool, futures - else: - # TODO(rcadene): When using num_processes>1, `multiprocessing.Manager().Queue()` - # might be better than `multiprocessing.Queue()`. Source: https://www.geeksforgeeks.org/python-multiprocessing-queue-vs-multiprocessing-manager-queue - image_queue = multiprocessing.Queue() - processes_pool = start_image_writer_processes( - image_queue, num_processes=num_processes, num_threads_per_process=num_threads - ) - image_writer["processes_pool"], image_writer["image_queue"] = processes_pool, image_queue - - return image_writer - - -def async_save_image(image_writer, image, key, frame_index, episode_index, videos_dir): - """This function abstract away the saving of an image on disk asynchrounously. It uses a dictionary - called image writer which contains either a pool of processes or a pool of threads. - """ - if "threads_pool" in image_writer: - threads_pool, futures = image_writer["threads_pool"], image_writer["futures"] - futures.append(threads_pool.submit(save_image, image, key, frame_index, episode_index, videos_dir)) - else: - image_queue = image_writer["image_queue"] - image_queue.put((image, key, frame_index, episode_index, videos_dir)) - - -def stop_image_writer(image_writer, timeout): - if "threads_pool" in image_writer: - futures = image_writer["futures"] - # Before exiting function, wait for all threads to complete - with tqdm.tqdm(total=len(futures), desc="Writing images") as progress_bar: - concurrent.futures.wait(futures, timeout=timeout) - progress_bar.update(len(futures)) - else: - processes_pool, image_queue = image_writer["processes_pool"], image_writer["image_queue"] - stop_processes(processes_pool, image_queue, timeout=timeout) - +from lerobot.common.utils.utils import init_hydra_config, init_logging, log_say, none_or_int ######################################################################################## # Control modes @@ -394,9 +144,8 @@ def calibrate(robot: Robot, arms: list[str] | None): robot.home() return - available_arms = get_available_arms(robot) - unknown_arms = [arm_id for arm_id in arms if arm_id not in available_arms] - available_arms_str = " ".join(available_arms) + unknown_arms = [arm_id for arm_id in arms if arm_id not in robot.available_arms] + available_arms_str = " ".join(robot.available_arms) unknown_arms_str = " ".join(unknown_arms) if arms is None or len(arms) == 0: @@ -429,35 +178,26 @@ def calibrate(robot: Robot, arms: list[str] | None): @safe_disconnect -def teleoperate(robot: Robot, fps: int | None = None, teleop_time_s: float | None = None): - # TODO(rcadene): Add option to record logs - if not robot.is_connected: - robot.connect() - - start_teleop_t = time.perf_counter() - while True: - start_loop_t = time.perf_counter() - robot.teleop_step() - - if fps is not None: - dt_s = time.perf_counter() - start_loop_t - busy_wait(1 / fps - dt_s) - - dt_s = time.perf_counter() - start_loop_t - log_control_info(robot, dt_s, fps=fps) - - if teleop_time_s is not None and time.perf_counter() - start_teleop_t > teleop_time_s: - break +def teleoperate( + robot: Robot, fps: int | None = None, teleop_time_s: float | None = None, display_cameras: bool = False +): + control_loop( + robot, + control_time_s=teleop_time_s, + fps=fps, + teleoperate=True, + display_cameras=display_cameras, + ) @safe_disconnect def record( robot: Robot, - policy: torch.nn.Module | None = None, - hydra_cfg: DictConfig | None = None, + root: str, + repo_id: str, + pretrained_policy_name_or_path: str | None = None, + policy_overrides: List[str] | None = None, fps: int | None = None, - root="data", - repo_id="lerobot/debug", warmup_time_s=2, episode_time_s=10, reset_time_s=5, @@ -473,407 +213,108 @@ def record( play_sounds=True, ): # TODO(rcadene): Add option to record logs - # TODO(rcadene): Clean this function via decomposition in higher level functions - - _, dataset_name = repo_id.split("/") - if dataset_name.startswith("eval_") and policy is None: - raise ValueError( - f"Your dataset name begins by 'eval_' ({dataset_name}) but no policy is provided ({policy})." - ) + listener = None + events = None + policy = None + device = None + use_amp = None + + # Load pretrained policy + if pretrained_policy_name_or_path is not None: + policy, policy_fps, device, use_amp = init_policy(pretrained_policy_name_or_path, policy_overrides) + + if fps is None: + fps = policy_fps + logging.warning(f"No fps provided, so using the fps from policy config ({policy_fps}).") + elif fps != policy_fps: + logging.warning( + f"There is a mismatch between the provided fps ({fps}) and the one from policy config ({policy_fps})." + ) + + # Create empty dataset or load existing saved episodes + sanity_check_dataset_name(repo_id, policy) + dataset = init_dataset( + repo_id, + root, + force_override, + fps, + video, + write_images=robot.has_camera, + num_image_writer_processes=num_image_writer_processes, + num_image_writer_threads=num_image_writer_threads_per_camera * robot.num_cameras, + ) if not robot.is_connected: robot.connect() - local_dir = Path(root) / repo_id - if local_dir.exists() and force_override: - shutil.rmtree(local_dir) - - episodes_dir = local_dir / "episodes" - episodes_dir.mkdir(parents=True, exist_ok=True) - - videos_dir = local_dir / "videos" - videos_dir.mkdir(parents=True, exist_ok=True) - - # Logic to resume data recording - rec_info_path = episodes_dir / "data_recording_info.json" - if rec_info_path.exists(): - with open(rec_info_path) as f: - rec_info = json.load(f) - episode_index = rec_info["last_episode_index"] + 1 - else: - episode_index = 0 - - if is_headless(): - logging.warning( - "Headless environment detected. On-screen cameras display and keyboard inputs will not be available." - ) - - # Allow to exit early while recording an episode or resetting the environment, - # by tapping the right arrow key '->'. This might require a sudo permission - # to allow your terminal to monitor keyboard events. - exit_early = False - rerecord_episode = False - stop_recording = False - - # Only import pynput if not in a headless environment - if not is_headless(): - from pynput import keyboard - - def on_press(key): - nonlocal exit_early, rerecord_episode, stop_recording - try: - if key == keyboard.Key.right: - print("Right arrow key pressed. Exiting loop...") - exit_early = True - elif key == keyboard.Key.left: - print("Left arrow key pressed. Exiting loop and rerecord the last episode...") - rerecord_episode = True - exit_early = True - elif key == keyboard.Key.esc: - print("Escape key pressed. Stopping data recording...") - stop_recording = True - exit_early = True - except Exception as e: - print(f"Error handling key press: {e}") - - listener = keyboard.Listener(on_press=on_press) - listener.start() - - # Load policy if any - if policy is not None: - # Check device is available - device = get_safe_torch_device(hydra_cfg.device, log=True) - - policy.eval() - policy.to(device) - - torch.backends.cudnn.benchmark = True - torch.backends.cuda.matmul.allow_tf32 = True - set_global_seed(hydra_cfg.seed) - - # override fps using policy fps - fps = hydra_cfg.env.fps - - # Execute a few seconds without recording data, to give times - # to the robot devices to connect and start synchronizing. - timestamp = 0 - start_warmup_t = time.perf_counter() - is_warmup_print = False - while timestamp < warmup_time_s: - if not is_warmup_print: - logging.info("Warming up (no data recording)") - if play_sounds: - say("Warming up") - is_warmup_print = True - - start_loop_t = time.perf_counter() - - if policy is None: - observation, action = robot.teleop_step(record_data=True) - else: - observation = robot.capture_observation() - - if display_cameras and not is_headless(): - image_keys = [key for key in observation if "image" in key] - for key in image_keys: - cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR)) - cv2.waitKey(1) - - dt_s = time.perf_counter() - start_loop_t - busy_wait(1 / fps - dt_s) - - dt_s = time.perf_counter() - start_loop_t - log_control_info(robot, dt_s, fps=fps) + listener, events = init_keyboard_listener() - timestamp = time.perf_counter() - start_warmup_t + # Execute a few seconds without recording to: + # 1. teleoperate the robot to move it in starting position if no policy provided, + # 2. give times to the robot devices to connect and start synchronizing, + # 3. place the cameras windows on screen + enable_teleoperation = policy is None + log_say("Warmup record", play_sounds) + warmup_record(robot, events, enable_teleoperation, warmup_time_s, display_cameras, fps) if has_method(robot, "teleop_safety_stop"): robot.teleop_safety_stop() - has_camera = len(robot.cameras) > 0 - if has_camera: - # Initialize processes or/and threads dedicated to save images on disk asynchronously, - # which is critical to control a robot and record data at a high frame rate. - image_writer = start_image_writer( - num_processes=num_image_writer_processes, - num_threads=num_image_writer_threads_per_camera * len(robot.cameras), + while True: + if dataset["num_episodes"] >= num_episodes: + break + + episode_index = dataset["num_episodes"] + log_say(f"Recording episode {episode_index}", play_sounds) + record_episode( + dataset=dataset, + robot=robot, + events=events, + episode_time_s=episode_time_s, + display_cameras=display_cameras, + policy=policy, + device=device, + use_amp=use_amp, + fps=fps, ) - # Using `try` to exist smoothly if an exception is raised - try: - # Start recording all episodes - while episode_index < num_episodes: - logging.info(f"Recording episode {episode_index}") - if play_sounds: - say(f"Recording episode {episode_index}") - ep_dict = {} - frame_index = 0 - timestamp = 0 - start_episode_t = time.perf_counter() - while timestamp < episode_time_s: - start_loop_t = time.perf_counter() - - if policy is None: - observation, action = robot.teleop_step(record_data=True) - else: - observation = robot.capture_observation() - - image_keys = [key for key in observation if "image" in key] - not_image_keys = [key for key in observation if "image" not in key] - - if has_camera > 0: - for key in image_keys: - async_save_image( - image_writer, - image=observation[key], - key=key, - frame_index=frame_index, - episode_index=episode_index, - videos_dir=str(videos_dir), - ) - - if display_cameras and not is_headless(): - image_keys = [key for key in observation if "image" in key] - for key in image_keys: - cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR)) - cv2.waitKey(1) - - for key in not_image_keys: - if key not in ep_dict: - ep_dict[key] = [] - ep_dict[key].append(observation[key]) - - if policy is not None: - with ( - torch.inference_mode(), - torch.autocast(device_type=device.type) - if device.type == "cuda" and hydra_cfg.use_amp - else nullcontext(), - ): - # Convert to pytorch format: channel first and float32 in [0,1] with batch dimension - for name in observation: - if "image" in name: - observation[name] = observation[name].type(torch.float32) / 255 - observation[name] = observation[name].permute(2, 0, 1).contiguous() - observation[name] = observation[name].unsqueeze(0) - observation[name] = observation[name].to(device) - - # Compute the next action with the policy - # based on the current observation - action = policy.select_action(observation) - - # Remove batch dimension - action = action.squeeze(0) - - # Move to cpu, if not already the case - action = action.to("cpu") - - # Order the robot to move - action_sent = robot.send_action(action) - - # Action can eventually be clipped using `max_relative_target`, - # so action actually sent is saved in the dataset. - action = {"action": action_sent} - - for key in action: - if key not in ep_dict: - ep_dict[key] = [] - ep_dict[key].append(action[key]) - - frame_index += 1 - - dt_s = time.perf_counter() - start_loop_t - busy_wait(1 / fps - dt_s) - - dt_s = time.perf_counter() - start_loop_t - log_control_info(robot, dt_s, fps=fps) - - timestamp = time.perf_counter() - start_episode_t - if exit_early: - exit_early = False - break - - # TODO(alibets): allow for teleop during reset - if has_method(robot, "teleop_safety_stop"): - robot.teleop_safety_stop() - - if not stop_recording: - # Start resetting env while the executor are finishing - logging.info("Reset the environment") - if play_sounds: - say("Reset the environment") - - timestamp = 0 - start_vencod_t = time.perf_counter() - - # During env reset we save the data and encode the videos - num_frames = frame_index - - for key in image_keys: - if video: - tmp_imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}" - fname = f"{key}_episode_{episode_index:06d}.mp4" - video_path = local_dir / "videos" / fname - if video_path.exists(): - video_path.unlink() - # Store the reference to the video frame, even tho the videos are not yet encoded - ep_dict[key] = [] - for i in range(num_frames): - ep_dict[key].append({"path": f"videos/{fname}", "timestamp": i / fps}) - - else: - imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}" - ep_dict[key] = [] - for i in range(num_frames): - img_path = imgs_dir / f"frame_{i:06d}.png" - ep_dict[key].append({"path": str(img_path)}) - - for key in not_image_keys: - ep_dict[key] = torch.stack(ep_dict[key]) - - for key in action: - ep_dict[key] = torch.stack(ep_dict[key]) - - ep_dict["episode_index"] = torch.tensor([episode_index] * num_frames) - ep_dict["frame_index"] = torch.arange(0, num_frames, 1) - ep_dict["timestamp"] = torch.arange(0, num_frames, 1) / fps - - done = torch.zeros(num_frames, dtype=torch.bool) - done[-1] = True - ep_dict["next.done"] = done - - ep_path = episodes_dir / f"episode_{episode_index}.pth" - print("Saving episode dictionary...") - torch.save(ep_dict, ep_path) - - rec_info = { - "last_episode_index": episode_index, - } - with open(rec_info_path, "w") as f: - json.dump(rec_info, f) - - is_last_episode = stop_recording or (episode_index == (num_episodes - 1)) - - # Wait if necessary - with tqdm.tqdm(total=reset_time_s, desc="Waiting") as pbar: - while timestamp < reset_time_s and not is_last_episode: - time.sleep(1) - timestamp = time.perf_counter() - start_vencod_t - pbar.update(1) - if exit_early: - exit_early = False - break - - # Skip updating episode index which forces re-recording episode - if rerecord_episode: - rerecord_episode = False - continue - - episode_index += 1 - - if is_last_episode: - logging.info("Done recording") - if play_sounds: - say("Done recording", blocking=True) - if not is_headless(): - listener.stop() - - if has_camera > 0: - logging.info("Waiting for image writer to terminate...") - stop_image_writer(image_writer, timeout=20) - - except Exception as e: - if has_camera > 0: - logging.info("Waiting for image writer to terminate...") - stop_image_writer(image_writer, timeout=20) - raise e + # Execute a few seconds without recording to give time to manually reset the environment + # Current code logic doesn't allow to teleoperate during this time. + # TODO(rcadene): add an option to enable teleoperation during reset + # Skip reset for the last episode to be recorded + if not events["stop_recording"] and ( + (episode_index < num_episodes - 1) or events["rerecord_episode"] + ): + log_say("Reset the environment", play_sounds) + reset_environment(robot, events, reset_time_s) + + if events["rerecord_episode"]: + log_say("Re-record episode", play_sounds) + events["rerecord_episode"] = False + events["exit_early"] = False + delete_current_episode(dataset) + continue + + # Increment by one dataset["current_episode_index"] + save_current_episode(dataset) + + if events["stop_recording"]: + break - robot.disconnect() + log_say("Stop recording", play_sounds, blocking=True) + stop_recording(robot, listener, display_cameras) - if display_cameras and not is_headless(): - cv2.destroyAllWindows() - - num_episodes = episode_index - - if video: - logging.info("Encoding videos") - if play_sounds: - say("Encoding videos") - # Use ffmpeg to convert frames stored as png into mp4 videos - for episode_index in tqdm.tqdm(range(num_episodes)): - for key in image_keys: - tmp_imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}" - fname = f"{key}_episode_{episode_index:06d}.mp4" - video_path = local_dir / "videos" / fname - if video_path.exists(): - # Skip if video is already encoded. Could be the case when resuming data recording. - continue - # note: `encode_video_frames` is a blocking call. Making it asynchronous shouldn't speedup encoding, - # since video encoding with ffmpeg is already using multithreading. - encode_video_frames(tmp_imgs_dir, video_path, fps, overwrite=True) - shutil.rmtree(tmp_imgs_dir) - - logging.info("Concatenating episodes") - ep_dicts = [] - for episode_index in tqdm.tqdm(range(num_episodes)): - ep_path = episodes_dir / f"episode_{episode_index}.pth" - ep_dict = torch.load(ep_path) - ep_dicts.append(ep_dict) - data_dict = concatenate_episodes(ep_dicts) - - total_frames = data_dict["frame_index"].shape[0] - data_dict["index"] = torch.arange(0, total_frames, 1) - - hf_dataset = to_hf_dataset(data_dict, video) - episode_data_index = calculate_episode_data_index(hf_dataset) - info = { - "codebase_version": CODEBASE_VERSION, - "fps": fps, - "video": video, - } - if video: - info["encoding"] = get_default_encoding() - - lerobot_dataset = LeRobotDataset.from_preloaded( - repo_id=repo_id, - hf_dataset=hf_dataset, - episode_data_index=episode_data_index, - info=info, - videos_dir=videos_dir, - ) - if run_compute_stats: - logging.info("Computing dataset statistics") - if play_sounds: - say("Computing dataset statistics") - stats = compute_stats(lerobot_dataset) - lerobot_dataset.stats = stats - else: - stats = {} - logging.info("Skipping computation of the dataset statistics") - - hf_dataset = hf_dataset.with_format(None) # to remove transforms that cant be saved - hf_dataset.save_to_disk(str(local_dir / "train")) - - meta_data_dir = local_dir / "meta_data" - save_meta_data(info, stats, episode_data_index, meta_data_dir) - - if push_to_hub: - hf_dataset.push_to_hub(repo_id, revision="main") - push_meta_data_to_hub(repo_id, meta_data_dir, revision="main") - push_dataset_card_to_hub(repo_id, revision="main", tags=tags) - if video: - push_videos_to_hub(repo_id, videos_dir, revision="main") - create_branch(repo_id, repo_type="dataset", branch=CODEBASE_VERSION) - - logging.info("Exiting") - if play_sounds: - say("Exiting") + lerobot_dataset = create_lerobot_dataset(dataset, run_compute_stats, push_to_hub, tags, play_sounds) + + log_say("Exiting", play_sounds) return lerobot_dataset +@safe_disconnect def replay( robot: Robot, episode: int, fps: int | None = None, root="data", repo_id="lerobot/debug", play_sounds=True ): + # TODO(rcadene, aliberts): refactor with control_loop, once `dataset` is an instance of LeRobotDataset # TODO(rcadene): Add option to record logs local_dir = Path(root) / repo_id if not local_dir.exists(): @@ -887,9 +328,7 @@ def replay( if not robot.is_connected: robot.connect() - logging.info("Replaying episode") - if play_sounds: - say("Replaying episode", blocking=True) + log_say("Replaying episode", play_sounds, blocking=True) for idx in range(from_idx, to_idx): start_episode_t = time.perf_counter() @@ -934,6 +373,12 @@ def replay( parser_teleop.add_argument( "--fps", type=none_or_int, default=None, help="Frames per second (set to None to disable)" ) + parser_teleop.add_argument( + "--display-cameras", + type=int, + default=1, + help="Display all cameras on screen (set to 1 to display or 0).", + ) parser_record = subparsers.add_parser("record", parents=[base_parser]) parser_record.add_argument( @@ -1071,19 +516,7 @@ def replay( teleoperate(robot, **kwargs) elif control_mode == "record": - pretrained_policy_name_or_path = args.pretrained_policy_name_or_path - policy_overrides = args.policy_overrides - del kwargs["pretrained_policy_name_or_path"] - del kwargs["policy_overrides"] - - policy_cfg = None - if pretrained_policy_name_or_path is not None: - pretrained_policy_path = get_pretrained_policy_path(pretrained_policy_name_or_path) - policy_cfg = init_hydra_config(pretrained_policy_path / "config.yaml", policy_overrides) - policy = make_policy(hydra_cfg=policy_cfg, pretrained_policy_name_or_path=pretrained_policy_path) - record(robot, policy, policy_cfg, **kwargs) - else: - record(robot, **kwargs) + record(robot, **kwargs) elif control_mode == "replay": replay(robot, **kwargs) diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py index 45807503f..f60f904eb 100644 --- a/lerobot/scripts/train.py +++ b/lerobot/scripts/train.py @@ -383,7 +383,7 @@ def evaluate_and_checkpoint_if_needed(step, is_online): logging.info(f"Checkpoint policy after step {step}") # Note: Save with step as the identifier, and format it to have at least 6 digits but more if # needed (choose 6 as a minimum for consistency without being overkill). - logger.save_checkpont( + logger.save_checkpoint( step, policy, optimizer, diff --git a/lerobot/templates/visualize_dataset_template.html b/lerobot/templates/visualize_dataset_template.html index 4f0bd343e..658d6ba6c 100644 --- a/lerobot/templates/visualize_dataset_template.html +++ b/lerobot/templates/visualize_dataset_template.html @@ -250,7 +250,7 @@

if(!canPlayVideos){ this.videoCodecError = true; } - + // process CSV data this.videos = document.querySelectorAll('video'); this.video = this.videos[0]; diff --git a/tests/test_control_robot.py b/tests/test_control_robot.py index 770b3489b..2c0bca9b6 100644 --- a/tests/test_control_robot.py +++ b/tests/test_control_robot.py @@ -25,12 +25,16 @@ import multiprocessing from pathlib import Path +from unittest.mock import patch import pytest +from lerobot.common.datasets.populate_dataset import add_frame, init_dataset +from lerobot.common.logger import Logger from lerobot.common.policies.factory import make_policy from lerobot.common.utils.utils import init_hydra_config -from lerobot.scripts.control_robot import calibrate, get_available_arms, record, replay, teleoperate +from lerobot.scripts.control_robot import calibrate, record, replay, teleoperate +from lerobot.scripts.train import make_optimizer_and_scheduler from tests.test_robots import make_robot from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, require_robot @@ -69,7 +73,7 @@ def test_calibrate(tmpdir, request, robot_type, mock): overrides_calibration_dir = [f"calibration_dir={calibration_dir}"] robot = make_robot(robot_type, overrides=overrides_calibration_dir, mock=mock) - calibrate(robot, arms=get_available_arms(robot)) + calibrate(robot, arms=robot.available_arms) del robot @@ -109,12 +113,14 @@ def test_record_without_cameras(tmpdir, request, robot_type, mock): @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES) @require_robot def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock): + tmpdir = Path(tmpdir) + if mock and robot_type != "aloha": request.getfixturevalue("patch_builtins_input") # Create an empty calibration directory to trigger manual calibration # and avoid writing calibration files in user .cache/calibration folder - calibration_dir = Path(tmpdir) / robot_type + calibration_dir = tmpdir / robot_type overrides = [f"calibration_dir={calibration_dir}"] else: # Use the default .cache/calibration folder when mock=False or for aloha @@ -123,17 +129,19 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock): env_name = "koch_real" policy_name = "act_koch_real" - root = Path(tmpdir) / "data" + root = tmpdir / "data" repo_id = "lerobot/debug" + eval_repo_id = "lerobot/eval_debug" robot = make_robot(robot_type, overrides=overrides, mock=mock) dataset = record( robot, - fps=30, - root=root, - repo_id=repo_id, + root, + repo_id, + fps=1, warmup_time_s=1, episode_time_s=1, + reset_time_s=1, num_episodes=2, push_to_hub=False, # TODO(rcadene, aliberts): test video=True @@ -142,8 +150,10 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock): display_cameras=False, play_sounds=False, ) + assert dataset.num_episodes == 2 + assert len(dataset) == 2 - replay(robot, episode=0, fps=30, root=root, repo_id=repo_id, play_sounds=False) + replay(robot, episode=0, fps=1, root=root, repo_id=repo_id, play_sounds=False) # TODO(rcadene, aliberts): rethink this design if robot_type == "aloha": @@ -164,12 +174,26 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock): if robot_type == "koch_bimanual": overrides += ["env.state_dim=12", "env.action_dim=12"] + overrides += ["wandb.enable=false"] + overrides += ["env.fps=1"] + cfg = init_hydra_config( DEFAULT_CONFIG_PATH, overrides=overrides, ) policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats) + optimizer, lr_scheduler = make_optimizer_and_scheduler(cfg, policy) + out_dir = tmpdir / "logger" + logger = Logger(cfg, out_dir, wandb_job_name="debug") + logger.save_checkpoint( + 0, + policy, + optimizer, + lr_scheduler, + identifier=0, + ) + pretrained_policy_name_or_path = out_dir / "checkpoints/last/pretrained_model" # In `examples/9_use_aloha.md`, we advise using `num_image_writer_processes=1` # during inference, to reach constent fps, so we test this here. @@ -194,10 +218,12 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock): record( robot, - policy, - cfg, + root, + eval_repo_id, + pretrained_policy_name_or_path, warmup_time_s=1, episode_time_s=1, + reset_time_s=1, num_episodes=2, run_compute_stats=False, push_to_hub=False, @@ -207,4 +233,218 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock): num_image_writer_processes=num_image_writer_processes, ) + assert dataset.num_episodes == 2 + assert len(dataset) == 2 + del robot + + +@pytest.mark.parametrize("robot_type, mock", [("koch", True)]) +@require_robot +def test_resume_record(tmpdir, request, robot_type, mock): + if mock and robot_type != "aloha": + request.getfixturevalue("patch_builtins_input") + + # Create an empty calibration directory to trigger manual calibration + # and avoid writing calibration files in user .cache/calibration folder + calibration_dir = tmpdir / robot_type + overrides = [f"calibration_dir={calibration_dir}"] + else: + # Use the default .cache/calibration folder when mock=False or for aloha + overrides = [] + + robot = make_robot(robot_type, overrides=overrides, mock=mock) + + root = Path(tmpdir) / "data" + repo_id = "lerobot/debug" + + dataset = record( + robot, + root, + repo_id, + fps=1, + warmup_time_s=0, + episode_time_s=1, + num_episodes=1, + push_to_hub=False, + video=False, + display_cameras=False, + play_sounds=False, + run_compute_stats=False, + ) + assert len(dataset) == 1, "`dataset` should contain only 1 frame" + + init_dataset_return_value = {} + + def wrapped_init_dataset(*args, **kwargs): + nonlocal init_dataset_return_value + init_dataset_return_value = init_dataset(*args, **kwargs) + return init_dataset_return_value + + with patch("lerobot.scripts.control_robot.init_dataset", wraps=wrapped_init_dataset): + dataset = record( + robot, + root, + repo_id, + fps=1, + warmup_time_s=0, + episode_time_s=1, + num_episodes=2, + push_to_hub=False, + video=False, + display_cameras=False, + play_sounds=False, + run_compute_stats=False, + ) + assert len(dataset) == 2, "`dataset` should contain only 1 frame" + assert ( + init_dataset_return_value["num_episodes"] == 2 + ), "`init_dataset` should load the previous episode" + + +@pytest.mark.parametrize("robot_type, mock", [("koch", True)]) +@require_robot +def test_record_with_event_rerecord_episode(tmpdir, request, robot_type, mock): + if mock and robot_type != "aloha": + request.getfixturevalue("patch_builtins_input") + + # Create an empty calibration directory to trigger manual calibration + # and avoid writing calibration files in user .cache/calibration folder + calibration_dir = tmpdir / robot_type + overrides = [f"calibration_dir={calibration_dir}"] + else: + # Use the default .cache/calibration folder when mock=False or for aloha + overrides = [] + + robot = make_robot(robot_type, overrides=overrides, mock=mock) + with ( + patch("lerobot.scripts.control_robot.init_keyboard_listener") as mock_listener, + patch("lerobot.common.robot_devices.control_utils.add_frame", wraps=add_frame) as mock_add_frame, + ): + mock_events = {} + mock_events["exit_early"] = True + mock_events["rerecord_episode"] = True + mock_events["stop_recording"] = False + mock_listener.return_value = (None, mock_events) + + root = Path(tmpdir) / "data" + repo_id = "lerobot/debug" + + dataset = record( + robot, + root, + repo_id, + fps=1, + warmup_time_s=0, + episode_time_s=1, + num_episodes=1, + push_to_hub=False, + video=False, + display_cameras=False, + play_sounds=False, + run_compute_stats=False, + ) + + assert not mock_events["rerecord_episode"], "`rerecord_episode` wasn't properly reset to False" + assert not mock_events["exit_early"], "`exit_early` wasn't properly reset to False" + assert mock_add_frame.call_count == 2, "`add_frame` should have been called 2 times" + assert len(dataset) == 1, "`dataset` should contain only 1 frame" + + +@pytest.mark.parametrize("robot_type, mock", [("koch", True)]) +@require_robot +def test_record_with_event_exit_early(tmpdir, request, robot_type, mock): + if mock: + request.getfixturevalue("patch_builtins_input") + + # Create an empty calibration directory to trigger manual calibration + # and avoid writing calibration files in user .cache/calibration folder + calibration_dir = tmpdir / robot_type + overrides = [f"calibration_dir={calibration_dir}"] + else: + # Use the default .cache/calibration folder when mock=False or for aloha + overrides = [] + + robot = make_robot(robot_type, overrides=overrides, mock=mock) + with ( + patch("lerobot.scripts.control_robot.init_keyboard_listener") as mock_listener, + patch("lerobot.common.robot_devices.control_utils.add_frame", wraps=add_frame) as mock_add_frame, + ): + mock_events = {} + mock_events["exit_early"] = True + mock_events["rerecord_episode"] = False + mock_events["stop_recording"] = False + mock_listener.return_value = (None, mock_events) + + root = Path(tmpdir) / "data" + repo_id = "lerobot/debug" + + dataset = record( + robot, + fps=2, + root=root, + repo_id=repo_id, + warmup_time_s=0, + episode_time_s=1, + num_episodes=1, + push_to_hub=False, + video=False, + display_cameras=False, + play_sounds=False, + run_compute_stats=False, + ) + + assert not mock_events["exit_early"], "`exit_early` wasn't properly reset to False" + assert mock_add_frame.call_count == 1, "`add_frame` should have been called 1 time" + assert len(dataset) == 1, "`dataset` should contain only 1 frame" + + +@pytest.mark.parametrize( + "robot_type, mock, num_image_writer_processes", [("koch", True, 0), ("koch", True, 1)] +) +@require_robot +def test_record_with_event_stop_recording(tmpdir, request, robot_type, mock, num_image_writer_processes): + if mock: + request.getfixturevalue("patch_builtins_input") + + # Create an empty calibration directory to trigger manual calibration + # and avoid writing calibration files in user .cache/calibration folder + calibration_dir = tmpdir / robot_type + overrides = [f"calibration_dir={calibration_dir}"] + else: + # Use the default .cache/calibration folder when mock=False or for aloha + overrides = [] + + robot = make_robot(robot_type, overrides=overrides, mock=mock) + with ( + patch("lerobot.scripts.control_robot.init_keyboard_listener") as mock_listener, + patch("lerobot.common.robot_devices.control_utils.add_frame", wraps=add_frame) as mock_add_frame, + ): + mock_events = {} + mock_events["exit_early"] = True + mock_events["rerecord_episode"] = False + mock_events["stop_recording"] = True + mock_listener.return_value = (None, mock_events) + + root = Path(tmpdir) / "data" + repo_id = "lerobot/debug" + + dataset = record( + robot, + root, + repo_id, + fps=1, + warmup_time_s=0, + episode_time_s=1, + num_episodes=2, + push_to_hub=False, + video=False, + display_cameras=False, + play_sounds=False, + run_compute_stats=False, + num_image_writer_processes=num_image_writer_processes, + ) + + assert not mock_events["exit_early"], "`exit_early` wasn't properly reset to False" + assert mock_add_frame.call_count == 1, "`add_frame` should have been called 1 time" + assert len(dataset) == 1, "`dataset` should contain only 1 frame" diff --git a/tests/test_robots.py b/tests/test_robots.py index 72f0c9444..13ad8c450 100644 --- a/tests/test_robots.py +++ b/tests/test_robots.py @@ -127,6 +127,7 @@ def test_robot(tmpdir, request, robot_type, mock): # TODO(rcadene): skipping image for now as it's challenging to assess equality between two consecutive frames continue assert torch.allclose(captured_observation[name], observation[name], atol=1) + assert captured_observation[name].shape == observation[name].shape # Test send_action can run robot.send_action(action["action"]) From cd0fc261c051f4fabf352844f6bed6c3db74d688 Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Thu, 17 Oct 2024 15:22:21 +0100 Subject: [PATCH 07/29] Make `say(blocking=True)` work for Linux (#460) --- lerobot/common/utils/utils.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/lerobot/common/utils/utils.py b/lerobot/common/utils/utils.py index 554e054e8..4e276e169 100644 --- a/lerobot/common/utils/utils.py +++ b/lerobot/common/utils/utils.py @@ -196,19 +196,19 @@ def say(text, blocking=False): # Check if mac, linux, or windows. if platform.system() == "Darwin": cmd = f'say "{text}"' + if not blocking: + cmd += " &" elif platform.system() == "Linux": cmd = f'spd-say "{text}"' + if blocking: + cmd += " --wait" elif platform.system() == "Windows": + # TODO(rcadene): Make blocking option work for Windows cmd = ( 'PowerShell -Command "Add-Type -AssemblyName System.Speech; ' f"(New-Object System.Speech.Synthesis.SpeechSynthesizer).Speak('{text}')\"" ) - if not blocking and platform.system() in ["Darwin", "Linux"]: - # TODO(rcadene): Make it work for Windows - # Use the ampersand to run command in the background - cmd += " &" - os.system(cmd) From c351e1fff92ed276ef668f188f645bdfdf42f6b3 Mon Sep 17 00:00:00 2001 From: Boris Zimka <4560910+zimka@users.noreply.github.com> Date: Fri, 18 Oct 2024 10:23:27 +0200 Subject: [PATCH 08/29] Fix gymnasium version as pre-1.0.0 (#471) Co-authored-by: Remi Co-authored-by: Remi --- poetry.lock | 10 +++++++--- pyproject.toml | 3 ++- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/poetry.lock b/poetry.lock index f0e50dcda..fbf0431bc 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.4 and should not be changed by hand. [[package]] name = "absl-py" @@ -1292,6 +1292,10 @@ files = [ {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:78656d3ae1282a142a5fed410ec3a6f725fdf8d9f9192ed673e336ea3b083e12"}, {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:681e22c8ecb3b48d11cb9019f8a32d4ae1e353e20d4ce3a0f0eedd0ccbd95e5f"}, {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4598572bab6f726ec41fabb43bf0f7e3cf8082ea0f6f8f4e57845a6c919f31b3"}, + {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:157fc1fed50946646f09df75c6d52198735a5973e53d252199bbb1c65e1594d2"}, + {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_28_armv7l.whl", hash = "sha256:7ae2724c181be10692c24fb8d9ce2a99a9afc57237332c3658e2ea6f4f33c091"}, + {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_28_i686.whl", hash = "sha256:3d324835f292edd81b962f8c0df44f7f47c0a6f8fe6f7d081951aeb1f5ba57d2"}, + {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:474c087b5e584293685a7d4837165b2ead96dc74fb435ae50d5fa0ac168a0de0"}, {file = "dora_rs-0.3.6-cp37-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:297350f05f5f87a0bf647a1e5b4446728e5f800788c6bb28b462bcd167f1de7f"}, {file = "dora_rs-0.3.6-cp37-abi3-musllinux_1_2_i686.whl", hash = "sha256:b1870a8e30f0ac298d17fd546224348d13a648bcfa0cbc51dba7e5136c1af928"}, {file = "dora_rs-0.3.6-cp37-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:182a189212d41be0c960fd3299bf6731af2e771f8858cfb1be7ebcc17d60a254"}, @@ -5245,7 +5249,7 @@ docs = ["sphinx", "sphinx-automodapi", "sphinx-rtd-theme"] name = "pyserial" version = "3.5" description = "Python Serial Port Extension" -optional = false +optional = true python-versions = "*" files = [ {file = "pyserial-3.5-py2.py3-none-any.whl", hash = "sha256:c4451db6ba391ca6ca299fb3ec7bae67a5c55dde170964c7a14ceefec02f2cf0"}, @@ -7427,4 +7431,4 @@ xarm = ["gym-xarm"] [metadata] lock-version = "2.0" python-versions = ">=3.10,<3.13" -content-hash = "78f31561a7e4b6f0a97e27a65ec00c2c1826f420d2587396762bb5485d12f676" +content-hash = "cd59da219818a9906018a25462e76e15c5d2c0e6419531e8ddbdc2ae998854c1" diff --git a/pyproject.toml b/pyproject.toml index 47e982d1b..ee898db80 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -44,7 +44,8 @@ diffusers = ">=0.27.2" torchvision = ">=0.17.1" h5py = ">=3.10.0" huggingface-hub = {extras = ["hf-transfer", "cli"], version = ">=0.25.0"} -gymnasium = ">=0.29.1" +# TODO(rcadene, aliberts): Make gym 1.0.0 work +gymnasium = "==0.29.1" cmake = ">=3.29.0.1" gym-dora = { git = "https://github.com/dora-rs/dora-lerobot.git", subdirectory = "gym_dora", optional = true } gym-pusht = { version = ">=0.1.5", optional = true} From 2efee45ef13bf1b323cf2031f8b36f38dea36aa9 Mon Sep 17 00:00:00 2001 From: Bastian Krohg <98895859+bastiankrohg@users.noreply.github.com> Date: Wed, 23 Oct 2024 16:13:26 +0200 Subject: [PATCH 09/29] Update 9_use_aloha.md, missing comma (#479) --- examples/9_use_aloha.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/9_use_aloha.md b/examples/9_use_aloha.md index 9859e3641..d161978fd 100644 --- a/examples/9_use_aloha.md +++ b/examples/9_use_aloha.md @@ -32,7 +32,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot 5. Install LeRobot with dependencies for the Aloha motors (dynamixel) and cameras (intelrealsense): ```bash -cd ~/lerobot && pip install -e ".[dynamixel intelrealsense]" +cd ~/lerobot && pip install -e ".[dynamixel, intelrealsense]" ``` And install extra dependencies for recording datasets on Linux: From 114870d703fa6835b0b8731ab11b9bf6f468db96 Mon Sep 17 00:00:00 2001 From: Arsen Ohanyan Date: Wed, 23 Oct 2024 07:24:06 -0700 Subject: [PATCH 10/29] Fix link (#482) Co-authored-by: Remi --- examples/7_get_started_with_real_robot.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/7_get_started_with_real_robot.md b/examples/7_get_started_with_real_robot.md index 58bfc66c3..266e4f0da 100644 --- a/examples/7_get_started_with_real_robot.md +++ b/examples/7_get_started_with_real_robot.md @@ -11,7 +11,7 @@ This tutorial will guide you through the process of setting up and training a ne By following these steps, you'll be able to replicate tasks like picking up a Lego block and placing it in a bin with a high success rate, as demonstrated in [this video](https://x.com/RemiCadene/status/1814680760592572934). -This tutorial is specifically made for the affordable [Koch v1.1](https://github.com/jess-moss/koch-v1-1) robot, but it contains additional information to be easily adapted to various types of robots like [Aloha bimanual robot](aloha-2.github.io) by changing some configurations. The Koch v1.1 consists of a leader arm and a follower arm, each with 6 motors. It can work with one or several cameras to record the scene, which serve as visual sensors for the robot. +This tutorial is specifically made for the affordable [Koch v1.1](https://github.com/jess-moss/koch-v1-1) robot, but it contains additional information to be easily adapted to various types of robots like [Aloha bimanual robot](https://aloha-2.github.io) by changing some configurations. The Koch v1.1 consists of a leader arm and a follower arm, each with 6 motors. It can work with one or several cameras to record the scene, which serve as visual sensors for the robot. During the data collection phase, you will control the follower arm by moving the leader arm. This process is known as "teleoperation." This technique is used to collect robot trajectories. Afterward, you'll train a neural network to imitate these trajectories and deploy the network to enable your robot to operate autonomously. From 07e8716315244c2dea8e38c0e7a48bb73a9cabf6 Mon Sep 17 00:00:00 2001 From: Remi Date: Fri, 25 Oct 2024 11:23:55 +0200 Subject: [PATCH 11/29] Add FeetechMotorsBus, SO-100, Moss-v1 (#419) Co-authored-by: jess-moss Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> --- README.md | 8 +- examples/10_use_so100.md | 280 ++++++ examples/11_use_moss.md | 280 ++++++ examples/7_get_started_with_real_robot.md | 6 +- examples/8_use_stretch.md | 2 +- examples/9_use_aloha.md | 2 +- lerobot/__init__.py | 3 + .../robot_devices/cameras/intelrealsense.py | 2 +- .../common/robot_devices/motors/dynamixel.py | 181 +--- .../common/robot_devices/motors/feetech.py | 887 ++++++++++++++++++ .../robots/dynamixel_calibration.py | 130 +++ .../robots/feetech_calibration.py | 485 ++++++++++ .../robot_devices/robots/manipulator.py | 206 ++-- lerobot/configs/env/moss_real.yaml | 10 + lerobot/configs/env/so100_real.yaml | 10 + lerobot/configs/policy/act_moss_real.yaml | 102 ++ lerobot/configs/policy/act_so100_real.yaml | 102 ++ lerobot/configs/robot/aloha.yaml | 6 +- lerobot/configs/robot/koch_bimanual.yaml | 2 +- lerobot/configs/robot/moss.yaml | 56 ++ lerobot/configs/robot/so100.yaml | 56 ++ lerobot/configs/robot/stretch.yaml | 9 + lerobot/scripts/configure_motor.py | 145 +++ lerobot/scripts/control_robot.py | 3 + lerobot/scripts/find_motors_bus_port.py | 36 + media/moss/follower_initial.webp | Bin 0 -> 118620 bytes media/moss/leader_rest.webp | Bin 0 -> 88928 bytes media/moss/leader_rotated.webp | Bin 0 -> 117078 bytes media/moss/leader_zero.webp | Bin 0 -> 158308 bytes media/so100/follower_initial.webp | Bin 0 -> 198594 bytes media/so100/leader_follower.webp | Bin 0 -> 120188 bytes media/so100/leader_rest.webp | Bin 0 -> 89600 bytes media/so100/leader_rotated.webp | Bin 0 -> 94970 bytes media/so100/leader_zero.webp | Bin 0 -> 87888 bytes poetry.lock | 22 +- pyproject.toml | 2 + tests/mock_dynamixel_sdk.py | 29 +- tests/mock_scservo_sdk.py | 103 ++ tests/test_control_robot.py | 15 +- tests/test_motors.py | 18 +- tests/test_robots.py | 4 +- tests/utils.py | 49 +- 42 files changed, 2911 insertions(+), 340 deletions(-) create mode 100644 examples/10_use_so100.md create mode 100644 examples/11_use_moss.md create mode 100644 lerobot/common/robot_devices/motors/feetech.py create mode 100644 lerobot/common/robot_devices/robots/dynamixel_calibration.py create mode 100644 lerobot/common/robot_devices/robots/feetech_calibration.py create mode 100644 lerobot/configs/env/moss_real.yaml create mode 100644 lerobot/configs/env/so100_real.yaml create mode 100644 lerobot/configs/policy/act_moss_real.yaml create mode 100644 lerobot/configs/policy/act_so100_real.yaml create mode 100644 lerobot/configs/robot/moss.yaml create mode 100644 lerobot/configs/robot/so100.yaml create mode 100644 lerobot/scripts/configure_motor.py create mode 100644 lerobot/scripts/find_motors_bus_port.py create mode 100644 media/moss/follower_initial.webp create mode 100644 media/moss/leader_rest.webp create mode 100644 media/moss/leader_rotated.webp create mode 100644 media/moss/leader_zero.webp create mode 100644 media/so100/follower_initial.webp create mode 100644 media/so100/leader_follower.webp create mode 100644 media/so100/leader_rest.webp create mode 100644 media/so100/leader_rotated.webp create mode 100644 media/so100/leader_zero.webp create mode 100644 tests/mock_scservo_sdk.py diff --git a/README.md b/README.md index 703e64881..b505c545d 100644 --- a/README.md +++ b/README.md @@ -23,15 +23,15 @@

-

Hot new tutorial: Getting started with real-world robots

+

New robot in town: SO-100

- Koch v1.1 leader and follower arms -

We just dropped an in-depth tutorial on how to build your own robot!

+ SO-100 leader and follower arms +

We just added a new tutorial on how to build a more affordable robot, at the price of $110 per arm!

Teach it new skills by showing it a few moves with just a laptop.

Then watch your homemade robot act autonomously 🤯

-

For more info, see our thread on X or our tutorial page.

+

Follow the link to the full tutorial for SO-100.


diff --git a/examples/10_use_so100.md b/examples/10_use_so100.md new file mode 100644 index 000000000..ffadb1f3e --- /dev/null +++ b/examples/10_use_so100.md @@ -0,0 +1,280 @@ +This tutorial explains how to use [SO-100](https://github.com/TheRobotStudio/SO-ARM100) with LeRobot. + +## Source the parts + +Follow this [README](https://github.com/TheRobotStudio/SO-ARM100). It contains the bill of materials, with link to source the parts, as well as the instructions to 3D print the parts, and advices if it's your first time printing or if you don't own a 3D printer already. + +**Important**: Before assembling, you will first need to configure your motors. To this end, we provide a nice script, so let's first install LeRobot. After configuration, we will also guide you through assembly. + +## Install LeRobot + +On your computer: + +1. [Install Miniconda](https://docs.anaconda.com/miniconda/#quick-command-line-install): +```bash +mkdir -p ~/miniconda3 +wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh +bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 +rm ~/miniconda3/miniconda.sh +~/miniconda3/bin/conda init bash +``` + +2. Restart shell or `source ~/.bashrc` + +3. Create and activate a fresh conda environment for lerobot +```bash +conda create -y -n lerobot python=3.10 && conda activate lerobot +``` + +4. Clone LeRobot: +```bash +git clone https://github.com/huggingface/lerobot.git ~/lerobot +``` + +5. Install LeRobot with dependencies for the feetech motors: +```bash +cd ~/lerobot && pip install -e ".[feetech]" +``` + +For Linux only (not Mac), install extra dependencies for recording datasets: +```bash +conda install -y -c conda-forge ffmpeg +pip uninstall -y opencv-python +conda install -y -c conda-forge "opencv>=4.10.0" +``` + +## Configure the motors + +Follow steps 1 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I) which illustrates the use of our scripts below. + +**Find USB ports associated to your arms** +To find the correct ports for each arm, run the utility script twice: +```bash +python lerobot/scripts/find_motors_bus_port.py +``` + +Example output when identifying the leader arm's port (e.g., `/dev/tty.usbmodem575E0031751` on Mac, or possibly `/dev/ttyACM0` on Linux): +``` +Finding all available ports for the MotorBus. +['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] +Remove the usb cable from your DynamixelMotorsBus and press Enter when done. + +[...Disconnect leader arm and press Enter...] + +The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0031751 +Reconnect the usb cable. +``` + +Example output when identifying the follower arm's port (e.g., `/dev/tty.usbmodem575E0032081`, or possibly `/dev/ttyACM1` on Linux): +``` +Finding all available ports for the MotorBus. +['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] +Remove the usb cable from your DynamixelMotorsBus and press Enter when done. + +[...Disconnect follower arm and press Enter...] + +The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0032081 +Reconnect the usb cable. +``` + +Troubleshooting: On Linux, you might need to give access to the USB ports by running: +```bash +sudo chmod 666 /dev/ttyACM0 +sudo chmod 666 /dev/ttyACM1 +``` + +**Configure your motors** +Plug your first motor and run this script to set its ID to 1. It will also set its present position to 2048, so expect your motor to rotate: +```bash +python lerobot/scripts/configure_motor.py \ + --port /dev/tty.usbmodem58760432961 \ + --brand feetech \ + --model sts3215 \ + --baudrate 1000000 \ + --ID 1 +``` + +Note: These motors are currently limitated. They can take values between 0 and 4096 only, which corresponds to a full turn. They can't turn more than that. 2048 is at the middle of this range, so we can take -2048 steps (180 degrees anticlockwise) and reach the maximum range, or take +2048 steps (180 degrees clockwise) and reach the maximum range. The configuration step also sets the homing offset to 0, so that if you misassembled the arm, you can always update the homing offset to account for a shift up to ± 2048 steps (± 180 degrees). + +Then unplug your motor and plug the second motor and set its ID to 2. +```bash +python lerobot/scripts/configure_motor.py \ + --port /dev/tty.usbmodem58760432961 \ + --brand feetech \ + --model sts3215 \ + --baudrate 1000000 \ + --ID 2 +``` + +Redo the process for all your motors until ID 6. Do the same for the 6 motors of the leader arm. + +**Remove the gears of the 6 leader motors** +Follow step 2 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I). You need to remove the gear for the motors of the leader arm. As a result, you will only use the position encoding of the motor and reduce friction to more easily operate the leader arm. + +**Add motor horn to the motors** +Follow step 3 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I). For SO-100, you need to align the holes on the motor horn to the motor spline to be approximately 1:30, 4:30, 7:30 and 10:30. +Try to avoid rotating the motor while doing so to keep position 2048 set during configuration. It is especially tricky for the leader motors as it is more sensible without the gears, but it's ok if it's a bit rotated. + +## Assemble the arms + +Follow step 4 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I). The first arm should take a bit more than 1 hour to assemble, but once you get use to it, you can do it under 1 hour for the second arm. + +## Calibrate + +Next, you'll need to calibrate your SO-100 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position. This calibration is essential because it allows a neural network trained on one SO-100 robot to work on another. + +**Auto-calibration of follower arm** +Follow step 5 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I) which illustrates the auto-calibration of the follower arm. You first need to manually move your follower arm to this initial position: + +
+ SO-100 follower arm initial position +
+ +Then run this script to launch auto-calibration: +```bash +python lerobot/scripts/control_robot.py calibrate \ + --robot-path lerobot/configs/robot/so100.yaml \ + --robot-overrides '~cameras' --arms main_follower +``` + +Note: You can't run auto-calibration for the leader arm, since we removed the gears. Thus, you will need to manually calibrate the leader arm. It's less precise than auto-calibration, but precision is not as critical for the leader arm. + +**Manual calibration of leader arm** +Follow step 6 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially: + +| 1. Zero position | 2. Rotated position | 3. Rest position | +|---|---|---| +| SO-100 leader arm zero position | SO-100 leader arm rotated position | SO-100 leader arm rest position | + +Run this script to launch manual calibration: +```bash +python lerobot/scripts/control_robot.py calibrate \ + --robot-path lerobot/configs/robot/so100.yaml \ + --robot-overrides '~cameras' --arms main_leader +``` + +## Teleoperate + +**Simple teleop** +Then you are ready to teleoperate your robot! Run this simple script (it won't connect and display the cameras): +```bash +python lerobot/scripts/control_robot.py teleoperate \ + --robot-path lerobot/configs/robot/so100.yaml \ + --robot-overrides '~cameras' \ + --display-cameras 0 +``` + + +**Teleop with displaying cameras** +Follow [this guide to setup your cameras](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#c-add-your-cameras-with-opencvcamera). Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset. +```bash +python lerobot/scripts/control_robot.py teleoperate \ + --robot-path lerobot/configs/robot/so100.yaml +``` + +## Record a dataset + +Once you're familiar with teleoperation, you can record your first dataset with SO-100. + +If you want to use the Hugging Face hub features for uploading your dataset and you haven't previously done it, make sure you've logged in using a write-access token, which can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens): +```bash +huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential +``` + +Store your Hugging Face repository name in a variable to run these commands: +```bash +HF_USER=$(huggingface-cli whoami | head -n 1) +echo $HF_USER +``` + +Record 2 episodes and upload your dataset to the hub: +```bash +python lerobot/scripts/control_robot.py record \ + --robot-path lerobot/configs/robot/so100.yaml \ + --fps 30 \ + --root data \ + --repo-id ${HF_USER}/so100_test \ + --tags so100 tutorial \ + --warmup-time-s 5 \ + --episode-time-s 40 \ + --reset-time-s 10 \ + --num-episodes 2 \ + --push-to-hub 1 +``` + +## Visualize a dataset + +If you uploaded your dataset to the hub with `--push-to-hub 1`, you can [visualize your dataset online](https://huggingface.co/spaces/lerobot/visualize_dataset) by copy pasting your repo id given by: +```bash +echo ${HF_USER}/so100_test +``` + +If you didn't upload with `--push-to-hub 0`, you can also visualize it locally with: +```bash +python lerobot/scripts/visualize_dataset_html.py \ + --root data \ + --repo-id ${HF_USER}/so100_test +``` + +## Replay an episode + +Now try to replay the first episode on your robot: +```bash +DATA_DIR=data python lerobot/scripts/control_robot.py replay \ + --robot-path lerobot/configs/robot/so100.yaml \ + --fps 30 \ + --root data \ + --repo-id ${HF_USER}/so100_test \ + --episode 0 +``` + +## Train a policy + +To train a policy to control your robot, use the [`python lerobot/scripts/train.py`](../lerobot/scripts/train.py) script. A few arguments are required. Here is an example command: +```bash +DATA_DIR=data python lerobot/scripts/train.py \ + dataset_repo_id=${HF_USER}/so100_test \ + policy=act_so100_real \ + env=so100_real \ + hydra.run.dir=outputs/train/act_so100_test \ + hydra.job.name=act_so100_test \ + device=cuda \ + wandb.enable=true +``` + +Let's explain it: +1. We provided the dataset as argument with `dataset_repo_id=${HF_USER}/so100_test`. +2. We provided the policy with `policy=act_so100_real`. This loads configurations from [`lerobot/configs/policy/act_so100_real.yaml`](../lerobot/configs/policy/act_so100_real.yaml). Importantly, this policy uses 2 cameras as input `laptop`, `phone`. +3. We provided an environment as argument with `env=so100_real`. This loads configurations from [`lerobot/configs/env/so100_real.yaml`](../lerobot/configs/env/so100_real.yaml). +4. We provided `device=cuda` since we are training on a Nvidia GPU, but you can also use `device=mps` if you are using a Mac with Apple silicon, or `device=cpu` otherwise. +5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`. +6. We added `DATA_DIR=data` to access your dataset stored in your local `data` directory. If you dont provide `DATA_DIR`, your dataset will be downloaded from Hugging Face hub to your cache folder `$HOME/.cache/hugginface`. In future versions of `lerobot`, both directories will be in sync. + +Training should take several hours. You will find checkpoints in `outputs/train/act_so100_test/checkpoints`. + +## Evaluate your policy + +You can use the `record` function from [`lerobot/scripts/control_robot.py`](../lerobot/scripts/control_robot.py) but with a policy checkpoint as input. For instance, run this command to record 10 evaluation episodes: +```bash +python lerobot/scripts/control_robot.py record \ + --robot-path lerobot/configs/robot/so100.yaml \ + --fps 30 \ + --root data \ + --repo-id ${HF_USER}/eval_act_so100_test \ + --tags so100 tutorial eval \ + --warmup-time-s 5 \ + --episode-time-s 40 \ + --reset-time-s 10 \ + --num-episodes 10 \ + -p outputs/train/act_so100_test/checkpoints/last/pretrained_model +``` + +As you can see, it's almost the same command as previously used to record your training dataset. Two things changed: +1. There is an additional `-p` argument which indicates the path to your policy checkpoint with (e.g. `-p outputs/train/eval_so100_test/checkpoints/last/pretrained_model`). You can also use the model repository if you uploaded a model checkpoint to the hub (e.g. `-p ${HF_USER}/act_so100_test`). +2. The name of dataset begins by `eval` to reflect that you are running inference (e.g. `--repo-id ${HF_USER}/eval_act_so100_test`). + +## More + +Follow this [previous tutorial](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data) for a more in-depth tutorial on controlling real robots with LeRobot. + +If you have any question or need help, please reach out on Discord in the channel [`#so100-arm`](https://discord.com/channels/1216765309076115607/1237741463832363039). diff --git a/examples/11_use_moss.md b/examples/11_use_moss.md new file mode 100644 index 000000000..4286fb8bc --- /dev/null +++ b/examples/11_use_moss.md @@ -0,0 +1,280 @@ +This tutorial explains how to use [Moss v1](https://github.com/jess-moss/moss-robot-arms) with LeRobot. + +## Source the parts + +Follow this [README](https://github.com/jess-moss/moss-robot-arms). It contains the bill of materials, with link to source the parts, as well as the instructions to 3D print the parts, and advices if it's your first time printing or if you don't own a 3D printer already. + +**Important**: Before assembling, you will first need to configure your motors. To this end, we provide a nice script, so let's first install LeRobot. After configuration, we will also guide you through assembly. + +## Install LeRobot + +On your computer: + +1. [Install Miniconda](https://docs.anaconda.com/miniconda/#quick-command-line-install): +```bash +mkdir -p ~/miniconda3 +wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh +bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 +rm ~/miniconda3/miniconda.sh +~/miniconda3/bin/conda init bash +``` + +2. Restart shell or `source ~/.bashrc` + +3. Create and activate a fresh conda environment for lerobot +```bash +conda create -y -n lerobot python=3.10 && conda activate lerobot +``` + +4. Clone LeRobot: +```bash +git clone https://github.com/huggingface/lerobot.git ~/lerobot +``` + +5. Install LeRobot with dependencies for the feetech motors: +```bash +cd ~/lerobot && pip install -e ".[feetech]" +``` + +For Linux only (not Mac), install extra dependencies for recording datasets: +```bash +conda install -y -c conda-forge ffmpeg +pip uninstall -y opencv-python +conda install -y -c conda-forge "opencv>=4.10.0" +``` + +## Configure the motors + +Follow steps 1 of the [assembly video](https://www.youtube.com/watch?v=DA91NJOtMic) which illustrates the use of our scripts below. + +**Find USB ports associated to your arms** +To find the correct ports for each arm, run the utility script twice: +```bash +python lerobot/scripts/find_motors_bus_port.py +``` + +Example output when identifying the leader arm's port (e.g., `/dev/tty.usbmodem575E0031751` on Mac, or possibly `/dev/ttyACM0` on Linux): +``` +Finding all available ports for the MotorBus. +['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] +Remove the usb cable from your DynamixelMotorsBus and press Enter when done. + +[...Disconnect leader arm and press Enter...] + +The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0031751 +Reconnect the usb cable. +``` + +Example output when identifying the follower arm's port (e.g., `/dev/tty.usbmodem575E0032081`, or possibly `/dev/ttyACM1` on Linux): +``` +Finding all available ports for the MotorBus. +['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] +Remove the usb cable from your DynamixelMotorsBus and press Enter when done. + +[...Disconnect follower arm and press Enter...] + +The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0032081 +Reconnect the usb cable. +``` + +Troubleshooting: On Linux, you might need to give access to the USB ports by running: +```bash +sudo chmod 666 /dev/ttyACM0 +sudo chmod 666 /dev/ttyACM1 +``` + +**Configure your motors** +Plug your first motor and run this script to set its ID to 1. It will also set its present position to 2048, so expect your motor to rotate: +```bash +python lerobot/scripts/configure_motor.py \ + --port /dev/tty.usbmodem58760432961 \ + --brand feetech \ + --model sts3215 \ + --baudrate 1000000 \ + --ID 1 +``` + +Note: These motors are currently limitated. They can take values between 0 and 4096 only, which corresponds to a full turn. They can't turn more than that. 2048 is at the middle of this range, so we can take -2048 steps (180 degrees anticlockwise) and reach the maximum range, or take +2048 steps (180 degrees clockwise) and reach the maximum range. The configuration step also sets the homing offset to 0, so that if you misassembled the arm, you can always update the homing offset to account for a shift up to ± 2048 steps (± 180 degrees). + +Then unplug your motor and plug the second motor and set its ID to 2. +```bash +python lerobot/scripts/configure_motor.py \ + --port /dev/tty.usbmodem58760432961 \ + --brand feetech \ + --model sts3215 \ + --baudrate 1000000 \ + --ID 2 +``` + +Redo the process for all your motors until ID 6. Do the same for the 6 motors of the leader arm. + +**Remove the gears of the 6 leader motors** +Follow step 2 of the [assembly video](https://www.youtube.com/watch?v=DA91NJOtMic). You need to remove the gear for the motors of the leader arm. As a result, you will only use the position encoding of the motor and reduce friction to more easily operate the leader arm. + +**Add motor horn to the motors** +Follow step 3 of the [assembly video](https://www.youtube.com/watch?v=DA91NJOtMic). For Moss v1, you need to align the holes on the motor horn to the motor spline to be approximately 3, 6, 9 and 12 o'clock. +Try to avoid rotating the motor while doing so to keep position 2048 set during configuration. It is especially tricky for the leader motors as it is more sensible without the gears, but it's ok if it's a bit rotated. + +## Assemble the arms + +Follow step 4 of the [assembly video](https://www.youtube.com/watch?v=DA91NJOtMic). The first arm should take a bit more than 1 hour to assemble, but once you get use to it, you can do it under 1 hour for the second arm. + +## Calibrate + +Next, you'll need to calibrate your Moss v1 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position. This calibration is essential because it allows a neural network trained on one Moss v1 robot to work on another. + +**Auto-calibration of follower arm** +Follow step 5 of the [assembly video](https://www.youtube.com/watch?v=DA91NJOtMic) which illustrates the auto-calibration of the follower arm. You first need to manually move your follower arm to this initial position: + +
+ Moss v1 follower arm initial position +
+ +Then run this script to launch auto-calibration: +```bash +python lerobot/scripts/control_robot.py calibrate \ + --robot-path lerobot/configs/robot/moss.yaml \ + --robot-overrides '~cameras' --arms main_follower +``` + +Note: You can't run auto-calibration for the leader arm, since we removed the gears. Thus, you will need to manually calibrate the leader arm. It's less precise than auto-calibration, but precision is not as critical for the leader arm. + +**Manual calibration of leader arm** +Follow step 6 of the [assembly video](https://www.youtube.com/watch?v=DA91NJOtMic) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially: + +| 1. Zero position | 2. Rotated position | 3. Rest position | +|---|---|---| +| Moss v1 leader arm zero position | Moss v1 leader arm rotated position | Moss v1 leader arm rest position | + +Run this script to launch manual calibration: +```bash +python lerobot/scripts/control_robot.py calibrate \ + --robot-path lerobot/configs/robot/moss.yaml \ + --robot-overrides '~cameras' --arms main_leader +``` + +## Teleoperate + +**Simple teleop** +Then you are ready to teleoperate your robot! Run this simple script (it won't connect and display the cameras): +```bash +python lerobot/scripts/control_robot.py teleoperate \ + --robot-path lerobot/configs/robot/moss.yaml \ + --robot-overrides '~cameras' \ + --display-cameras 0 +``` + + +**Teleop with displaying cameras** +Follow [this guide to setup your cameras](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#c-add-your-cameras-with-opencvcamera). Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset. +```bash +python lerobot/scripts/control_robot.py teleoperate \ + --robot-path lerobot/configs/robot/moss.yaml +``` + +## Record a dataset + +Once you're familiar with teleoperation, you can record your first dataset with Moss v1. + +If you want to use the Hugging Face hub features for uploading your dataset and you haven't previously done it, make sure you've logged in using a write-access token, which can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens): +```bash +huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential +``` + +Store your Hugging Face repository name in a variable to run these commands: +```bash +HF_USER=$(huggingface-cli whoami | head -n 1) +echo $HF_USER +``` + +Record 2 episodes and upload your dataset to the hub: +```bash +python lerobot/scripts/control_robot.py record \ + --robot-path lerobot/configs/robot/moss.yaml \ + --fps 30 \ + --root data \ + --repo-id ${HF_USER}/moss_test \ + --tags moss tutorial \ + --warmup-time-s 5 \ + --episode-time-s 40 \ + --reset-time-s 10 \ + --num-episodes 2 \ + --push-to-hub 1 +``` + +## Visualize a dataset + +If you uploaded your dataset to the hub with `--push-to-hub 1`, you can [visualize your dataset online](https://huggingface.co/spaces/lerobot/visualize_dataset) by copy pasting your repo id given by: +```bash +echo ${HF_USER}/moss_test +``` + +If you didn't upload with `--push-to-hub 0`, you can also visualize it locally with: +```bash +python lerobot/scripts/visualize_dataset_html.py \ + --root data \ + --repo-id ${HF_USER}/moss_test +``` + +## Replay an episode + +Now try to replay the first episode on your robot: +```bash +DATA_DIR=data python lerobot/scripts/control_robot.py replay \ + --robot-path lerobot/configs/robot/moss.yaml \ + --fps 30 \ + --root data \ + --repo-id ${HF_USER}/moss_test \ + --episode 0 +``` + +## Train a policy + +To train a policy to control your robot, use the [`python lerobot/scripts/train.py`](../lerobot/scripts/train.py) script. A few arguments are required. Here is an example command: +```bash +DATA_DIR=data python lerobot/scripts/train.py \ + dataset_repo_id=${HF_USER}/moss_test \ + policy=act_moss_real \ + env=moss_real \ + hydra.run.dir=outputs/train/act_moss_test \ + hydra.job.name=act_moss_test \ + device=cuda \ + wandb.enable=true +``` + +Let's explain it: +1. We provided the dataset as argument with `dataset_repo_id=${HF_USER}/moss_test`. +2. We provided the policy with `policy=act_moss_real`. This loads configurations from [`lerobot/configs/policy/act_moss_real.yaml`](../lerobot/configs/policy/act_moss_real.yaml). Importantly, this policy uses 2 cameras as input `laptop`, `phone`. +3. We provided an environment as argument with `env=moss_real`. This loads configurations from [`lerobot/configs/env/moss_real.yaml`](../lerobot/configs/env/moss_real.yaml). +4. We provided `device=cuda` since we are training on a Nvidia GPU, but you can also use `device=mps` if you are using a Mac with Apple silicon, or `device=cpu` otherwise. +5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`. +6. We added `DATA_DIR=data` to access your dataset stored in your local `data` directory. If you dont provide `DATA_DIR`, your dataset will be downloaded from Hugging Face hub to your cache folder `$HOME/.cache/hugginface`. In future versions of `lerobot`, both directories will be in sync. + +Training should take several hours. You will find checkpoints in `outputs/train/act_moss_test/checkpoints`. + +## Evaluate your policy + +You can use the `record` function from [`lerobot/scripts/control_robot.py`](../lerobot/scripts/control_robot.py) but with a policy checkpoint as input. For instance, run this command to record 10 evaluation episodes: +```bash +python lerobot/scripts/control_robot.py record \ + --robot-path lerobot/configs/robot/moss.yaml \ + --fps 30 \ + --root data \ + --repo-id ${HF_USER}/eval_act_moss_test \ + --tags moss tutorial eval \ + --warmup-time-s 5 \ + --episode-time-s 40 \ + --reset-time-s 10 \ + --num-episodes 10 \ + -p outputs/train/act_moss_test/checkpoints/last/pretrained_model +``` + +As you can see, it's almost the same command as previously used to record your training dataset. Two things changed: +1. There is an additional `-p` argument which indicates the path to your policy checkpoint with (e.g. `-p outputs/train/eval_moss_test/checkpoints/last/pretrained_model`). You can also use the model repository if you uploaded a model checkpoint to the hub (e.g. `-p ${HF_USER}/act_moss_test`). +2. The name of dataset begins by `eval` to reflect that you are running inference (e.g. `--repo-id ${HF_USER}/eval_act_moss_test`). + +## More + +Follow this [previous tutorial](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data) for a more in-depth tutorial on controlling real robots with LeRobot. + +If you have any question or need help, please reach out on Discord in the channel [`#moss-arm`](https://discord.com/channels/1216765309076115607/1275374638985252925). diff --git a/examples/7_get_started_with_real_robot.md b/examples/7_get_started_with_real_robot.md index 266e4f0da..9db7e2521 100644 --- a/examples/7_get_started_with_real_robot.md +++ b/examples/7_get_started_with_real_robot.md @@ -78,12 +78,12 @@ To begin, create two instances of the [`DynamixelMotorsBus`](../lerobot/common/ To find the correct ports for each arm, run the utility script twice: ```bash -python lerobot/common/robot_devices/motors/dynamixel.py +python lerobot/scripts/find_motors_bus_port.py ``` Example output when identifying the leader arm's port (e.g., `/dev/tty.usbmodem575E0031751` on Mac, or possibly `/dev/ttyACM0` on Linux): ``` -Finding all available ports for the DynamixelMotorsBus. +Finding all available ports for the MotorBus. ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] Remove the usb cable from your DynamixelMotorsBus and press Enter when done. @@ -95,7 +95,7 @@ Reconnect the usb cable. Example output when identifying the follower arm's port (e.g., `/dev/tty.usbmodem575E0032081`, or possibly `/dev/ttyACM1` on Linux): ``` -Finding all available ports for the DynamixelMotorsBus. +Finding all available ports for the MotorBus. ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] Remove the usb cable from your DynamixelMotorsBus and press Enter when done. diff --git a/examples/8_use_stretch.md b/examples/8_use_stretch.md index fcd1cacee..97caf2ba8 100644 --- a/examples/8_use_stretch.md +++ b/examples/8_use_stretch.md @@ -50,7 +50,7 @@ cd ~/lerobot && pip install -e ".[stretch]" > **Note:** If you get this message, you can ignore it: `ERROR: pip's dependency resolver does not currently take into account all the packages that are installed.` -And install extra dependencies for recording datasets on Linux: +For Linux only (not Mac), install extra dependencies for recording datasets: ```bash conda install -y -c conda-forge ffmpeg pip uninstall -y opencv-python diff --git a/examples/9_use_aloha.md b/examples/9_use_aloha.md index d161978fd..cf5e1ceca 100644 --- a/examples/9_use_aloha.md +++ b/examples/9_use_aloha.md @@ -35,7 +35,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot cd ~/lerobot && pip install -e ".[dynamixel, intelrealsense]" ``` -And install extra dependencies for recording datasets on Linux: +For Linux only (not Mac), install extra dependencies for recording datasets: ```bash conda install -y -c conda-forge ffmpeg pip uninstall -y opencv-python diff --git a/lerobot/__init__.py b/lerobot/__init__.py index 5acd8aaad..d462c7337 100644 --- a/lerobot/__init__.py +++ b/lerobot/__init__.py @@ -198,6 +198,8 @@ "koch", "koch_bimanual", "aloha", + "so100", + "moss", ] # lists all available cameras from `lerobot/common/robot_devices/cameras` @@ -209,6 +211,7 @@ # lists all available motors from `lerobot/common/robot_devices/motors` available_motors = [ "dynamixel", + "feetech", ] # keys and values refer to yaml files diff --git a/lerobot/common/robot_devices/cameras/intelrealsense.py b/lerobot/common/robot_devices/cameras/intelrealsense.py index 66c7fe5cb..479694277 100644 --- a/lerobot/common/robot_devices/cameras/intelrealsense.py +++ b/lerobot/common/robot_devices/cameras/intelrealsense.py @@ -21,9 +21,9 @@ from lerobot.common.robot_devices.utils import ( RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError, + busy_wait, ) from lerobot.common.utils.utils import capture_timestamp_utc -from lerobot.scripts.control_robot import busy_wait SERIAL_NUMBER_INDEX = 1 diff --git a/lerobot/common/robot_devices/motors/dynamixel.py b/lerobot/common/robot_devices/motors/dynamixel.py index 815b4986a..1e1396f76 100644 --- a/lerobot/common/robot_devices/motors/dynamixel.py +++ b/lerobot/common/robot_devices/motors/dynamixel.py @@ -4,7 +4,6 @@ import time import traceback from copy import deepcopy -from pathlib import Path import numpy as np import tqdm @@ -229,35 +228,6 @@ def assert_same_address(model_ctrl_table, motor_models, data_name): ) -def find_available_ports(): - ports = [] - for path in Path("/dev").glob("tty*"): - ports.append(str(path)) - return ports - - -def find_port(): - print("Finding all available ports for the DynamixelMotorsBus.") - ports_before = find_available_ports() - print(ports_before) - - print("Remove the usb cable from your DynamixelMotorsBus and press Enter when done.") - input() - - time.sleep(0.5) - ports_after = find_available_ports() - ports_diff = list(set(ports_before) - set(ports_after)) - - if len(ports_diff) == 1: - port = ports_diff[0] - print(f"The port of this DynamixelMotorsBus is '{port}'") - print("Reconnect the usb cable.") - elif len(ports_diff) == 0: - raise OSError(f"Could not detect the port. No difference was found ({ports_diff}).") - else: - raise OSError(f"Could not detect the port. More than one port was found ({ports_diff}).") - - class TorqueMode(enum.Enum): ENABLED = 1 DISABLED = 0 @@ -290,8 +260,8 @@ class DynamixelMotorsBus: A DynamixelMotorsBus instance requires a port (e.g. `DynamixelMotorsBus(port="/dev/tty.usbmodem575E0031751"`)). To find the port, you can run our utility script: ```bash - python lerobot/common/robot_devices/motors/dynamixel.py - >>> Finding all available ports for the DynamixelMotorsBus. + python lerobot/scripts/find_motors_bus_port.py + >>> Finding all available ports for the MotorBus. >>> ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] >>> Remove the usb cable from your DynamixelMotorsBus and press Enter when done. >>> The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0031751. @@ -369,7 +339,7 @@ def connect(self): except Exception: traceback.print_exc() print( - "\nTry running `python lerobot/common/robot_devices/motors/dynamixel.py` to make sure you are using the correct port.\n" + "\nTry running `python lerobot/scripts/find_motors_bus_port.py` to make sure you are using the correct port.\n" ) raise @@ -378,20 +348,6 @@ def connect(self): self.port_handler.setPacketTimeoutMillis(TIMEOUT_MS) - # Set expected baudrate for the bus - self.set_bus_baudrate(BAUDRATE) - - if not self.are_motors_configured(): - input( - "\n/!\\ A configuration issue has been detected with your motors: \n" - "If it's the first time that you use these motors, press enter to configure your motors... but before " - "verify that all the cables are connected the proper way. If you find an issue, before making a modification, " - "kill the python process, unplug the power cord to not damage the motors, rewire correctly, then plug the power " - "again and relaunch the script.\n" - ) - print() - self.configure_motors() - def reconnect(self): if self.mock: import tests.mock_dynamixel_sdk as dxl @@ -415,120 +371,14 @@ def are_motors_configured(self): print(e) return False - def configure_motors(self): - # TODO(rcadene): This script assumes motors follow the X_SERIES baudrates - # TODO(rcadene): Refactor this function with intermediate high-level functions - - print("Scanning all baudrates and motor indices") - all_baudrates = set(X_SERIES_BAUDRATE_TABLE.values()) - ids_per_baudrate = {} - for baudrate in all_baudrates: - self.set_bus_baudrate(baudrate) - present_ids = self.find_motor_indices() - if len(present_ids) > 0: - ids_per_baudrate[baudrate] = present_ids - print(f"Motor indices detected: {ids_per_baudrate}") - print() - - possible_baudrates = list(ids_per_baudrate.keys()) - possible_ids = list({idx for sublist in ids_per_baudrate.values() for idx in sublist}) - untaken_ids = list(set(range(MAX_ID_RANGE)) - set(possible_ids) - set(self.motor_indices)) - - # Connect successively one motor to the chain and write a unique random index for each - for i in range(len(self.motors)): - self.disconnect() - input( - "1. Unplug the power cord\n" - "2. Plug/unplug minimal number of cables to only have the first " - f"{i+1} motor(s) ({self.motor_names[:i+1]}) connected.\n" - "3. Re-plug the power cord\n" - "Press Enter to continue..." - ) - print() - self.reconnect() - - if i > 0: - try: - self._read_with_motor_ids(self.motor_models, untaken_ids[:i], "ID") - except ConnectionError: - print(f"Failed to read from {untaken_ids[:i+1]}. Make sure the power cord is plugged in.") - input("Press Enter to continue...") - print() - self.reconnect() - - print("Scanning possible baudrates and motor indices") - motor_found = False - for baudrate in possible_baudrates: - self.set_bus_baudrate(baudrate) - present_ids = self.find_motor_indices(possible_ids) - if len(present_ids) == 1: - present_idx = present_ids[0] - print(f"Detected motor with index {present_idx}") - - if baudrate != BAUDRATE: - print(f"Setting its baudrate to {BAUDRATE}") - baudrate_idx = list(X_SERIES_BAUDRATE_TABLE.values()).index(BAUDRATE) - - # The write can fail, so we allow retries - for _ in range(NUM_WRITE_RETRY): - self._write_with_motor_ids( - self.motor_models, present_idx, "Baud_Rate", baudrate_idx - ) - time.sleep(0.5) - self.set_bus_baudrate(BAUDRATE) - try: - present_baudrate_idx = self._read_with_motor_ids( - self.motor_models, present_idx, "Baud_Rate" - ) - except ConnectionError: - print("Failed to write baudrate. Retrying.") - self.set_bus_baudrate(baudrate) - continue - break - else: - raise - - if present_baudrate_idx != baudrate_idx: - raise OSError("Failed to write baudrate.") - - print(f"Setting its index to a temporary untaken index ({untaken_ids[i]})") - self._write_with_motor_ids(self.motor_models, present_idx, "ID", untaken_ids[i]) - - present_idx = self._read_with_motor_ids(self.motor_models, untaken_ids[i], "ID") - if present_idx != untaken_ids[i]: - raise OSError("Failed to write index.") - - motor_found = True - break - elif len(present_ids) > 1: - raise OSError(f"More than one motor detected ({present_ids}), but only one was expected.") - - if not motor_found: - raise OSError( - "No motor found, but one new motor expected. Verify power cord is plugged in and retry." - ) - print() - - print(f"Setting expected motor indices: {self.motor_indices}") - self.set_bus_baudrate(BAUDRATE) - self._write_with_motor_ids( - self.motor_models, untaken_ids[: len(self.motors)], "ID", self.motor_indices - ) - print() - - if (self.read("ID") != self.motor_indices).any(): - raise OSError("Failed to write motors indices.") - - print("Configuration is done!") - - def find_motor_indices(self, possible_ids=None): + def find_motor_indices(self, possible_ids=None, num_retry=2): if possible_ids is None: possible_ids = range(MAX_ID_RANGE) indices = [] for idx in tqdm.tqdm(possible_ids): try: - present_idx = self._read_with_motor_ids(self.motor_models, [idx], "ID")[0] + present_idx = self.read_with_motor_ids(self.motor_models, [idx], "ID", num_retry=num_retry)[0] except ConnectionError: continue @@ -788,7 +638,7 @@ def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] | values = np.round(values).astype(np.int32) return values - def _read_with_motor_ids(self, motor_models, motor_ids, data_name): + def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY): if self.mock: import tests.mock_dynamixel_sdk as dxl else: @@ -805,7 +655,11 @@ def _read_with_motor_ids(self, motor_models, motor_ids, data_name): for idx in motor_ids: group.addParam(idx) - comm = group.txRxPacket() + for _ in range(num_retry): + comm = group.txRxPacket() + if comm == dxl.COMM_SUCCESS: + break + if comm != dxl.COMM_SUCCESS: raise ConnectionError( f"Read failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: " @@ -895,7 +749,7 @@ def read(self, data_name, motor_names: str | list[str] | None = None): return values - def _write_with_motor_ids(self, motor_models, motor_ids, data_name, values): + def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY): if self.mock: import tests.mock_dynamixel_sdk as dxl else: @@ -913,7 +767,11 @@ def _write_with_motor_ids(self, motor_models, motor_ids, data_name, values): data = convert_to_bytes(value, bytes, self.mock) group.addParam(idx, data) - comm = group.txPacket() + for _ in range(num_retry): + comm = group.txPacket() + if comm == dxl.COMM_SUCCESS: + break + if comm != dxl.COMM_SUCCESS: raise ConnectionError( f"Write failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: " @@ -1007,8 +865,3 @@ def disconnect(self): def __del__(self): if getattr(self, "is_connected", False): self.disconnect() - - -if __name__ == "__main__": - # Helper to find the usb port associated to all your DynamixelMotorsBus. - find_port() diff --git a/lerobot/common/robot_devices/motors/feetech.py b/lerobot/common/robot_devices/motors/feetech.py new file mode 100644 index 000000000..0d5480f7a --- /dev/null +++ b/lerobot/common/robot_devices/motors/feetech.py @@ -0,0 +1,887 @@ +import enum +import logging +import math +import time +import traceback +from copy import deepcopy + +import numpy as np +import tqdm + +from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError +from lerobot.common.utils.utils import capture_timestamp_utc + +PROTOCOL_VERSION = 0 +BAUDRATE = 1_000_000 +TIMEOUT_MS = 1000 + +MAX_ID_RANGE = 252 + +# The following bounds define the lower and upper joints range (after calibration). +# For joints in degree (i.e. revolute joints), their nominal range is [-180, 180] degrees +# which corresponds to a half rotation on the left and half rotation on the right. +# Some joints might require higher range, so we allow up to [-270, 270] degrees until +# an error is raised. +LOWER_BOUND_DEGREE = -270 +UPPER_BOUND_DEGREE = 270 +# For joints in percentage (i.e. joints that move linearly like the prismatic joint of a gripper), +# their nominal range is [0, 100] %. For instance, for Aloha gripper, 0% is fully +# closed, and 100% is fully open. To account for slight calibration issue, we allow up to +# [-10, 110] until an error is raised. +LOWER_BOUND_LINEAR = -10 +UPPER_BOUND_LINEAR = 110 + +HALF_TURN_DEGREE = 180 + + +# See this link for STS3215 Memory Table: +# https://docs.google.com/spreadsheets/d/1GVs7W1VS1PqdhA1nW-abeyAHhTUxKUdR/edit?usp=sharing&ouid=116566590112741600240&rtpof=true&sd=true +# data_name: (address, size_byte) +SCS_SERIES_CONTROL_TABLE = { + "Model": (3, 2), + "ID": (5, 1), + "Baud_Rate": (6, 1), + "Return_Delay": (7, 1), + "Response_Status_Level": (8, 1), + "Min_Angle_Limit": (9, 2), + "Max_Angle_Limit": (11, 2), + "Max_Temperature_Limit": (13, 1), + "Max_Voltage_Limit": (14, 1), + "Min_Voltage_Limit": (15, 1), + "Max_Torque_Limit": (16, 2), + "Phase": (18, 1), + "Unloading_Condition": (19, 1), + "LED_Alarm_Condition": (20, 1), + "P_Coefficient": (21, 1), + "D_Coefficient": (22, 1), + "I_Coefficient": (23, 1), + "Minimum_Startup_Force": (24, 2), + "CW_Dead_Zone": (26, 1), + "CCW_Dead_Zone": (27, 1), + "Protection_Current": (28, 2), + "Angular_Resolution": (30, 1), + "Offset": (31, 2), + "Mode": (33, 1), + "Protective_Torque": (34, 1), + "Protection_Time": (35, 1), + "Overload_Torque": (36, 1), + "Speed_closed_loop_P_proportional_coefficient": (37, 1), + "Over_Current_Protection_Time": (38, 1), + "Velocity_closed_loop_I_integral_coefficient": (39, 1), + "Torque_Enable": (40, 1), + "Acceleration": (41, 1), + "Goal_Position": (42, 2), + "Goal_Time": (44, 2), + "Goal_Speed": (46, 2), + "Torque_Limit": (48, 2), + "Lock": (55, 1), + "Present_Position": (56, 2), + "Present_Speed": (58, 2), + "Present_Load": (60, 2), + "Present_Voltage": (62, 1), + "Present_Temperature": (63, 1), + "Status": (65, 1), + "Moving": (66, 1), + "Present_Current": (69, 2), + # Not in the Memory Table + "Maximum_Acceleration": (85, 2), +} + +SCS_SERIES_BAUDRATE_TABLE = { + 0: 1_000_000, + 1: 500_000, + 2: 250_000, + 3: 128_000, + 4: 115_200, + 5: 57_600, + 6: 38_400, + 7: 19_200, +} + +CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"] +CONVERT_UINT32_TO_INT32_REQUIRED = ["Goal_Position", "Present_Position"] + + +MODEL_CONTROL_TABLE = { + "scs_series": SCS_SERIES_CONTROL_TABLE, + "sts3215": SCS_SERIES_CONTROL_TABLE, +} + +MODEL_RESOLUTION = { + "scs_series": 4096, + "sts3215": 4096, +} + +MODEL_BAUDRATE_TABLE = { + "scs_series": SCS_SERIES_BAUDRATE_TABLE, + "sts3215": SCS_SERIES_BAUDRATE_TABLE, +} + +# High number of retries is needed for feetech compared to dynamixel motors. +NUM_READ_RETRY = 20 +NUM_WRITE_RETRY = 20 + + +def convert_degrees_to_steps(degrees: float | np.ndarray, models: str | list[str]) -> np.ndarray: + """This function converts the degree range to the step range for indicating motors rotation. + It assumes a motor achieves a full rotation by going from -180 degree position to +180. + The motor resolution (e.g. 4096) corresponds to the number of steps needed to achieve a full rotation. + """ + resolutions = [MODEL_RESOLUTION[model] for model in models] + steps = degrees / 180 * np.array(resolutions) / 2 + steps = steps.astype(int) + return steps + + +def convert_to_bytes(value, bytes, mock=False): + if mock: + return value + + import scservo_sdk as scs + + # Note: No need to convert back into unsigned int, since this byte preprocessing + # already handles it for us. + if bytes == 1: + data = [ + scs.SCS_LOBYTE(scs.SCS_LOWORD(value)), + ] + elif bytes == 2: + data = [ + scs.SCS_LOBYTE(scs.SCS_LOWORD(value)), + scs.SCS_HIBYTE(scs.SCS_LOWORD(value)), + ] + elif bytes == 4: + data = [ + scs.SCS_LOBYTE(scs.SCS_LOWORD(value)), + scs.SCS_HIBYTE(scs.SCS_LOWORD(value)), + scs.SCS_LOBYTE(scs.SCS_HIWORD(value)), + scs.SCS_HIBYTE(scs.SCS_HIWORD(value)), + ] + else: + raise NotImplementedError( + f"Value of the number of bytes to be sent is expected to be in [1, 2, 4], but " + f"{bytes} is provided instead." + ) + return data + + +def get_group_sync_key(data_name, motor_names): + group_key = f"{data_name}_" + "_".join(motor_names) + return group_key + + +def get_result_name(fn_name, data_name, motor_names): + group_key = get_group_sync_key(data_name, motor_names) + rslt_name = f"{fn_name}_{group_key}" + return rslt_name + + +def get_queue_name(fn_name, data_name, motor_names): + group_key = get_group_sync_key(data_name, motor_names) + queue_name = f"{fn_name}_{group_key}" + return queue_name + + +def get_log_name(var_name, fn_name, data_name, motor_names): + group_key = get_group_sync_key(data_name, motor_names) + log_name = f"{var_name}_{fn_name}_{group_key}" + return log_name + + +def assert_same_address(model_ctrl_table, motor_models, data_name): + all_addr = [] + all_bytes = [] + for model in motor_models: + addr, bytes = model_ctrl_table[model][data_name] + all_addr.append(addr) + all_bytes.append(bytes) + + if len(set(all_addr)) != 1: + raise NotImplementedError( + f"At least two motor models use a different address for `data_name`='{data_name}' ({list(zip(motor_models, all_addr, strict=False))}). Contact a LeRobot maintainer." + ) + + if len(set(all_bytes)) != 1: + raise NotImplementedError( + f"At least two motor models use a different bytes representation for `data_name`='{data_name}' ({list(zip(motor_models, all_bytes, strict=False))}). Contact a LeRobot maintainer." + ) + + +class TorqueMode(enum.Enum): + ENABLED = 1 + DISABLED = 0 + + +class DriveMode(enum.Enum): + NON_INVERTED = 0 + INVERTED = 1 + + +class CalibrationMode(enum.Enum): + # Joints with rotational motions are expressed in degrees in nominal range of [-180, 180] + DEGREE = 0 + # Joints with linear motions (like gripper of Aloha) are experessed in nominal range of [0, 100] + LINEAR = 1 + + +class JointOutOfRangeError(Exception): + def __init__(self, message="Joint is out of range"): + self.message = message + super().__init__(self.message) + + +class FeetechMotorsBus: + """ + The FeetechMotorsBus class allows to efficiently read and write to the attached motors. It relies on + the python feetech sdk to communicate with the motors. For more info, see the [feetech SDK Documentation](https://emanual.robotis.com/docs/en/software/feetech/feetech_sdk/sample_code/python_read_write_protocol_2_0/#python-read-write-protocol-20). + + A FeetechMotorsBus instance requires a port (e.g. `FeetechMotorsBus(port="/dev/tty.usbmodem575E0031751"`)). + To find the port, you can run our utility script: + ```bash + python lerobot/scripts/find_motors_bus_port.py + >>> Finding all available ports for the MotorsBus. + >>> ['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] + >>> Remove the usb cable from your FeetechMotorsBus and press Enter when done. + >>> The port of this FeetechMotorsBus is /dev/tty.usbmodem575E0031751. + >>> Reconnect the usb cable. + ``` + + Example of usage for 1 motor connected to the bus: + ```python + motor_name = "gripper" + motor_index = 6 + motor_model = "sts3215" + + motors_bus = FeetechMotorsBus( + port="/dev/tty.usbmodem575E0031751", + motors={motor_name: (motor_index, motor_model)}, + ) + motors_bus.connect() + + position = motors_bus.read("Present_Position") + + # move from a few motor steps as an example + few_steps = 30 + motors_bus.write("Goal_Position", position + few_steps) + + # when done, consider disconnecting + motors_bus.disconnect() + ``` + """ + + def __init__( + self, + port: str, + motors: dict[str, tuple[int, str]], + extra_model_control_table: dict[str, list[tuple]] | None = None, + extra_model_resolution: dict[str, int] | None = None, + mock=False, + ): + self.port = port + self.motors = motors + self.mock = mock + + self.model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE) + if extra_model_control_table: + self.model_ctrl_table.update(extra_model_control_table) + + self.model_resolution = deepcopy(MODEL_RESOLUTION) + if extra_model_resolution: + self.model_resolution.update(extra_model_resolution) + + self.port_handler = None + self.packet_handler = None + self.calibration = None + self.is_connected = False + self.group_readers = {} + self.group_writers = {} + self.logs = {} + + self.track_positions = {} + + def connect(self): + if self.is_connected: + raise RobotDeviceAlreadyConnectedError( + f"FeetechMotorsBus({self.port}) is already connected. Do not call `motors_bus.connect()` twice." + ) + + if self.mock: + import tests.mock_scservo_sdk as scs + else: + import scservo_sdk as scs + + self.port_handler = scs.PortHandler(self.port) + self.packet_handler = scs.PacketHandler(PROTOCOL_VERSION) + + try: + if not self.port_handler.openPort(): + raise OSError(f"Failed to open port '{self.port}'.") + except Exception: + traceback.print_exc() + print( + "\nTry running `python lerobot/scripts/find_motors_bus_port.py` to make sure you are using the correct port.\n" + ) + raise + + # Allow to read and write + self.is_connected = True + + self.port_handler.setPacketTimeoutMillis(TIMEOUT_MS) + + def reconnect(self): + if self.mock: + import tests.mock_scservo_sdk as scs + else: + import scservo_sdk as scs + + self.port_handler = scs.PortHandler(self.port) + self.packet_handler = scs.PacketHandler(PROTOCOL_VERSION) + + if not self.port_handler.openPort(): + raise OSError(f"Failed to open port '{self.port}'.") + + self.is_connected = True + + def are_motors_configured(self): + # Only check the motor indices and not baudrate, since if the motor baudrates are incorrect, + # a ConnectionError will be raised anyway. + try: + return (self.motor_indices == self.read("ID")).all() + except ConnectionError as e: + print(e) + return False + + def find_motor_indices(self, possible_ids=None, num_retry=2): + if possible_ids is None: + possible_ids = range(MAX_ID_RANGE) + + indices = [] + for idx in tqdm.tqdm(possible_ids): + try: + present_idx = self.read_with_motor_ids(self.motor_models, [idx], "ID", num_retry=num_retry)[0] + except ConnectionError: + continue + + if idx != present_idx: + # sanity check + raise OSError( + "Motor index used to communicate through the bus is not the same as the one present in the motor memory. The motor memory might be damaged." + ) + indices.append(idx) + + return indices + + def set_bus_baudrate(self, baudrate): + present_bus_baudrate = self.port_handler.getBaudRate() + if present_bus_baudrate != baudrate: + print(f"Setting bus baud rate to {baudrate}. Previously {present_bus_baudrate}.") + self.port_handler.setBaudRate(baudrate) + + if self.port_handler.getBaudRate() != baudrate: + raise OSError("Failed to write bus baud rate.") + + @property + def motor_names(self) -> list[str]: + return list(self.motors.keys()) + + @property + def motor_models(self) -> list[str]: + return [model for _, model in self.motors.values()] + + @property + def motor_indices(self) -> list[int]: + return [idx for idx, _ in self.motors.values()] + + def set_calibration(self, calibration: dict[str, list]): + self.calibration = calibration + + def apply_calibration_autocorrect(self, values: np.ndarray | list, motor_names: list[str] | None): + """This function apply the calibration, automatically detects out of range errors for motors values and attempt to correct. + + For more info, see docstring of `apply_calibration` and `autocorrect_calibration`. + """ + try: + values = self.apply_calibration(values, motor_names) + except JointOutOfRangeError as e: + print(e) + self.autocorrect_calibration(values, motor_names) + values = self.apply_calibration(values, motor_names) + return values + + def apply_calibration(self, values: np.ndarray | list, motor_names: list[str] | None): + """Convert from unsigned int32 joint position range [0, 2**32[ to the universal float32 nominal degree range ]-180.0, 180.0[ with + a "zero position" at 0 degree. + + Note: We say "nominal degree range" since the motors can take values outside this range. For instance, 190 degrees, if the motor + rotate more than a half a turn from the zero position. However, most motors can't rotate more than 180 degrees and will stay in this range. + + Joints values are original in [0, 2**32[ (unsigned int32). Each motor are expected to complete a full rotation + when given a goal position that is + or - their resolution. For instance, feetech xl330-m077 have a resolution of 4096, and + at any position in their original range, let's say the position 56734, they complete a full rotation clockwise by moving to 60830, + or anticlockwise by moving to 52638. The position in the original range is arbitrary and might change a lot between each motor. + To harmonize between motors of the same model, different robots, or even models of different brands, we propose to work + in the centered nominal degree range ]-180, 180[. + """ + if motor_names is None: + motor_names = self.motor_names + + # Convert from unsigned int32 original range [0, 2**32] to signed float32 range + values = values.astype(np.float32) + + for i, name in enumerate(motor_names): + calib_idx = self.calibration["motor_names"].index(name) + calib_mode = self.calibration["calib_mode"][calib_idx] + + if CalibrationMode[calib_mode] == CalibrationMode.DEGREE: + drive_mode = self.calibration["drive_mode"][calib_idx] + homing_offset = self.calibration["homing_offset"][calib_idx] + _, model = self.motors[name] + resolution = self.model_resolution[model] + + # Update direction of rotation of the motor to match between leader and follower. + # In fact, the motor of the leader for a given joint can be assembled in an + # opposite direction in term of rotation than the motor of the follower on the same joint. + if drive_mode: + values[i] *= -1 + + # Convert from range [-2**31, 2**31[ to + # nominal range ]-resolution, resolution[ (e.g. ]-2048, 2048[) + values[i] += homing_offset + + # Convert from range ]-resolution, resolution[ to + # universal float32 centered degree range ]-180, 180[ + values[i] = values[i] / (resolution // 2) * HALF_TURN_DEGREE + + if (values[i] < LOWER_BOUND_DEGREE) or (values[i] > UPPER_BOUND_DEGREE): + raise JointOutOfRangeError( + f"Wrong motor position range detected for {name}. " + f"Expected to be in nominal range of [-{HALF_TURN_DEGREE}, {HALF_TURN_DEGREE}] degrees (a full rotation), " + f"with a maximum range of [{LOWER_BOUND_DEGREE}, {UPPER_BOUND_DEGREE}] degrees to account for joints that can rotate a bit more, " + f"but present value is {values[i]} degree. " + "This might be due to a cable connection issue creating an artificial 360 degrees jump in motor values. " + "You need to recalibrate by running: `python lerobot/scripts/control_robot.py calibrate`" + ) + + elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR: + start_pos = self.calibration["start_pos"][calib_idx] + end_pos = self.calibration["end_pos"][calib_idx] + + # Rescale the present position to a nominal range [0, 100] %, + # useful for joints with linear motions like Aloha gripper + values[i] = (values[i] - start_pos) / (end_pos - start_pos) * 100 + + if (values[i] < LOWER_BOUND_LINEAR) or (values[i] > UPPER_BOUND_LINEAR): + raise JointOutOfRangeError( + f"Wrong motor position range detected for {name}. " + f"Expected to be in nominal range of [0, 100] % (a full linear translation), " + f"with a maximum range of [{LOWER_BOUND_LINEAR}, {UPPER_BOUND_LINEAR}] % to account for some imprecision during calibration, " + f"but present value is {values[i]} %. " + "This might be due to a cable connection issue creating an artificial jump in motor values. " + "You need to recalibrate by running: `python lerobot/scripts/control_robot.py calibrate`" + ) + + return values + + def autocorrect_calibration(self, values: np.ndarray | list, motor_names: list[str] | None): + """This function automatically detects issues with values of motors after calibration, and correct for these issues. + + Some motors might have values outside of expected maximum bounds after calibration. + For instance, for a joint in degree, its value can be outside [-270, 270] degrees, which is totally unexpected given + a nominal range of [-180, 180] degrees, which represents half a turn to the left or right starting from zero position. + + Known issues: + #1: Motor value randomly shifts of a full turn, caused by hardware/connection errors. + #2: Motor internal homing offset is shifted of a full turn, caused by using default calibration (e.g Aloha). + #3: motor internal homing offset is shifted of less or more than a full turn, caused by using default calibration + or by human error during manual calibration. + + Issues #1 and #2 can be solved by shifting the calibration homing offset by a full turn. + Issue #3 will be visually detected by user and potentially captured by the safety feature `max_relative_target`, + that will slow down the motor, raise an error asking to recalibrate. Manual recalibrating will solve the issue. + + Note: A full turn corresponds to 360 degrees but also to 4096 steps for a motor resolution of 4096. + """ + if motor_names is None: + motor_names = self.motor_names + + # Convert from unsigned int32 original range [0, 2**32] to signed float32 range + values = values.astype(np.float32) + + for i, name in enumerate(motor_names): + calib_idx = self.calibration["motor_names"].index(name) + calib_mode = self.calibration["calib_mode"][calib_idx] + + if CalibrationMode[calib_mode] == CalibrationMode.DEGREE: + drive_mode = self.calibration["drive_mode"][calib_idx] + homing_offset = self.calibration["homing_offset"][calib_idx] + _, model = self.motors[name] + resolution = self.model_resolution[model] + + if drive_mode: + values[i] *= -1 + + # Convert from initial range to range [-180, 180] degrees + calib_val = (values[i] + homing_offset) / (resolution // 2) * HALF_TURN_DEGREE + in_range = (calib_val > LOWER_BOUND_DEGREE) and (calib_val < UPPER_BOUND_DEGREE) + + # Solve this inequality to find the factor to shift the range into [-180, 180] degrees + # values[i] = (values[i] + homing_offset + resolution * factor) / (resolution // 2) * HALF_TURN_DEGREE + # - HALF_TURN_DEGREE <= (values[i] + homing_offset + resolution * factor) / (resolution // 2) * HALF_TURN_DEGREE <= HALF_TURN_DEGREE + # (- HALF_TURN_DEGREE / HALF_TURN_DEGREE * (resolution // 2) - values[i] - homing_offset) / resolution <= factor <= (HALF_TURN_DEGREE / 180 * (resolution // 2) - values[i] - homing_offset) / resolution + low_factor = ( + -HALF_TURN_DEGREE / HALF_TURN_DEGREE * (resolution // 2) - values[i] - homing_offset + ) / resolution + upp_factor = ( + HALF_TURN_DEGREE / HALF_TURN_DEGREE * (resolution // 2) - values[i] - homing_offset + ) / resolution + + elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR: + start_pos = self.calibration["start_pos"][calib_idx] + end_pos = self.calibration["end_pos"][calib_idx] + + # Convert from initial range to range [0, 100] in % + calib_val = (values[i] - start_pos) / (end_pos - start_pos) * 100 + in_range = (calib_val > LOWER_BOUND_LINEAR) and (calib_val < UPPER_BOUND_LINEAR) + + # Solve this inequality to find the factor to shift the range into [0, 100] % + # values[i] = (values[i] - start_pos + resolution * factor) / (end_pos + resolution * factor - start_pos - resolution * factor) * 100 + # values[i] = (values[i] - start_pos + resolution * factor) / (end_pos - start_pos) * 100 + # 0 <= (values[i] - start_pos + resolution * factor) / (end_pos - start_pos) * 100 <= 100 + # (start_pos - values[i]) / resolution <= factor <= (end_pos - values[i]) / resolution + low_factor = (start_pos - values[i]) / resolution + upp_factor = (end_pos - values[i]) / resolution + + if not in_range: + # Get first integer between the two bounds + if low_factor < upp_factor: + factor = math.ceil(low_factor) + + if factor > upp_factor: + raise ValueError(f"No integer found between bounds [{low_factor=}, {upp_factor=}]") + else: + factor = math.ceil(upp_factor) + + if factor > low_factor: + raise ValueError(f"No integer found between bounds [{low_factor=}, {upp_factor=}]") + + if CalibrationMode[calib_mode] == CalibrationMode.DEGREE: + out_of_range_str = f"{LOWER_BOUND_DEGREE} < {calib_val} < {UPPER_BOUND_DEGREE} degrees" + in_range_str = f"{LOWER_BOUND_DEGREE} < {calib_val} < {UPPER_BOUND_DEGREE} degrees" + elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR: + out_of_range_str = f"{LOWER_BOUND_LINEAR} < {calib_val} < {UPPER_BOUND_LINEAR} %" + in_range_str = f"{LOWER_BOUND_LINEAR} < {calib_val} < {UPPER_BOUND_LINEAR} %" + + logging.warning( + f"Auto-correct calibration of motor '{name}' by shifting value by {abs(factor)} full turns, " + f"from '{out_of_range_str}' to '{in_range_str}'." + ) + + # A full turn corresponds to 360 degrees but also to 4096 steps for a motor resolution of 4096. + self.calibration["homing_offset"][calib_idx] += resolution * factor + + def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] | None): + """Inverse of `apply_calibration`.""" + if motor_names is None: + motor_names = self.motor_names + + for i, name in enumerate(motor_names): + calib_idx = self.calibration["motor_names"].index(name) + calib_mode = self.calibration["calib_mode"][calib_idx] + + if CalibrationMode[calib_mode] == CalibrationMode.DEGREE: + drive_mode = self.calibration["drive_mode"][calib_idx] + homing_offset = self.calibration["homing_offset"][calib_idx] + _, model = self.motors[name] + resolution = self.model_resolution[model] + + # Convert from nominal 0-centered degree range [-180, 180] to + # 0-centered resolution range (e.g. [-2048, 2048] for resolution=4096) + values[i] = values[i] / HALF_TURN_DEGREE * (resolution // 2) + + # Substract the homing offsets to come back to actual motor range of values + # which can be arbitrary. + values[i] -= homing_offset + + # Remove drive mode, which is the rotation direction of the motor, to come back to + # actual motor rotation direction which can be arbitrary. + if drive_mode: + values[i] *= -1 + + elif CalibrationMode[calib_mode] == CalibrationMode.LINEAR: + start_pos = self.calibration["start_pos"][calib_idx] + end_pos = self.calibration["end_pos"][calib_idx] + + # Convert from nominal lnear range of [0, 100] % to + # actual motor range of values which can be arbitrary. + values[i] = values[i] / 100 * (end_pos - start_pos) + start_pos + + values = np.round(values).astype(np.int32) + return values + + def avoid_rotation_reset(self, values, motor_names, data_name): + if data_name not in self.track_positions: + self.track_positions[data_name] = { + "prev": [None] * len(self.motor_names), + # Assume False at initialization + "below_zero": [False] * len(self.motor_names), + "above_max": [False] * len(self.motor_names), + } + + track = self.track_positions[data_name] + + if motor_names is None: + motor_names = self.motor_names + + for i, name in enumerate(motor_names): + idx = self.motor_names.index(name) + + if track["prev"][idx] is None: + track["prev"][idx] = values[i] + continue + + # Detect a full rotation occured + if abs(track["prev"][idx] - values[i]) > 2048: + # Position went below 0 and got reset to 4095 + if track["prev"][idx] < values[i]: + # So we set negative value by adding a full rotation + values[i] -= 4096 + + # Position went above 4095 and got reset to 0 + elif track["prev"][idx] > values[i]: + # So we add a full rotation + values[i] += 4096 + + track["prev"][idx] = values[i] + + return values + + def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY): + if self.mock: + import tests.mock_scservo_sdk as scs + else: + import scservo_sdk as scs + + return_list = True + if not isinstance(motor_ids, list): + return_list = False + motor_ids = [motor_ids] + + assert_same_address(self.model_ctrl_table, self.motor_models, data_name) + addr, bytes = self.model_ctrl_table[motor_models[0]][data_name] + group = scs.GroupSyncRead(self.port_handler, self.packet_handler, addr, bytes) + for idx in motor_ids: + group.addParam(idx) + + for _ in range(num_retry): + comm = group.txRxPacket() + if comm == scs.COMM_SUCCESS: + break + + if comm != scs.COMM_SUCCESS: + raise ConnectionError( + f"Read failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: " + f"{self.packet_handler.getTxRxResult(comm)}" + ) + + values = [] + for idx in motor_ids: + value = group.getData(idx, addr, bytes) + values.append(value) + + if return_list: + return values + else: + return values[0] + + def read(self, data_name, motor_names: str | list[str] | None = None): + if self.mock: + import tests.mock_scservo_sdk as scs + else: + import scservo_sdk as scs + + if not self.is_connected: + raise RobotDeviceNotConnectedError( + f"FeetechMotorsBus({self.port}) is not connected. You need to run `motors_bus.connect()`." + ) + + start_time = time.perf_counter() + + if motor_names is None: + motor_names = self.motor_names + + if isinstance(motor_names, str): + motor_names = [motor_names] + + motor_ids = [] + models = [] + for name in motor_names: + motor_idx, model = self.motors[name] + motor_ids.append(motor_idx) + models.append(model) + + assert_same_address(self.model_ctrl_table, models, data_name) + addr, bytes = self.model_ctrl_table[model][data_name] + group_key = get_group_sync_key(data_name, motor_names) + + if data_name not in self.group_readers: + # create new group reader + self.group_readers[group_key] = scs.GroupSyncRead( + self.port_handler, self.packet_handler, addr, bytes + ) + for idx in motor_ids: + self.group_readers[group_key].addParam(idx) + + for _ in range(NUM_READ_RETRY): + comm = self.group_readers[group_key].txRxPacket() + if comm == scs.COMM_SUCCESS: + break + + if comm != scs.COMM_SUCCESS: + raise ConnectionError( + f"Read failed due to communication error on port {self.port} for group_key {group_key}: " + f"{self.packet_handler.getTxRxResult(comm)}" + ) + + values = [] + for idx in motor_ids: + value = self.group_readers[group_key].getData(idx, addr, bytes) + values.append(value) + + values = np.array(values) + + # Convert to signed int to use range [-2048, 2048] for our motor positions. + if data_name in CONVERT_UINT32_TO_INT32_REQUIRED: + values = values.astype(np.int32) + + if data_name in CALIBRATION_REQUIRED: + values = self.avoid_rotation_reset(values, motor_names, data_name) + + if data_name in CALIBRATION_REQUIRED and self.calibration is not None: + values = self.apply_calibration_autocorrect(values, motor_names) + + # log the number of seconds it took to read the data from the motors + delta_ts_name = get_log_name("delta_timestamp_s", "read", data_name, motor_names) + self.logs[delta_ts_name] = time.perf_counter() - start_time + + # log the utc time at which the data was received + ts_utc_name = get_log_name("timestamp_utc", "read", data_name, motor_names) + self.logs[ts_utc_name] = capture_timestamp_utc() + + return values + + def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY): + if self.mock: + import tests.mock_scservo_sdk as scs + else: + import scservo_sdk as scs + + if not isinstance(motor_ids, list): + motor_ids = [motor_ids] + if not isinstance(values, list): + values = [values] + + assert_same_address(self.model_ctrl_table, motor_models, data_name) + addr, bytes = self.model_ctrl_table[motor_models[0]][data_name] + group = scs.GroupSyncWrite(self.port_handler, self.packet_handler, addr, bytes) + for idx, value in zip(motor_ids, values, strict=True): + data = convert_to_bytes(value, bytes, self.mock) + group.addParam(idx, data) + + for _ in range(num_retry): + comm = group.txPacket() + if comm == scs.COMM_SUCCESS: + break + + if comm != scs.COMM_SUCCESS: + raise ConnectionError( + f"Write failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: " + f"{self.packet_handler.getTxRxResult(comm)}" + ) + + def write(self, data_name, values: int | float | np.ndarray, motor_names: str | list[str] | None = None): + if not self.is_connected: + raise RobotDeviceNotConnectedError( + f"FeetechMotorsBus({self.port}) is not connected. You need to run `motors_bus.connect()`." + ) + + start_time = time.perf_counter() + + if self.mock: + import tests.mock_scservo_sdk as scs + else: + import scservo_sdk as scs + + if motor_names is None: + motor_names = self.motor_names + + if isinstance(motor_names, str): + motor_names = [motor_names] + + if isinstance(values, (int, float, np.integer)): + values = [int(values)] * len(motor_names) + + values = np.array(values) + + motor_ids = [] + models = [] + for name in motor_names: + motor_idx, model = self.motors[name] + motor_ids.append(motor_idx) + models.append(model) + + if data_name in CALIBRATION_REQUIRED and self.calibration is not None: + values = self.revert_calibration(values, motor_names) + + values = values.tolist() + + assert_same_address(self.model_ctrl_table, models, data_name) + addr, bytes = self.model_ctrl_table[model][data_name] + group_key = get_group_sync_key(data_name, motor_names) + + init_group = data_name not in self.group_readers + if init_group: + self.group_writers[group_key] = scs.GroupSyncWrite( + self.port_handler, self.packet_handler, addr, bytes + ) + + for idx, value in zip(motor_ids, values, strict=True): + data = convert_to_bytes(value, bytes, self.mock) + if init_group: + self.group_writers[group_key].addParam(idx, data) + else: + self.group_writers[group_key].changeParam(idx, data) + + comm = self.group_writers[group_key].txPacket() + if comm != scs.COMM_SUCCESS: + raise ConnectionError( + f"Write failed due to communication error on port {self.port} for group_key {group_key}: " + f"{self.packet_handler.getTxRxResult(comm)}" + ) + + # log the number of seconds it took to write the data to the motors + delta_ts_name = get_log_name("delta_timestamp_s", "write", data_name, motor_names) + self.logs[delta_ts_name] = time.perf_counter() - start_time + + # TODO(rcadene): should we log the time before sending the write command? + # log the utc time when the write has been completed + ts_utc_name = get_log_name("timestamp_utc", "write", data_name, motor_names) + self.logs[ts_utc_name] = capture_timestamp_utc() + + def disconnect(self): + if not self.is_connected: + raise RobotDeviceNotConnectedError( + f"FeetechMotorsBus({self.port}) is not connected. Try running `motors_bus.connect()` first." + ) + + if self.port_handler is not None: + self.port_handler.closePort() + self.port_handler = None + + self.packet_handler = None + self.group_readers = {} + self.group_writers = {} + self.is_connected = False + + def __del__(self): + if getattr(self, "is_connected", False): + self.disconnect() diff --git a/lerobot/common/robot_devices/robots/dynamixel_calibration.py b/lerobot/common/robot_devices/robots/dynamixel_calibration.py new file mode 100644 index 000000000..5c4932d2e --- /dev/null +++ b/lerobot/common/robot_devices/robots/dynamixel_calibration.py @@ -0,0 +1,130 @@ +"""Logic to calibrate a robot arm built with dynamixel motors""" +# TODO(rcadene, aliberts): move this logic into the robot code when refactoring + +import numpy as np + +from lerobot.common.robot_devices.motors.dynamixel import ( + CalibrationMode, + TorqueMode, + convert_degrees_to_steps, +) +from lerobot.common.robot_devices.motors.utils import MotorsBus + +URL_TEMPLATE = ( + "https://raw.githubusercontent.com/huggingface/lerobot/main/media/{robot}/{arm}_{position}.webp" +) + +# The following positions are provided in nominal degree range ]-180, +180[ +# For more info on these constants, see comments in the code where they get used. +ZERO_POSITION_DEGREE = 0 +ROTATED_POSITION_DEGREE = 90 + + +def assert_drive_mode(drive_mode): + # `drive_mode` is in [0,1] with 0 means original rotation direction for the motor, and 1 means inverted. + if not np.all(np.isin(drive_mode, [0, 1])): + raise ValueError(f"`drive_mode` contains values other than 0 or 1: ({drive_mode})") + + +def apply_drive_mode(position, drive_mode): + assert_drive_mode(drive_mode) + # Convert `drive_mode` from [0, 1] with 0 indicates original rotation direction and 1 inverted, + # to [-1, 1] with 1 indicates original rotation direction and -1 inverted. + signed_drive_mode = -(drive_mode * 2 - 1) + position *= signed_drive_mode + return position + + +def compute_nearest_rounded_position(position, models): + delta_turn = convert_degrees_to_steps(ROTATED_POSITION_DEGREE, models) + nearest_pos = np.round(position.astype(float) / delta_turn) * delta_turn + return nearest_pos.astype(position.dtype) + + +def run_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str): + """This function ensures that a neural network trained on data collected on a given robot + can work on another robot. For instance before calibration, setting a same goal position + for each motor of two different robots will get two very different positions. But after calibration, + the two robots will move to the same position.To this end, this function computes the homing offset + and the drive mode for each motor of a given robot. + + Homing offset is used to shift the motor position to a ]-2048, +2048[ nominal range (when the motor uses 2048 steps + to complete a half a turn). This range is set around an arbitrary "zero position" corresponding to all motor positions + being 0. During the calibration process, you will need to manually move the robot to this "zero position". + + Drive mode is used to invert the rotation direction of the motor. This is useful when some motors have been assembled + in the opposite orientation for some robots. During the calibration process, you will need to manually move the robot + to the "rotated position". + + After calibration, the homing offsets and drive modes are stored in a cache. + + Example of usage: + ```python + run_arm_calibration(arm, "koch", "left", "follower") + ``` + """ + if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any(): + raise ValueError("To run calibration, the torque must be disabled on all motors.") + + print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...") + + print("\nMove arm to zero position") + print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero")) + input("Press Enter to continue...") + + # We arbitrarily chose our zero target position to be a straight horizontal position with gripper upwards and closed. + # It is easy to identify and all motors are in a "quarter turn" position. Once calibration is done, this position will + # correspond to every motor angle being 0. If you set all 0 as Goal Position, the arm will move in this position. + zero_target_pos = convert_degrees_to_steps(ZERO_POSITION_DEGREE, arm.motor_models) + + # Compute homing offset so that `present_position + homing_offset ~= target_position`. + zero_pos = arm.read("Present_Position") + zero_nearest_pos = compute_nearest_rounded_position(zero_pos, arm.motor_models) + homing_offset = zero_target_pos - zero_nearest_pos + + # The rotated target position corresponds to a rotation of a quarter turn from the zero position. + # This allows to identify the rotation direction of each motor. + # For instance, if the motor rotates 90 degree, and its value is -90 after applying the homing offset, then we know its rotation direction + # is inverted. However, for the calibration being successful, we need everyone to follow the same target position. + # Sometimes, there is only one possible rotation direction. For instance, if the gripper is closed, there is only one direction which + # corresponds to opening the gripper. When the rotation direction is ambiguous, we arbitrarely rotate clockwise from the point of view + # of the previous motor in the kinetic chain. + print("\nMove arm to rotated target position") + print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="rotated")) + input("Press Enter to continue...") + + rotated_target_pos = convert_degrees_to_steps(ROTATED_POSITION_DEGREE, arm.motor_models) + + # Find drive mode by rotating each motor by a quarter of a turn. + # Drive mode indicates if the motor rotation direction should be inverted (=1) or not (=0). + rotated_pos = arm.read("Present_Position") + drive_mode = (rotated_pos < zero_pos).astype(np.int32) + + # Re-compute homing offset to take into account drive mode + rotated_drived_pos = apply_drive_mode(rotated_pos, drive_mode) + rotated_nearest_pos = compute_nearest_rounded_position(rotated_drived_pos, arm.motor_models) + homing_offset = rotated_target_pos - rotated_nearest_pos + + print("\nMove arm to rest position") + print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="rest")) + input("Press Enter to continue...") + print() + + # Joints with rotational motions are expressed in degrees in nominal range of [-180, 180] + calib_mode = [CalibrationMode.DEGREE.name] * len(arm.motor_names) + + # TODO(rcadene): make type of joints (DEGREE or LINEAR) configurable from yaml? + if robot_type in ["aloha"] and "gripper" in arm.motor_names: + # Joints with linear motions (like gripper of Aloha) are experessed in nominal range of [0, 100] + calib_idx = arm.motor_names.index("gripper") + calib_mode[calib_idx] = CalibrationMode.LINEAR.name + + calib_data = { + "homing_offset": homing_offset.tolist(), + "drive_mode": drive_mode.tolist(), + "start_pos": zero_pos.tolist(), + "end_pos": rotated_pos.tolist(), + "calib_mode": calib_mode, + "motor_names": arm.motor_names, + } + return calib_data diff --git a/lerobot/common/robot_devices/robots/feetech_calibration.py b/lerobot/common/robot_devices/robots/feetech_calibration.py new file mode 100644 index 000000000..1fca07f43 --- /dev/null +++ b/lerobot/common/robot_devices/robots/feetech_calibration.py @@ -0,0 +1,485 @@ +"""Logic to calibrate a robot arm built with feetech motors""" +# TODO(rcadene, aliberts): move this logic into the robot code when refactoring + +import time + +import numpy as np + +from lerobot.common.robot_devices.motors.feetech import ( + CalibrationMode, + TorqueMode, + convert_degrees_to_steps, +) +from lerobot.common.robot_devices.motors.utils import MotorsBus + +URL_TEMPLATE = ( + "https://raw.githubusercontent.com/huggingface/lerobot/main/media/{robot}/{arm}_{position}.webp" +) + +# The following positions are provided in nominal degree range ]-180, +180[ +# For more info on these constants, see comments in the code where they get used. +ZERO_POSITION_DEGREE = 0 +ROTATED_POSITION_DEGREE = 90 + + +def assert_drive_mode(drive_mode): + # `drive_mode` is in [0,1] with 0 means original rotation direction for the motor, and 1 means inverted. + if not np.all(np.isin(drive_mode, [0, 1])): + raise ValueError(f"`drive_mode` contains values other than 0 or 1: ({drive_mode})") + + +def apply_drive_mode(position, drive_mode): + assert_drive_mode(drive_mode) + # Convert `drive_mode` from [0, 1] with 0 indicates original rotation direction and 1 inverted, + # to [-1, 1] with 1 indicates original rotation direction and -1 inverted. + signed_drive_mode = -(drive_mode * 2 - 1) + position *= signed_drive_mode + return position + + +def move_until_block(arm, motor_name, positive_direction=True, while_move_hook=None): + count = 0 + while True: + present_pos = arm.read("Present_Position", motor_name) + if positive_direction: + # Move +100 steps every time. Lower the steps to lower the speed at which the arm moves. + arm.write("Goal_Position", present_pos + 100, motor_name) + else: + arm.write("Goal_Position", present_pos - 100, motor_name) + + if while_move_hook is not None: + while_move_hook() + + present_pos = arm.read("Present_Position", motor_name).item() + present_speed = arm.read("Present_Speed", motor_name).item() + present_current = arm.read("Present_Current", motor_name).item() + # present_load = arm.read("Present_Load", motor_name).item() + # present_voltage = arm.read("Present_Voltage", motor_name).item() + # present_temperature = arm.read("Present_Temperature", motor_name).item() + + # print(f"{present_pos=}") + # print(f"{present_speed=}") + # print(f"{present_current=}") + # print(f"{present_load=}") + # print(f"{present_voltage=}") + # print(f"{present_temperature=}") + + if present_speed == 0 and present_current > 50: + count += 1 + if count > 100 or present_current > 300: + return present_pos + else: + count = 0 + + +def move_to_calibrate( + arm, + motor_name, + invert_drive_mode=False, + positive_first=True, + in_between_move_hook=None, + while_move_hook=None, +): + initial_pos = arm.read("Present_Position", motor_name) + + if positive_first: + p_present_pos = move_until_block( + arm, motor_name, positive_direction=True, while_move_hook=while_move_hook + ) + else: + n_present_pos = move_until_block( + arm, motor_name, positive_direction=False, while_move_hook=while_move_hook + ) + + if in_between_move_hook is not None: + in_between_move_hook() + + if positive_first: + n_present_pos = move_until_block( + arm, motor_name, positive_direction=False, while_move_hook=while_move_hook + ) + else: + p_present_pos = move_until_block( + arm, motor_name, positive_direction=True, while_move_hook=while_move_hook + ) + + zero_pos = (n_present_pos + p_present_pos) / 2 + + calib_data = { + "initial_pos": initial_pos, + "homing_offset": zero_pos if invert_drive_mode else -zero_pos, + "invert_drive_mode": invert_drive_mode, + "drive_mode": -1 if invert_drive_mode else 0, + "zero_pos": zero_pos, + "start_pos": n_present_pos if invert_drive_mode else p_present_pos, + "end_pos": p_present_pos if invert_drive_mode else n_present_pos, + } + return calib_data + + +def apply_offset(calib, offset): + calib["zero_pos"] += offset + if calib["drive_mode"]: + calib["homing_offset"] += offset + else: + calib["homing_offset"] -= offset + return calib + + +def run_arm_auto_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str): + if robot_type == "so100": + return run_arm_auto_calibration_so100(arm, robot_type, arm_name, arm_type) + elif robot_type == "moss": + return run_arm_auto_calibration_moss(arm, robot_type, arm_name, arm_type) + else: + raise ValueError(robot_type) + + +def run_arm_auto_calibration_so100(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str): + """All the offsets and magic numbers are hand tuned, and are unique to SO-100 follower arms""" + if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any(): + raise ValueError("To run calibration, the torque must be disabled on all motors.") + + if not (robot_type == "so100" and arm_type == "follower"): + raise NotImplementedError("Auto calibration only supports the follower of so100 arms for now.") + + print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...") + + print("\nMove arm to initial position") + print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="initial")) + input("Press Enter to continue...") + + # Lower the acceleration of the motors (in [0,254]) + initial_acceleration = arm.read("Acceleration") + arm.write("Lock", 0) + arm.write("Acceleration", 10) + time.sleep(1) + + arm.write("Torque_Enable", TorqueMode.ENABLED.value) + + print(f'{arm.read("Present_Position", "elbow_flex")=}') + + calib = {} + + init_wf_pos = arm.read("Present_Position", "wrist_flex") + init_sl_pos = arm.read("Present_Position", "shoulder_lift") + init_ef_pos = arm.read("Present_Position", "elbow_flex") + arm.write("Goal_Position", init_wf_pos - 800, "wrist_flex") + arm.write("Goal_Position", init_sl_pos + 150 + 1024, "shoulder_lift") + arm.write("Goal_Position", init_ef_pos - 2048, "elbow_flex") + time.sleep(2) + + print("Calibrate shoulder_pan") + calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan") + arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan") + time.sleep(1) + + print("Calibrate gripper") + calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True) + time.sleep(1) + + print("Calibrate wrist_flex") + calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex") + calib["wrist_flex"] = apply_offset(calib["wrist_flex"], offset=80) + + def in_between_move_hook(): + nonlocal arm, calib + time.sleep(2) + ef_pos = arm.read("Present_Position", "elbow_flex") + sl_pos = arm.read("Present_Position", "shoulder_lift") + arm.write("Goal_Position", ef_pos + 1024, "elbow_flex") + arm.write("Goal_Position", sl_pos - 1024, "shoulder_lift") + time.sleep(2) + + print("Calibrate elbow_flex") + calib["elbow_flex"] = move_to_calibrate( + arm, "elbow_flex", positive_first=False, in_between_move_hook=in_between_move_hook + ) + calib["elbow_flex"] = apply_offset(calib["elbow_flex"], offset=80 - 1024) + + arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] + 1024 + 512, "elbow_flex") + time.sleep(1) + + def in_between_move_hook(): + nonlocal arm, calib + arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"], "elbow_flex") + + print("Calibrate shoulder_lift") + calib["shoulder_lift"] = move_to_calibrate( + arm, + "shoulder_lift", + invert_drive_mode=True, + positive_first=False, + in_between_move_hook=in_between_move_hook, + ) + # add an 30 steps as offset to align with body + calib["shoulder_lift"] = apply_offset(calib["shoulder_lift"], offset=1024 - 50) + + def while_move_hook(): + nonlocal arm, calib + positions = { + "shoulder_lift": round(calib["shoulder_lift"]["zero_pos"] - 1600), + "elbow_flex": round(calib["elbow_flex"]["zero_pos"] + 1700), + "wrist_flex": round(calib["wrist_flex"]["zero_pos"] + 800), + "gripper": round(calib["gripper"]["end_pos"]), + } + arm.write("Goal_Position", list(positions.values()), list(positions.keys())) + + arm.write("Goal_Position", round(calib["shoulder_lift"]["zero_pos"] - 1600), "shoulder_lift") + time.sleep(2) + arm.write("Goal_Position", round(calib["elbow_flex"]["zero_pos"] + 1700), "elbow_flex") + time.sleep(2) + arm.write("Goal_Position", round(calib["wrist_flex"]["zero_pos"] + 800), "wrist_flex") + time.sleep(2) + arm.write("Goal_Position", round(calib["gripper"]["end_pos"]), "gripper") + time.sleep(2) + + print("Calibrate wrist_roll") + calib["wrist_roll"] = move_to_calibrate( + arm, "wrist_roll", invert_drive_mode=True, positive_first=False, while_move_hook=while_move_hook + ) + + arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"], "wrist_roll") + time.sleep(1) + arm.write("Goal_Position", calib["gripper"]["start_pos"], "gripper") + time.sleep(1) + arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"], "wrist_flex") + time.sleep(1) + arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] + 2048, "elbow_flex") + arm.write("Goal_Position", calib["shoulder_lift"]["zero_pos"] - 2048, "shoulder_lift") + time.sleep(1) + arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan") + time.sleep(1) + + calib_modes = [] + for name in arm.motor_names: + if name == "gripper": + calib_modes.append(CalibrationMode.LINEAR.name) + else: + calib_modes.append(CalibrationMode.DEGREE.name) + + calib_dict = { + "homing_offset": [calib[name]["homing_offset"] for name in arm.motor_names], + "drive_mode": [calib[name]["drive_mode"] for name in arm.motor_names], + "start_pos": [calib[name]["start_pos"] for name in arm.motor_names], + "end_pos": [calib[name]["end_pos"] for name in arm.motor_names], + "calib_mode": calib_modes, + "motor_names": arm.motor_names, + } + + # Re-enable original accerlation + arm.write("Lock", 0) + arm.write("Acceleration", initial_acceleration) + time.sleep(1) + + return calib_dict + + +def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str): + """All the offsets and magic numbers are hand tuned, and are unique to SO-100 follower arms""" + if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any(): + raise ValueError("To run calibration, the torque must be disabled on all motors.") + + if not (robot_type == "moss" and arm_type == "follower"): + raise NotImplementedError("Auto calibration only supports the follower of moss arms for now.") + + print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...") + + print("\nMove arm to initial position") + print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="initial")) + input("Press Enter to continue...") + + # Lower the acceleration of the motors (in [0,254]) + initial_acceleration = arm.read("Acceleration") + arm.write("Lock", 0) + arm.write("Acceleration", 10) + time.sleep(1) + + arm.write("Torque_Enable", TorqueMode.ENABLED.value) + + sl_pos = arm.read("Present_Position", "shoulder_lift") + arm.write("Goal_Position", sl_pos - 1024 - 450, "shoulder_lift") + ef_pos = arm.read("Present_Position", "elbow_flex") + arm.write("Goal_Position", ef_pos + 1024 + 450, "elbow_flex") + time.sleep(2) + + calib = {} + + print("Calibrate shoulder_pan") + calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan", load_threshold=350, count_threshold=200) + arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan") + time.sleep(1) + + print("Calibrate gripper") + calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True, count_threshold=200) + time.sleep(1) + + print("Calibrate wrist_flex") + calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex", invert_drive_mode=True, count_threshold=200) + calib["wrist_flex"] = apply_offset(calib["wrist_flex"], offset=-210 + 1024) + + wr_pos = arm.read("Present_Position", "wrist_roll") + arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex") + time.sleep(1) + arm.write("Goal_Position", wr_pos - 1024, "wrist_roll") + time.sleep(1) + arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 2048, "wrist_flex") + time.sleep(1) + arm.write("Goal_Position", calib["gripper"]["end_pos"], "gripper") + time.sleep(1) + + print("Calibrate wrist_roll") + calib["wrist_roll"] = move_to_calibrate(arm, "wrist_roll", invert_drive_mode=True, count_threshold=200) + calib["wrist_roll"] = apply_offset(calib["wrist_roll"], offset=790) + + arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"] - 1024, "wrist_roll") + arm.write("Goal_Position", calib["gripper"]["start_pos"], "gripper") + arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex") + time.sleep(1) + arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"], "wrist_roll") + arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 2048, "wrist_flex") + + def in_between_move_elbow_flex_hook(): + nonlocal arm, calib + arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"], "wrist_flex") + + print("Calibrate elbow_flex") + calib["elbow_flex"] = move_to_calibrate( + arm, + "elbow_flex", + invert_drive_mode=True, + count_threshold=200, + in_between_move_hook=in_between_move_elbow_flex_hook, + ) + arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex") + + def in_between_move_shoulder_lift_hook(): + nonlocal arm, calib + sl = arm.read("Present_Position", "shoulder_lift") + arm.write("Goal_Position", sl - 1500, "shoulder_lift") + time.sleep(1) + arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] + 1536, "elbow_flex") + time.sleep(1) + arm.write("Goal_Position", calib["wrist_flex"]["start_pos"], "wrist_flex") + time.sleep(1) + + print("Calibrate shoulder_lift") + calib["shoulder_lift"] = move_to_calibrate( + arm, "shoulder_lift", in_between_move_hook=in_between_move_shoulder_lift_hook + ) + calib["shoulder_lift"] = apply_offset(calib["shoulder_lift"], offset=-1024) + + arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex") + time.sleep(1) + arm.write("Goal_Position", calib["shoulder_lift"]["zero_pos"] + 2048, "shoulder_lift") + arm.write("Goal_Position", calib["elbow_flex"]["zero_pos"] - 1024 - 400, "elbow_flex") + time.sleep(2) + + calib_modes = [] + for name in arm.motor_names: + if name == "gripper": + calib_modes.append(CalibrationMode.LINEAR.name) + else: + calib_modes.append(CalibrationMode.DEGREE.name) + + calib_dict = { + "homing_offset": [calib[name]["homing_offset"] for name in arm.motor_names], + "drive_mode": [calib[name]["drive_mode"] for name in arm.motor_names], + "start_pos": [calib[name]["start_pos"] for name in arm.motor_names], + "end_pos": [calib[name]["end_pos"] for name in arm.motor_names], + "calib_mode": calib_modes, + "motor_names": arm.motor_names, + } + + # Re-enable original accerlation + arm.write("Lock", 0) + arm.write("Acceleration", initial_acceleration) + time.sleep(1) + + return calib_dict + + +def run_arm_manual_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str): + """This function ensures that a neural network trained on data collected on a given robot + can work on another robot. For instance before calibration, setting a same goal position + for each motor of two different robots will get two very different positions. But after calibration, + the two robots will move to the same position.To this end, this function computes the homing offset + and the drive mode for each motor of a given robot. + + Homing offset is used to shift the motor position to a ]-2048, +2048[ nominal range (when the motor uses 2048 steps + to complete a half a turn). This range is set around an arbitrary "zero position" corresponding to all motor positions + being 0. During the calibration process, you will need to manually move the robot to this "zero position". + + Drive mode is used to invert the rotation direction of the motor. This is useful when some motors have been assembled + in the opposite orientation for some robots. During the calibration process, you will need to manually move the robot + to the "rotated position". + + After calibration, the homing offsets and drive modes are stored in a cache. + + Example of usage: + ```python + run_arm_calibration(arm, "so100", "left", "follower") + ``` + """ + if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any(): + raise ValueError("To run calibration, the torque must be disabled on all motors.") + + print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...") + + print("\nMove arm to zero position") + print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero")) + input("Press Enter to continue...") + + # We arbitrarily chose our zero target position to be a straight horizontal position with gripper upwards and closed. + # It is easy to identify and all motors are in a "quarter turn" position. Once calibration is done, this position will + # correspond to every motor angle being 0. If you set all 0 as Goal Position, the arm will move in this position. + zero_target_pos = convert_degrees_to_steps(ZERO_POSITION_DEGREE, arm.motor_models) + + # Compute homing offset so that `present_position + homing_offset ~= target_position`. + zero_pos = arm.read("Present_Position") + homing_offset = zero_target_pos - zero_pos + + # The rotated target position corresponds to a rotation of a quarter turn from the zero position. + # This allows to identify the rotation direction of each motor. + # For instance, if the motor rotates 90 degree, and its value is -90 after applying the homing offset, then we know its rotation direction + # is inverted. However, for the calibration being successful, we need everyone to follow the same target position. + # Sometimes, there is only one possible rotation direction. For instance, if the gripper is closed, there is only one direction which + # corresponds to opening the gripper. When the rotation direction is ambiguous, we arbitrarely rotate clockwise from the point of view + # of the previous motor in the kinetic chain. + print("\nMove arm to rotated target position") + print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="rotated")) + input("Press Enter to continue...") + + rotated_target_pos = convert_degrees_to_steps(ROTATED_POSITION_DEGREE, arm.motor_models) + + # Find drive mode by rotating each motor by a quarter of a turn. + # Drive mode indicates if the motor rotation direction should be inverted (=1) or not (=0). + rotated_pos = arm.read("Present_Position") + drive_mode = (rotated_pos < zero_pos).astype(np.int32) + + # Re-compute homing offset to take into account drive mode + rotated_drived_pos = apply_drive_mode(rotated_pos, drive_mode) + homing_offset = rotated_target_pos - rotated_drived_pos + + print("\nMove arm to rest position") + print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="rest")) + input("Press Enter to continue...") + print() + + # Joints with rotational motions are expressed in degrees in nominal range of [-180, 180] + calib_modes = [] + for name in arm.motor_names: + if name == "gripper": + calib_modes.append(CalibrationMode.LINEAR.name) + else: + calib_modes.append(CalibrationMode.DEGREE.name) + + calib_dict = { + "homing_offset": homing_offset.tolist(), + "drive_mode": drive_mode.tolist(), + "start_pos": zero_pos.tolist(), + "end_pos": rotated_pos.tolist(), + "calib_mode": calib_modes, + "motor_names": arm.motor_names, + } + return calib_dict diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py index 20969c30c..2c358cb92 100644 --- a/lerobot/common/robot_devices/robots/manipulator.py +++ b/lerobot/common/robot_devices/robots/manipulator.py @@ -1,3 +1,9 @@ +"""Contains logic to instantiate a robot, read information from its motors and cameras, +and send orders to its motors. +""" +# TODO(rcadene, aliberts): reorganize the codebase into one file per robot, with the associated +# calibration procedure, to make it easy for people to add their own robot. + import json import logging import time @@ -10,138 +16,10 @@ import torch from lerobot.common.robot_devices.cameras.utils import Camera -from lerobot.common.robot_devices.motors.dynamixel import ( - CalibrationMode, - TorqueMode, - convert_degrees_to_steps, -) from lerobot.common.robot_devices.motors.utils import MotorsBus from lerobot.common.robot_devices.robots.utils import get_arm_id from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError -######################################################################## -# Calibration logic -######################################################################## - -URL_TEMPLATE = ( - "https://raw.githubusercontent.com/huggingface/lerobot/main/media/{robot}/{arm}_{position}.webp" -) - -# The following positions are provided in nominal degree range ]-180, +180[ -# For more info on these constants, see comments in the code where they get used. -ZERO_POSITION_DEGREE = 0 -ROTATED_POSITION_DEGREE = 90 - - -def assert_drive_mode(drive_mode): - # `drive_mode` is in [0,1] with 0 means original rotation direction for the motor, and 1 means inverted. - if not np.all(np.isin(drive_mode, [0, 1])): - raise ValueError(f"`drive_mode` contains values other than 0 or 1: ({drive_mode})") - - -def apply_drive_mode(position, drive_mode): - assert_drive_mode(drive_mode) - # Convert `drive_mode` from [0, 1] with 0 indicates original rotation direction and 1 inverted, - # to [-1, 1] with 1 indicates original rotation direction and -1 inverted. - signed_drive_mode = -(drive_mode * 2 - 1) - position *= signed_drive_mode - return position - - -def compute_nearest_rounded_position(position, models): - delta_turn = convert_degrees_to_steps(ROTATED_POSITION_DEGREE, models) - nearest_pos = np.round(position.astype(float) / delta_turn) * delta_turn - return nearest_pos.astype(position.dtype) - - -def run_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm_type: str): - """This function ensures that a neural network trained on data collected on a given robot - can work on another robot. For instance before calibration, setting a same goal position - for each motor of two different robots will get two very different positions. But after calibration, - the two robots will move to the same position.To this end, this function computes the homing offset - and the drive mode for each motor of a given robot. - - Homing offset is used to shift the motor position to a ]-2048, +2048[ nominal range (when the motor uses 2048 steps - to complete a half a turn). This range is set around an arbitrary "zero position" corresponding to all motor positions - being 0. During the calibration process, you will need to manually move the robot to this "zero position". - - Drive mode is used to invert the rotation direction of the motor. This is useful when some motors have been assembled - in the opposite orientation for some robots. During the calibration process, you will need to manually move the robot - to the "rotated position". - - After calibration, the homing offsets and drive modes are stored in a cache. - - Example of usage: - ```python - run_arm_calibration(arm, "koch", "left", "follower") - ``` - """ - if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any(): - raise ValueError("To run calibration, the torque must be disabled on all motors.") - - print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...") - - print("\nMove arm to zero position") - print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero")) - input("Press Enter to continue...") - - # We arbitrarily chose our zero target position to be a straight horizontal position with gripper upwards and closed. - # It is easy to identify and all motors are in a "quarter turn" position. Once calibration is done, this position will - # correspond to every motor angle being 0. If you set all 0 as Goal Position, the arm will move in this position. - zero_target_pos = convert_degrees_to_steps(ZERO_POSITION_DEGREE, arm.motor_models) - - # Compute homing offset so that `present_position + homing_offset ~= target_position`. - zero_pos = arm.read("Present_Position") - zero_nearest_pos = compute_nearest_rounded_position(zero_pos, arm.motor_models) - homing_offset = zero_target_pos - zero_nearest_pos - - # The rotated target position corresponds to a rotation of a quarter turn from the zero position. - # This allows to identify the rotation direction of each motor. - # For instance, if the motor rotates 90 degree, and its value is -90 after applying the homing offset, then we know its rotation direction - # is inverted. However, for the calibration being successful, we need everyone to follow the same target position. - # Sometimes, there is only one possible rotation direction. For instance, if the gripper is closed, there is only one direction which - # corresponds to opening the gripper. When the rotation direction is ambiguous, we arbitrarely rotate clockwise from the point of view - # of the previous motor in the kinetic chain. - print("\nMove arm to rotated target position") - print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="rotated")) - input("Press Enter to continue...") - - rotated_target_pos = convert_degrees_to_steps(ROTATED_POSITION_DEGREE, arm.motor_models) - - # Find drive mode by rotating each motor by a quarter of a turn. - # Drive mode indicates if the motor rotation direction should be inverted (=1) or not (=0). - rotated_pos = arm.read("Present_Position") - drive_mode = (rotated_pos < zero_pos).astype(np.int32) - - # Re-compute homing offset to take into account drive mode - rotated_drived_pos = apply_drive_mode(rotated_pos, drive_mode) - rotated_nearest_pos = compute_nearest_rounded_position(rotated_drived_pos, arm.motor_models) - homing_offset = rotated_target_pos - rotated_nearest_pos - - print("\nMove arm to rest position") - print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="rest")) - input("Press Enter to continue...") - print() - - # Joints with rotational motions are expressed in degrees in nominal range of [-180, 180] - calib_mode = [CalibrationMode.DEGREE.name] * len(arm.motor_names) - - # TODO(rcadene): make type of joints (DEGREE or LINEAR) configurable from yaml? - if robot_type == "aloha" and "gripper" in arm.motor_names: - # Joints with linear motions (like gripper of Aloha) are experessed in nominal range of [0, 100] - calib_idx = arm.motor_names.index("gripper") - calib_mode[calib_idx] = CalibrationMode.LINEAR.name - - calib_data = { - "homing_offset": homing_offset.tolist(), - "drive_mode": drive_mode.tolist(), - "start_pos": zero_pos.tolist(), - "end_pos": rotated_pos.tolist(), - "calib_mode": calib_mode, - "motor_names": arm.motor_names, - } - return calib_data - def ensure_safe_goal_position( goal_pos: torch.Tensor, present_pos: torch.Tensor, max_relative_target: float | list[float] @@ -163,11 +41,6 @@ def ensure_safe_goal_position( return safe_goal_pos -######################################################################## -# Manipulator robot -######################################################################## - - @dataclass class ManipulatorRobotConfig: """ @@ -178,7 +51,7 @@ class ManipulatorRobotConfig: """ # Define all components of the robot - robot_type: str | None = None + robot_type: str = "koch" leader_arms: dict[str, MotorsBus] = field(default_factory=lambda: {}) follower_arms: dict[str, MotorsBus] = field(default_factory=lambda: {}) cameras: dict[str, Camera] = field(default_factory=lambda: {}) @@ -207,6 +80,10 @@ def __setattr__(self, prop: str, val): ) super().__setattr__(prop, val) + def __post_init__(self): + if self.robot_type not in ["koch", "koch_bimanual", "aloha", "so100", "moss"]: + raise ValueError(f"Provided robot type ({self.robot_type}) is not supported.") + class ManipulatorRobot: # TODO(rcadene): Implement force feedback @@ -387,6 +264,11 @@ def connect(self): print(f"Connecting {name} leader arm.") self.leader_arms[name].connect() + if self.robot_type in ["koch", "koch_bimanual", "aloha"]: + from lerobot.common.robot_devices.motors.dynamixel import TorqueMode + elif self.robot_type in ["so100", "moss"]: + from lerobot.common.robot_devices.motors.feetech import TorqueMode + # We assume that at connection time, arms are in a rest position, and torque can # be safely disabled to run calibration and/or set robot preset configurations. for name in self.follower_arms: @@ -397,12 +279,12 @@ def connect(self): self.activate_calibration() # Set robot preset (e.g. torque in leader gripper for Koch v1.1) - if self.robot_type == "koch": + if self.robot_type in ["koch", "koch_bimanual"]: self.set_koch_robot_preset() elif self.robot_type == "aloha": self.set_aloha_robot_preset() - else: - warnings.warn(f"No preset found for robot type: {self.robot_type}", stacklevel=1) + elif self.robot_type in ["so100", "moss"]: + self.set_so100_robot_preset() # Enable torque on all motors of the follower arms for name in self.follower_arms: @@ -410,12 +292,22 @@ def connect(self): self.follower_arms[name].write("Torque_Enable", 1) if self.config.gripper_open_degree is not None: + if self.robot_type not in ["koch", "koch_bimanual"]: + raise NotImplementedError( + f"{self.robot_type} does not support position AND current control in the handle, which is require to set the gripper open." + ) # Set the leader arm in torque mode with the gripper motor set to an angle. This makes it possible # to squeeze the gripper and have it spring back to an open position on its own. for name in self.leader_arms: self.leader_arms[name].write("Torque_Enable", 1, "gripper") self.leader_arms[name].write("Goal_Position", self.config.gripper_open_degree, "gripper") + # Check both arms can be read + for name in self.follower_arms: + self.follower_arms[name].read("Present_Position") + for name in self.leader_arms: + self.leader_arms[name].read("Present_Position") + # Connect the cameras for name in self.cameras: self.cameras[name].connect() @@ -436,8 +328,27 @@ def load_or_run_calibration_(name, arm, arm_type): with open(arm_calib_path) as f: calibration = json.load(f) else: + # TODO(rcadene): display a warning in __init__ if calibration file not available print(f"Missing calibration file '{arm_calib_path}'") - calibration = run_arm_calibration(arm, self.robot_type, name, arm_type) + + if self.robot_type in ["koch", "koch_bimanual", "aloha"]: + from lerobot.common.robot_devices.robots.dynamixel_calibration import run_arm_calibration + + calibration = run_arm_calibration(arm, self.robot_type, name, arm_type) + + elif self.robot_type in ["so100", "moss"]: + from lerobot.common.robot_devices.robots.feetech_calibration import ( + run_arm_auto_calibration, + run_arm_manual_calibration, + ) + + # TODO(rcadene): better way to handle mocking + test run_arm_auto_calibration + if arm_type == "leader" or arm.mock: + calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type) + elif arm_type == "follower": + calibration = run_arm_auto_calibration(arm, self.robot_type, name, arm_type) + else: + raise ValueError(arm_type) print(f"Calibration is done! Saving calibration file '{arm_calib_path}'") arm_calib_path.parent.mkdir(parents=True, exist_ok=True) @@ -455,6 +366,8 @@ def load_or_run_calibration_(name, arm, arm_type): def set_koch_robot_preset(self): def set_operating_mode_(arm): + from lerobot.common.robot_devices.motors.dynamixel import TorqueMode + if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any(): raise ValueError("To run set robot preset, the torque must be disabled on all motors.") @@ -542,6 +455,23 @@ def set_shadow_(arm): stacklevel=1, ) + def set_so100_robot_preset(self): + for name in self.follower_arms: + # Mode=0 for Position Control + self.follower_arms[name].write("Mode", 0) + # Set P_Coefficient to lower value to avoid shakiness (Default is 32) + self.follower_arms[name].write("P_Coefficient", 16) + # Set I_Coefficient and D_Coefficient to default value 0 and 32 + self.follower_arms[name].write("I_Coefficient", 0) + self.follower_arms[name].write("D_Coefficient", 32) + # Close the write lock so that Maximum_Acceleration gets written to EPROM address, + # which is mandatory for Maximum_Acceleration to take effect after rebooting. + self.follower_arms[name].write("Lock", 0) + # Set Maximum_Acceleration to 254 to speedup acceleration and deceleration of + # the motors. Note: this configuration is not in the official STS3215 Memory Table + self.follower_arms[name].write("Maximum_Acceleration", 254) + self.follower_arms[name].write("Acceleration", 254) + def teleop_step( self, record_data=False ) -> None | tuple[dict[str, torch.Tensor], dict[str, torch.Tensor]]: diff --git a/lerobot/configs/env/moss_real.yaml b/lerobot/configs/env/moss_real.yaml new file mode 100644 index 000000000..8e65d72f4 --- /dev/null +++ b/lerobot/configs/env/moss_real.yaml @@ -0,0 +1,10 @@ +# @package _global_ + +fps: 30 + +env: + name: real_world + task: null + state_dim: 6 + action_dim: 6 + fps: ${fps} diff --git a/lerobot/configs/env/so100_real.yaml b/lerobot/configs/env/so100_real.yaml new file mode 100644 index 000000000..8e65d72f4 --- /dev/null +++ b/lerobot/configs/env/so100_real.yaml @@ -0,0 +1,10 @@ +# @package _global_ + +fps: 30 + +env: + name: real_world + task: null + state_dim: 6 + action_dim: 6 + fps: ${fps} diff --git a/lerobot/configs/policy/act_moss_real.yaml b/lerobot/configs/policy/act_moss_real.yaml new file mode 100644 index 000000000..840a64e14 --- /dev/null +++ b/lerobot/configs/policy/act_moss_real.yaml @@ -0,0 +1,102 @@ +# @package _global_ + +# Use `act_koch_real.yaml` to train on real-world datasets collected on Alexander Koch's robots. +# Compared to `act.yaml`, it contains 2 cameras (i.e. laptop, phone) instead of 1 camera (i.e. top). +# Also, `training.eval_freq` is set to -1. This config is used to evaluate checkpoints at a certain frequency of training steps. +# When it is set to -1, it deactivates evaluation. This is because real-world evaluation is done through our `control_robot.py` script. +# Look at the documentation in header of `control_robot.py` for more information on how to collect data , train and evaluate a policy. +# +# Example of usage for training: +# ```bash +# python lerobot/scripts/train.py \ +# policy=act_koch_real \ +# env=koch_real +# ``` + +seed: 1000 +dataset_repo_id: lerobot/moss_pick_place_lego + +override_dataset_stats: + observation.images.laptop: + # stats from imagenet, since we use a pretrained vision model + mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1) + std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) + observation.images.phone: + # stats from imagenet, since we use a pretrained vision model + mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1) + std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) + +training: + offline_steps: 80000 + online_steps: 0 + eval_freq: -1 + save_freq: 10000 + log_freq: 100 + save_checkpoint: true + + batch_size: 8 + lr: 1e-5 + lr_backbone: 1e-5 + weight_decay: 1e-4 + grad_clip_norm: 10 + online_steps_between_rollouts: 1 + + delta_timestamps: + action: "[i / ${fps} for i in range(${policy.chunk_size})]" + +eval: + n_episodes: 50 + batch_size: 50 + +# See `configuration_act.py` for more details. +policy: + name: act + + # Input / output structure. + n_obs_steps: 1 + chunk_size: 100 + n_action_steps: 100 + + input_shapes: + # TODO(rcadene, alexander-soare): add variables for height and width from the dataset/env? + observation.images.laptop: [3, 480, 640] + observation.images.phone: [3, 480, 640] + observation.state: ["${env.state_dim}"] + output_shapes: + action: ["${env.action_dim}"] + + # Normalization / Unnormalization + input_normalization_modes: + observation.images.laptop: mean_std + observation.images.phone: mean_std + observation.state: mean_std + output_normalization_modes: + action: mean_std + + # Architecture. + # Vision backbone. + vision_backbone: resnet18 + pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1 + replace_final_stride_with_dilation: false + # Transformer layers. + pre_norm: false + dim_model: 512 + n_heads: 8 + dim_feedforward: 3200 + feedforward_activation: relu + n_encoder_layers: 4 + # Note: Although the original ACT implementation has 7 for `n_decoder_layers`, there is a bug in the code + # that means only the first layer is used. Here we match the original implementation by setting this to 1. + # See this issue https://github.com/tonyzhaozh/act/issues/25#issue-2258740521. + n_decoder_layers: 1 + # VAE. + use_vae: true + latent_dim: 32 + n_vae_encoder_layers: 4 + + # Inference. + temporal_ensemble_momentum: null + + # Training and loss computation. + dropout: 0.1 + kl_weight: 10.0 diff --git a/lerobot/configs/policy/act_so100_real.yaml b/lerobot/configs/policy/act_so100_real.yaml new file mode 100644 index 000000000..3a0975b65 --- /dev/null +++ b/lerobot/configs/policy/act_so100_real.yaml @@ -0,0 +1,102 @@ +# @package _global_ + +# Use `act_koch_real.yaml` to train on real-world datasets collected on Alexander Koch's robots. +# Compared to `act.yaml`, it contains 2 cameras (i.e. laptop, phone) instead of 1 camera (i.e. top). +# Also, `training.eval_freq` is set to -1. This config is used to evaluate checkpoints at a certain frequency of training steps. +# When it is set to -1, it deactivates evaluation. This is because real-world evaluation is done through our `control_robot.py` script. +# Look at the documentation in header of `control_robot.py` for more information on how to collect data , train and evaluate a policy. +# +# Example of usage for training: +# ```bash +# python lerobot/scripts/train.py \ +# policy=act_koch_real \ +# env=koch_real +# ``` + +seed: 1000 +dataset_repo_id: lerobot/so100_pick_place_lego + +override_dataset_stats: + observation.images.laptop: + # stats from imagenet, since we use a pretrained vision model + mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1) + std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) + observation.images.phone: + # stats from imagenet, since we use a pretrained vision model + mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1) + std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) + +training: + offline_steps: 80000 + online_steps: 0 + eval_freq: -1 + save_freq: 10000 + log_freq: 100 + save_checkpoint: true + + batch_size: 8 + lr: 1e-5 + lr_backbone: 1e-5 + weight_decay: 1e-4 + grad_clip_norm: 10 + online_steps_between_rollouts: 1 + + delta_timestamps: + action: "[i / ${fps} for i in range(${policy.chunk_size})]" + +eval: + n_episodes: 50 + batch_size: 50 + +# See `configuration_act.py` for more details. +policy: + name: act + + # Input / output structure. + n_obs_steps: 1 + chunk_size: 100 + n_action_steps: 100 + + input_shapes: + # TODO(rcadene, alexander-soare): add variables for height and width from the dataset/env? + observation.images.laptop: [3, 480, 640] + observation.images.phone: [3, 480, 640] + observation.state: ["${env.state_dim}"] + output_shapes: + action: ["${env.action_dim}"] + + # Normalization / Unnormalization + input_normalization_modes: + observation.images.laptop: mean_std + observation.images.phone: mean_std + observation.state: mean_std + output_normalization_modes: + action: mean_std + + # Architecture. + # Vision backbone. + vision_backbone: resnet18 + pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1 + replace_final_stride_with_dilation: false + # Transformer layers. + pre_norm: false + dim_model: 512 + n_heads: 8 + dim_feedforward: 3200 + feedforward_activation: relu + n_encoder_layers: 4 + # Note: Although the original ACT implementation has 7 for `n_decoder_layers`, there is a bug in the code + # that means only the first layer is used. Here we match the original implementation by setting this to 1. + # See this issue https://github.com/tonyzhaozh/act/issues/25#issue-2258740521. + n_decoder_layers: 1 + # VAE. + use_vae: true + latent_dim: 32 + n_vae_encoder_layers: 4 + + # Inference. + temporal_ensemble_momentum: null + + # Training and loss computation. + dropout: 0.1 + kl_weight: 10.0 diff --git a/lerobot/configs/robot/aloha.yaml b/lerobot/configs/robot/aloha.yaml index 51cde6a69..d8bca515f 100644 --- a/lerobot/configs/robot/aloha.yaml +++ b/lerobot/configs/robot/aloha.yaml @@ -1,11 +1,13 @@ -# Aloha: A Low-Cost Hardware for Bimanual Teleoperation +# [Aloha: A Low-Cost Hardware for Bimanual Teleoperation](https://www.trossenrobotics.com/aloha-stationary) # https://aloha-2.github.io -# https://www.trossenrobotics.com/aloha-stationary # Requires installing extras packages # With pip: `pip install -e ".[dynamixel intelrealsense]"` # With poetry: `poetry install --sync --extras "dynamixel intelrealsense"` +# See [tutorial](https://github.com/huggingface/lerobot/blob/main/examples/9_use_aloha.md) + + _target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot robot_type: aloha # Specific to Aloha, LeRobot comes with default calibration files. Assuming the motors have been diff --git a/lerobot/configs/robot/koch_bimanual.yaml b/lerobot/configs/robot/koch_bimanual.yaml index 7f8138675..b551d15de 100644 --- a/lerobot/configs/robot/koch_bimanual.yaml +++ b/lerobot/configs/robot/koch_bimanual.yaml @@ -1,5 +1,5 @@ _target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot -robot_type: koch +robot_type: koch_bimanual calibration_dir: .cache/calibration/koch_bimanual # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes. diff --git a/lerobot/configs/robot/moss.yaml b/lerobot/configs/robot/moss.yaml new file mode 100644 index 000000000..8a9019851 --- /dev/null +++ b/lerobot/configs/robot/moss.yaml @@ -0,0 +1,56 @@ +# [Moss v1 robot arm](https://github.com/jess-moss/moss-robot-arms) + +# Requires installing extras packages +# With pip: `pip install -e ".[feetech]"` +# With poetry: `poetry install --sync --extras "feetech"` + +# See [tutorial](https://github.com/huggingface/lerobot/blob/main/examples/11_use_moss.md) + +_target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot +robot_type: moss +calibration_dir: .cache/calibration/moss + +# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes. +# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as +# the number of motors in your follower arms. +max_relative_target: null + +leader_arms: + main: + _target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus + port: /dev/tty.usbmodem58760431091 + motors: + # name: (index, model) + shoulder_pan: [1, "sts3215"] + shoulder_lift: [2, "sts3215"] + elbow_flex: [3, "sts3215"] + wrist_flex: [4, "sts3215"] + wrist_roll: [5, "sts3215"] + gripper: [6, "sts3215"] + +follower_arms: + main: + _target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus + port: /dev/tty.usbmodem58760431191 + motors: + # name: (index, model) + shoulder_pan: [1, "sts3215"] + shoulder_lift: [2, "sts3215"] + elbow_flex: [3, "sts3215"] + wrist_flex: [4, "sts3215"] + wrist_roll: [5, "sts3215"] + gripper: [6, "sts3215"] + +cameras: + laptop: + _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera + camera_index: 0 + fps: 30 + width: 640 + height: 480 + phone: + _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera + camera_index: 1 + fps: 30 + width: 640 + height: 480 diff --git a/lerobot/configs/robot/so100.yaml b/lerobot/configs/robot/so100.yaml new file mode 100644 index 000000000..ec6f3e3fe --- /dev/null +++ b/lerobot/configs/robot/so100.yaml @@ -0,0 +1,56 @@ +# [SO-100 robot arm](https://github.com/TheRobotStudio/SO-ARM100) + +# Requires installing extras packages +# With pip: `pip install -e ".[feetech]"` +# With poetry: `poetry install --sync --extras "feetech"` + +# See [tutorial](https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md) + +_target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot +robot_type: so100 +calibration_dir: .cache/calibration/so100 + +# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes. +# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as +# the number of motors in your follower arms. +max_relative_target: null + +leader_arms: + main: + _target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus + port: /dev/tty.usbmodem585A0077581 + motors: + # name: (index, model) + shoulder_pan: [1, "sts3215"] + shoulder_lift: [2, "sts3215"] + elbow_flex: [3, "sts3215"] + wrist_flex: [4, "sts3215"] + wrist_roll: [5, "sts3215"] + gripper: [6, "sts3215"] + +follower_arms: + main: + _target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus + port: /dev/tty.usbmodem585A0080971 + motors: + # name: (index, model) + shoulder_pan: [1, "sts3215"] + shoulder_lift: [2, "sts3215"] + elbow_flex: [3, "sts3215"] + wrist_flex: [4, "sts3215"] + wrist_roll: [5, "sts3215"] + gripper: [6, "sts3215"] + +cameras: + laptop: + _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera + camera_index: 0 + fps: 30 + width: 640 + height: 480 + phone: + _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera + camera_index: 1 + fps: 30 + width: 640 + height: 480 diff --git a/lerobot/configs/robot/stretch.yaml b/lerobot/configs/robot/stretch.yaml index 6d9f0be85..e29966b6f 100644 --- a/lerobot/configs/robot/stretch.yaml +++ b/lerobot/configs/robot/stretch.yaml @@ -1,3 +1,12 @@ +# [Stretch3 from Hello Robot](https://hello-robot.com/stretch-3-product) + +# Requires installing extras packages +# With pip: `pip install -e ".[stretch]"` +# With poetry: `poetry install --sync --extras "stretch"` + +# See [tutorial](https://github.com/huggingface/lerobot/blob/main/examples/8_use_stretch.md) + + _target_: lerobot.common.robot_devices.robots.stretch.StretchRobot robot_type: stretch3 diff --git a/lerobot/scripts/configure_motor.py b/lerobot/scripts/configure_motor.py new file mode 100644 index 000000000..18707397f --- /dev/null +++ b/lerobot/scripts/configure_motor.py @@ -0,0 +1,145 @@ +""" +This script configure a single motor at a time to a given ID and baudrate. + +Example of usage: +```bash +python lerobot/scripts/configure_motor.py \ + --port /dev/tty.usbmodem585A0080521 \ + --brand feetech \ + --model sts3215 \ + --baudrate 1000000 \ + --ID 1 +``` +""" + +import argparse +import time + + +def configure_motor(port, brand, model, motor_idx_des, baudrate_des): + if brand == "feetech": + from lerobot.common.robot_devices.motors.feetech import MODEL_BAUDRATE_TABLE + from lerobot.common.robot_devices.motors.feetech import ( + SCS_SERIES_BAUDRATE_TABLE as SERIES_BAUDRATE_TABLE, + ) + from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus as MotorsBusClass + elif brand == "dynamixel": + from lerobot.common.robot_devices.motors.dynamixel import MODEL_BAUDRATE_TABLE + from lerobot.common.robot_devices.motors.dynamixel import ( + X_SERIES_BAUDRATE_TABLE as SERIES_BAUDRATE_TABLE, + ) + from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus as MotorsBusClass + else: + raise ValueError( + f"Currently we do not support this motor brand: {brand}. We currently support feetech and dynamixel motors." + ) + + # Check if the provided model exists in the model_baud_rate_table + if model not in MODEL_BAUDRATE_TABLE: + raise ValueError( + f"Invalid model '{model}' for brand '{brand}'. Supported models: {list(MODEL_BAUDRATE_TABLE.keys())}" + ) + + # Setup motor names, indices, and models + motor_name = "motor" + motor_index_arbitrary = motor_idx_des # Use the motor ID passed via argument + motor_model = model # Use the motor model passed via argument + + # Initialize the MotorBus with the correct port and motor configurations + motor_bus = MotorsBusClass(port=port, motors={motor_name: (motor_index_arbitrary, motor_model)}) + + # Try to connect to the motor bus and handle any connection-specific errors + try: + motor_bus.connect() + print(f"Connected on port {motor_bus.port}") + except OSError as e: + print(f"Error occurred when connecting to the motor bus: {e}") + return + + # Motor bus is connected, proceed with the rest of the operations + try: + print("Scanning all baudrates and motor indices") + all_baudrates = set(SERIES_BAUDRATE_TABLE.values()) + motor_index = -1 # Set the motor index to an out-of-range value. + + for baudrate in all_baudrates: + motor_bus.set_bus_baudrate(baudrate) + present_ids = motor_bus.find_motor_indices(list(range(1, 10))) + if len(present_ids) > 1: + raise ValueError( + "Error: More than one motor ID detected. This script is designed to only handle one motor at a time. Please disconnect all but one motor." + ) + + if len(present_ids) == 1: + if motor_index != -1: + raise ValueError( + "Error: More than one motor ID detected. This script is designed to only handle one motor at a time. Please disconnect all but one motor." + ) + motor_index = present_ids[0] + + if motor_index == -1: + raise ValueError("No motors detected. Please ensure you have one motor connected.") + + print(f"Motor index found at: {motor_index}") + + if brand == "feetech": + # Allows ID and BAUDRATE to be written in memory + motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "Lock", 0) + + if baudrate != baudrate_des: + print(f"Setting its baudrate to {baudrate_des}") + baudrate_idx = list(SERIES_BAUDRATE_TABLE.values()).index(baudrate_des) + + # The write can fail, so we allow retries + motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "Baud_Rate", baudrate_idx) + time.sleep(0.5) + motor_bus.set_bus_baudrate(baudrate_des) + present_baudrate_idx = motor_bus.read_with_motor_ids( + motor_bus.motor_models, motor_index, "Baud_Rate", num_retry=2 + ) + + if present_baudrate_idx != baudrate_idx: + raise OSError("Failed to write baudrate.") + + print(f"Setting its index to desired index {motor_idx_des}") + motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "Lock", 0) + motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "ID", motor_idx_des) + + present_idx = motor_bus.read_with_motor_ids(motor_bus.motor_models, motor_idx_des, "ID", num_retry=2) + if present_idx != motor_idx_des: + raise OSError("Failed to write index.") + + if brand == "feetech": + # Set Maximum_Acceleration to 254 to speedup acceleration and deceleration of + # the motors. Note: this configuration is not in the official STS3215 Memory Table + motor_bus.write("Lock", 0) + motor_bus.write("Maximum_Acceleration", 254) + + motor_bus.write("Goal_Position", 2048) + time.sleep(4) + print("Present Position", motor_bus.read("Present_Position")) + + motor_bus.write("Offset", 0) + time.sleep(4) + print("Offset", motor_bus.read("Offset")) + + except Exception as e: + print(f"Error occurred during motor configuration: {e}") + + finally: + motor_bus.disconnect() + print("Disconnected from motor bus.") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--port", type=str, required=True, help="Motors bus port (e.g. dynamixel,feetech)") + parser.add_argument("--brand", type=str, required=True, help="Motor brand (e.g. dynamixel,feetech)") + parser.add_argument("--model", type=str, required=True, help="Motor model (e.g. xl330-m077,sts3215)") + parser.add_argument("--ID", type=int, required=True, help="Desired ID of the current motor (e.g. 1,2,3)") + parser.add_argument( + "--baudrate", type=int, default=1000000, help="Desired baudrate for the motor (default: 1000000)" + ) + args = parser.parse_args() + + configure_motor(args.port, args.brand, args.model, args.ID, args.baudrate) diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py index 425247e65..031e608e7 100644 --- a/lerobot/scripts/control_robot.py +++ b/lerobot/scripts/control_robot.py @@ -144,6 +144,9 @@ def calibrate(robot: Robot, arms: list[str] | None): robot.home() return + if arms is None: + arms = robot.available_arms + unknown_arms = [arm_id for arm_id in arms if arm_id not in robot.available_arms] available_arms_str = " ".join(robot.available_arms) unknown_arms_str = " ".join(unknown_arms) diff --git a/lerobot/scripts/find_motors_bus_port.py b/lerobot/scripts/find_motors_bus_port.py new file mode 100644 index 000000000..51ef6d41c --- /dev/null +++ b/lerobot/scripts/find_motors_bus_port.py @@ -0,0 +1,36 @@ +import time +from pathlib import Path + + +def find_available_ports(): + ports = [] + for path in Path("/dev").glob("tty*"): + ports.append(str(path)) + return ports + + +def find_port(): + print("Finding all available ports for the MotorsBus.") + ports_before = find_available_ports() + print(ports_before) + + print("Remove the usb cable from your MotorsBus and press Enter when done.") + input() + + time.sleep(0.5) + ports_after = find_available_ports() + ports_diff = list(set(ports_before) - set(ports_after)) + + if len(ports_diff) == 1: + port = ports_diff[0] + print(f"The port of this MotorsBus is '{port}'") + print("Reconnect the usb cable.") + elif len(ports_diff) == 0: + raise OSError(f"Could not detect the port. No difference was found ({ports_diff}).") + else: + raise OSError(f"Could not detect the port. More than one port was found ({ports_diff}).") + + +if __name__ == "__main__": + # Helper to find the usb port associated to all your MotorsBus. + find_port() diff --git a/media/moss/follower_initial.webp b/media/moss/follower_initial.webp new file mode 100644 index 0000000000000000000000000000000000000000..e7ded16bdac7a6442199edc6da730789cdd361b8 GIT binary patch literal 118620 zcmZ^~1ymf{7A@MiYjB6)PS6B*C%C&?a3@G`w?J@rPjGh&?vUUFcXxROIp^N{{vWRy z-My)<>gv7svbok=ijrbt%41+4HBljXRe3ITcn}Cg4LrvXKRiGVCXjvzabHOK(u4k7``gINC`=d-<@FATB;&UObm0N0s;%t21T zHG;sAmv1lu#*!c#kP(OxL=TMLftZ2kyO(tat_2=fGykj~{eO@7uYf?j?a$B8&Hp_n z)eZvv-~@r-8~=NZnhOL%LjZvW8tn`m3|_wu0(b>CH3fmr3PB(w4G`$fIB<=YqbcjV z*U!Nag+L&v<>%*fN)QOjDEY|HMiMqa8=+ zK;aMV`DMz_-`<{s-q?M@0%u|K?6xa+@qBKCVTNa^jg*L@c}r*8^MT)-nC1B+>jV4b z^TOpe=SSXA1dHdV=g!S%jE_3IJAQ8EKE4hnMj097xorrr9m!ZrzM%1SO}!5`^@7(Y+1*r@~%gXj4Iju0HRuY6(68#-!Gf&3QK;U*Y58*Zf z>cLoMv!y=4K*{hOMhExEV|O)QAT#Q+5_nC$tX=?Td_R)z{;AVed8cS9um5Jc*+Yu) 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     +You will need to move the follower arm to these positions sequentially: -Then run this script to launch auto-calibration: +| 1. Zero position | 2. Rotated position | 3. Rest position | +|---|---|---| +| SO-100 follower arm zero position | SO-100 follower arm rotated position | SO-100 follower arm rest position | + +Make sure both arms are connected and run this script to launch manual calibration: ```bash python lerobot/scripts/control_robot.py calibrate \ - --robot-path lerobot/configs/robot/so100.yaml \ + --robot-path lerobot/configs/robot/moss.yaml \ --robot-overrides '~cameras' --arms main_follower ``` -Note: You can't run auto-calibration for the leader arm, since we removed the gears. Thus, you will need to manually calibrate the leader arm. It's less precise than auto-calibration, but precision is not as critical for the leader arm. - **Manual calibration of leader arm** Follow step 6 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially: diff --git a/examples/11_use_moss.md b/examples/11_use_moss.md index 4286fb8bc..4ccbb93db 100644 --- a/examples/11_use_moss.md +++ b/examples/11_use_moss.md @@ -123,22 +123,22 @@ Follow step 4 of the [assembly video](https://www.youtube.com/watch?v=DA91NJOtMi Next, you'll need to calibrate your Moss v1 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position. This calibration is essential because it allows a neural network trained on one Moss v1 robot to work on another. -**Auto-calibration of follower arm** -Follow step 5 of the [assembly video](https://www.youtube.com/watch?v=DA91NJOtMic) which illustrates the auto-calibration of the follower arm. You first need to manually move your follower arm to this initial position: +**Manual calibration of follower arm** +/!\ Contrarily to step 6 of the [assembly video](https://www.youtube.com/watch?v=DA91NJOtMic) which illustrates the auto calibration, we will actually do manual calibration of follower for now. -
    - Moss v1 follower arm initial position -
    +You will need to move the follower arm to these positions sequentially: -Then run this script to launch auto-calibration: +| 1. Zero position | 2. Rotated position | 3. Rest position | +|---|---|---| +| Moss v1 follower arm zero position | Moss v1 follower arm rotated position | Moss v1 follower arm rest position | + +Make sure both arms are connected and run this script to launch manual calibration: ```bash python lerobot/scripts/control_robot.py calibrate \ --robot-path lerobot/configs/robot/moss.yaml \ --robot-overrides '~cameras' --arms main_follower ``` -Note: You can't run auto-calibration for the leader arm, since we removed the gears. Thus, you will need to manually calibrate the leader arm. It's less precise than auto-calibration, but precision is not as critical for the leader arm. - **Manual calibration of leader arm** Follow step 6 of the [assembly video](https://www.youtube.com/watch?v=DA91NJOtMic) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially: diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py index 2c358cb92..a20d5aed8 100644 --- a/lerobot/common/robot_devices/robots/manipulator.py +++ b/lerobot/common/robot_devices/robots/manipulator.py @@ -338,17 +338,10 @@ def load_or_run_calibration_(name, arm, arm_type): elif self.robot_type in ["so100", "moss"]: from lerobot.common.robot_devices.robots.feetech_calibration import ( - run_arm_auto_calibration, run_arm_manual_calibration, ) - # TODO(rcadene): better way to handle mocking + test run_arm_auto_calibration - if arm_type == "leader" or arm.mock: - calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type) - elif arm_type == "follower": - calibration = run_arm_auto_calibration(arm, self.robot_type, name, arm_type) - else: - raise ValueError(arm_type) + calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type) print(f"Calibration is done! 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[[package]] name = "absl-py" @@ -1292,10 +1292,6 @@ files = [ {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:78656d3ae1282a142a5fed410ec3a6f725fdf8d9f9192ed673e336ea3b083e12"}, {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:681e22c8ecb3b48d11cb9019f8a32d4ae1e353e20d4ce3a0f0eedd0ccbd95e5f"}, {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4598572bab6f726ec41fabb43bf0f7e3cf8082ea0f6f8f4e57845a6c919f31b3"}, - {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:157fc1fed50946646f09df75c6d52198735a5973e53d252199bbb1c65e1594d2"}, - {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_28_armv7l.whl", hash = "sha256:7ae2724c181be10692c24fb8d9ce2a99a9afc57237332c3658e2ea6f4f33c091"}, - {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_28_i686.whl", hash = "sha256:3d324835f292edd81b962f8c0df44f7f47c0a6f8fe6f7d081951aeb1f5ba57d2"}, - {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:474c087b5e584293685a7d4837165b2ead96dc74fb435ae50d5fa0ac168a0de0"}, {file = "dora_rs-0.3.6-cp37-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:297350f05f5f87a0bf647a1e5b4446728e5f800788c6bb28b462bcd167f1de7f"}, {file = "dora_rs-0.3.6-cp37-abi3-musllinux_1_2_i686.whl", hash = "sha256:b1870a8e30f0ac298d17fd546224348d13a648bcfa0cbc51dba7e5136c1af928"}, {file = "dora_rs-0.3.6-cp37-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:182a189212d41be0c960fd3299bf6731af2e771f8858cfb1be7ebcc17d60a254"}, @@ -1417,6 +1413,19 @@ files = [ [package.extras] devel = ["colorama", "json-spec", "jsonschema", "pylint", "pytest", "pytest-benchmark", "pytest-cache", "validictory"] +[[package]] +name = "feetech-servo-sdk" +version = "1.0.0" +description = "This is source code from official feetech repository" +optional = true +python-versions = "*" +files = [ + {file = "feetech-servo-sdk-1.0.0.tar.gz", hash = "sha256:d4d3832e4b1b22a8222133a414db9f868224c2fb639426a1b11d96ddfe84e69c"}, +] + +[package.dependencies] +pyserial = "*" + [[package]] name = "filelock" version = "3.16.1" @@ -7420,6 +7429,7 @@ aloha = ["gym-aloha"] dev = ["debugpy", "pre-commit"] dora = ["gym-dora"] dynamixel = ["dynamixel-sdk", "pynput"] +feetech = ["feetech-servo-sdk", "pynput"] intelrealsense = ["pyrealsense2"] pusht = ["gym-pusht"] stretch = ["hello-robot-stretch-body", "pynput", "pyrealsense2", "pyrender"] @@ -7431,4 +7441,4 @@ xarm = ["gym-xarm"] [metadata] lock-version = "2.0" python-versions = ">=3.10,<3.13" -content-hash = "cd59da219818a9906018a25462e76e15c5d2c0e6419531e8ddbdc2ae998854c1" +content-hash = "7ff63d36a5524a77cba916d212741082adcb49dfdc0dc49f8bf8ccee53c02254" diff --git a/pyproject.toml b/pyproject.toml index ee898db80..42cdf5813 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -65,6 +65,7 @@ pandas = {version = ">=2.2.2", optional = true} scikit-image = {version = ">=0.23.2", optional = true} dynamixel-sdk = {version = ">=3.7.31", optional = true} pynput = {version = ">=1.7.7", optional = true} +feetech-servo-sdk = {version = ">=1.0.0", optional = true} setuptools = {version = "!=71.0.1", optional = true} # TODO(rcadene, aliberts): 71.0.1 has a bug pyrealsense2 = {version = ">=2.55.1.6486", markers = "sys_platform != 'darwin'", optional = true} # TODO(rcadene, aliberts): Fix on Mac pyrender = {git = "https://github.com/mmatl/pyrender.git", markers = "sys_platform == 'linux'", optional = true} @@ -82,6 +83,7 @@ test = ["pytest", "pytest-cov", "pyserial"] umi = ["imagecodecs"] video_benchmark = ["scikit-image", "pandas"] dynamixel = ["dynamixel-sdk", "pynput"] +feetech = ["feetech-servo-sdk", "pynput"] intelrealsense = ["pyrealsense2"] stretch = ["hello-robot-stretch-body", "pyrender", "pyrealsense2", "pynput"] diff --git a/tests/mock_dynamixel_sdk.py b/tests/mock_dynamixel_sdk.py index 6d0ed20e5..a790dff05 100644 --- a/tests/mock_dynamixel_sdk.py +++ b/tests/mock_dynamixel_sdk.py @@ -18,6 +18,19 @@ def convert_to_bytes(value, bytes): return value +def get_default_motor_values(motor_index): + return { + # Key (int) are from X_SERIES_CONTROL_TABLE + 7: motor_index, # ID + 8: DEFAULT_BAUDRATE, # Baud_rate + 10: 0, # Drive_Mode + 64: 0, # Torque_Enable + # Set 2560 since calibration values for Aloha gripper is between start_pos=2499 and end_pos=3144 + # For other joints, 2560 will be autocorrected to be in calibration range + 132: 2560, # Present_Position + } + + class PortHandler: def __init__(self, port): self.port = port @@ -52,18 +65,9 @@ def __init__(self, port_handler, packet_handler, address, bytes): self.packet_handler = packet_handler def addParam(self, motor_index): # noqa: N802 + # Initialize motor default values if motor_index not in self.packet_handler.data: - # Initialize motor default values - self.packet_handler.data[motor_index] = { - # Key (int) are from X_SERIES_CONTROL_TABLE - 7: motor_index, # ID - 8: DEFAULT_BAUDRATE, # Baud_rate - 10: 0, # Drive_Mode - 64: 0, # Torque_Enable - # Set 2560 since calibration values for Aloha gripper is between start_pos=2499 and end_pos=3144 - # For other joints, 2560 will be autocorrected to be in calibration range - 132: 2560, # Present_Position - } + self.packet_handler.data[motor_index] = get_default_motor_values(motor_index) def txRxPacket(self): # noqa: N802 return COMM_SUCCESS @@ -78,6 +82,9 @@ def __init__(self, port_handler, packet_handler, address, bytes): self.address = address def addParam(self, index, data): # noqa: N802 + # Initialize motor default values + if index not in self.packet_handler.data: + self.packet_handler.data[index] = get_default_motor_values(index) self.changeParam(index, data) def txPacket(self): # noqa: N802 diff --git a/tests/mock_scservo_sdk.py b/tests/mock_scservo_sdk.py new file mode 100644 index 000000000..596978c00 --- /dev/null +++ b/tests/mock_scservo_sdk.py @@ -0,0 +1,103 @@ +"""Mocked classes and functions from dynamixel_sdk to allow for continuous integration +and testing code logic that requires hardware and devices (e.g. robot arms, cameras) + +Warning: These mocked versions are minimalist. They do not exactly mock every behaviors +from the original classes and functions (e.g. return types might be None instead of boolean). +""" + +# from dynamixel_sdk import COMM_SUCCESS + +DEFAULT_BAUDRATE = 1_000_000 +COMM_SUCCESS = 0 # tx or rx packet communication success + + +def convert_to_bytes(value, bytes): + # TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform + # `convert_bytes_to_value` + del bytes # unused + return value + + +def get_default_motor_values(motor_index): + return { + # Key (int) are from SCS_SERIES_CONTROL_TABLE + 5: motor_index, # ID + 6: DEFAULT_BAUDRATE, # Baud_rate + 10: 0, # Drive_Mode + 21: 32, # P_Coefficient + 22: 32, # D_Coefficient + 23: 0, # I_Coefficient + 40: 0, # Torque_Enable + 41: 254, # Acceleration + 31: -2047, # Offset + 33: 0, # Mode + 55: 1, # Lock + # Set 2560 since calibration values for Aloha gripper is between start_pos=2499 and end_pos=3144 + # For other joints, 2560 will be autocorrected to be in calibration range + 56: 2560, # Present_Position + 58: 0, # Present_Speed + 69: 0, # Present_Current + 85: 150, # Maximum_Acceleration + } + + +class PortHandler: + def __init__(self, port): + self.port = port + # factory default baudrate + self.baudrate = DEFAULT_BAUDRATE + + def openPort(self): # noqa: N802 + return True + + def closePort(self): # noqa: N802 + pass + + def setPacketTimeoutMillis(self, timeout_ms): # noqa: N802 + del timeout_ms # unused + + def getBaudRate(self): # noqa: N802 + return self.baudrate + + def setBaudRate(self, baudrate): # noqa: N802 + self.baudrate = baudrate + + +class PacketHandler: + def __init__(self, protocol_version): + del protocol_version # unused + # Use packet_handler.data to communicate across Read and Write + self.data = {} + + +class GroupSyncRead: + def __init__(self, port_handler, packet_handler, address, bytes): + self.packet_handler = packet_handler + + def addParam(self, motor_index): # noqa: N802 + # Initialize motor default values + if motor_index not in self.packet_handler.data: + self.packet_handler.data[motor_index] = get_default_motor_values(motor_index) + + def txRxPacket(self): # noqa: N802 + return COMM_SUCCESS + + def getData(self, index, address, bytes): # noqa: N802 + return self.packet_handler.data[index][address] + + +class GroupSyncWrite: + def __init__(self, port_handler, packet_handler, address, bytes): + self.packet_handler = packet_handler + self.address = address + + def addParam(self, index, data): # noqa: N802 + if index not in self.packet_handler.data: + self.packet_handler.data[index] = get_default_motor_values(index) + self.changeParam(index, data) + + def txPacket(self): # noqa: N802 + return COMM_SUCCESS + + def changeParam(self, index, data): # noqa: N802 + self.packet_handler.data[index][self.address] = data diff --git a/tests/test_control_robot.py b/tests/test_control_robot.py index 2c0bca9b6..97ce28a64 100644 --- a/tests/test_control_robot.py +++ b/tests/test_control_robot.py @@ -36,7 +36,7 @@ from lerobot.scripts.control_robot import calibrate, record, replay, teleoperate from lerobot.scripts.train import make_optimizer_and_scheduler from tests.test_robots import make_robot -from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, require_robot +from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, mock_calibration_dir, require_robot @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES) @@ -49,6 +49,7 @@ def test_teleoperate(tmpdir, request, robot_type, mock): # and avoid writing calibration files in user .cache/calibration folder tmpdir = Path(tmpdir) calibration_dir = tmpdir / robot_type + mock_calibration_dir(calibration_dir) overrides = [f"calibration_dir={calibration_dir}"] else: # Use the default .cache/calibration folder when mock=False @@ -89,6 +90,7 @@ def test_record_without_cameras(tmpdir, request, robot_type, mock): # Create an empty calibration directory to trigger manual calibration # and avoid writing calibration files in user .cache/calibration folder calibration_dir = Path(tmpdir) / robot_type + mock_calibration_dir(calibration_dir) overrides.append(f"calibration_dir={calibration_dir}") root = Path(tmpdir) / "data" @@ -121,6 +123,7 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock): # Create an empty calibration directory to trigger manual calibration # and avoid writing calibration files in user .cache/calibration folder calibration_dir = tmpdir / robot_type + mock_calibration_dir(calibration_dir) overrides = [f"calibration_dir={calibration_dir}"] else: # Use the default .cache/calibration folder when mock=False or for aloha @@ -162,6 +165,12 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock): elif robot_type in ["koch", "koch_bimanual"]: env_name = "koch_real" policy_name = "act_koch_real" + elif robot_type == "so100": + env_name = "so100_real" + policy_name = "act_so100_real" + elif robot_type == "moss": + env_name = "moss_real" + policy_name = "act_moss_real" else: raise NotImplementedError(robot_type) @@ -248,6 +257,7 @@ def test_resume_record(tmpdir, request, robot_type, mock): # Create an empty calibration directory to trigger manual calibration # and avoid writing calibration files in user .cache/calibration folder calibration_dir = tmpdir / robot_type + mock_calibration_dir(calibration_dir) overrides = [f"calibration_dir={calibration_dir}"] else: # Use the default .cache/calibration folder when mock=False or for aloha @@ -311,6 +321,7 @@ def test_record_with_event_rerecord_episode(tmpdir, request, robot_type, mock): # Create an empty calibration directory to trigger manual calibration # and avoid writing calibration files in user .cache/calibration folder calibration_dir = tmpdir / robot_type + mock_calibration_dir(calibration_dir) overrides = [f"calibration_dir={calibration_dir}"] else: # Use the default .cache/calibration folder when mock=False or for aloha @@ -360,6 +371,7 @@ def test_record_with_event_exit_early(tmpdir, request, robot_type, mock): # Create an empty calibration directory to trigger manual calibration # and avoid writing calibration files in user .cache/calibration folder calibration_dir = tmpdir / robot_type + mock_calibration_dir(calibration_dir) overrides = [f"calibration_dir={calibration_dir}"] else: # Use the default .cache/calibration folder when mock=False or for aloha @@ -410,6 +422,7 @@ def test_record_with_event_stop_recording(tmpdir, request, robot_type, mock, num # Create an empty calibration directory to trigger manual calibration # and avoid writing calibration files in user .cache/calibration folder calibration_dir = tmpdir / robot_type + mock_calibration_dir(calibration_dir) overrides = [f"calibration_dir={calibration_dir}"] else: # Use the default .cache/calibration folder when mock=False or for aloha diff --git a/tests/test_motors.py b/tests/test_motors.py index 672234071..2f668926c 100644 --- a/tests/test_motors.py +++ b/tests/test_motors.py @@ -30,8 +30,8 @@ import numpy as np import pytest -from lerobot.common.robot_devices.motors.dynamixel import find_port from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError +from lerobot.scripts.find_motors_bus_port import find_port from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, require_motor @@ -52,12 +52,24 @@ def test_configure_motors_all_ids_1(request, motor_type, mock): if mock: request.getfixturevalue("patch_builtins_input") + if motor_type == "dynamixel": + # see X_SERIES_BAUDRATE_TABLE + smaller_baudrate = 9_600 + smaller_baudrate_value = 0 + elif motor_type == "feetech": + # see SCS_SERIES_BAUDRATE_TABLE + smaller_baudrate = 19_200 + smaller_baudrate_value = 7 + else: + raise ValueError(motor_type) + input("Are you sure you want to re-configure the motors? Press enter to continue...") # This test expect the configuration was already correct. motors_bus = make_motors_bus(motor_type, mock=mock) motors_bus.connect() - motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors)) - motors_bus.set_bus_baudrate(9_600) + motors_bus.write("Baud_Rate", [smaller_baudrate_value] * len(motors_bus.motors)) + + motors_bus.set_bus_baudrate(smaller_baudrate) motors_bus.write("ID", [1] * len(motors_bus.motors)) del motors_bus diff --git a/tests/test_robots.py b/tests/test_robots.py index 13ad8c450..05966ff15 100644 --- a/tests/test_robots.py +++ b/tests/test_robots.py @@ -30,7 +30,7 @@ from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError -from tests.utils import TEST_ROBOT_TYPES, make_robot, require_robot +from tests.utils import TEST_ROBOT_TYPES, make_robot, mock_calibration_dir, require_robot @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES) @@ -39,7 +39,6 @@ def test_robot(tmpdir, request, robot_type, mock): # TODO(rcadene): measure fps in nightly? # TODO(rcadene): test logs # TODO(rcadene): add compatibility with other robots - robot_kwargs = {"robot_type": robot_type} if robot_type == "aloha" and mock: @@ -54,6 +53,7 @@ def test_robot(tmpdir, request, robot_type, mock): tmpdir = Path(tmpdir) calibration_dir = tmpdir / robot_type overrides_calibration_dir = [f"calibration_dir={calibration_dir}"] + mock_calibration_dir(calibration_dir) robot_kwargs["calibration_dir"] = calibration_dir # Test connecting without devices raises an error diff --git a/tests/utils.py b/tests/utils.py index 0c4b94d89..f24b3551c 100644 --- a/tests/utils.py +++ b/tests/utils.py @@ -13,10 +13,12 @@ # 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 json import os import platform from copy import copy from functools import wraps +from pathlib import Path import pytest import torch @@ -52,7 +54,7 @@ OPENCV_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_OPENCV_CAMERA_INDEX", 0)) INTELREALSENSE_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_INTELREALSENSE_CAMERA_INDEX", 128422271614)) -DYNAMIXEL_PORT = "/dev/tty.usbmodem575E0032081" +DYNAMIXEL_PORT = os.environ.get("LEROBOT_TEST_DYNAMIXEL_PORT", "/dev/tty.usbmodem575E0032081") DYNAMIXEL_MOTORS = { "shoulder_pan": [1, "xl430-w250"], "shoulder_lift": [2, "xl430-w250"], @@ -62,6 +64,16 @@ "gripper": [6, "xl330-m288"], } +FEETECH_PORT = os.environ.get("LEROBOT_TEST_FEETECH_PORT", "/dev/tty.usbmodem585A0080971") +FEETECH_MOTORS = { + "shoulder_pan": [1, "sts3215"], + "shoulder_lift": [2, "sts3215"], + "elbow_flex": [3, "sts3215"], + "wrist_flex": [4, "sts3215"], + "wrist_roll": [5, "sts3215"], + "gripper": [6, "sts3215"], +} + def require_x86_64_kernel(func): """ @@ -271,13 +283,39 @@ def wrapper(*args, **kwargs): return wrapper +def mock_calibration_dir(calibration_dir): + # TODO(rcadene): remove this hack + # calibration file produced with Moss v1, but works with Koch, Koch bimanual and SO-100 + example_calib = { + "homing_offset": [-1416, -845, 2130, 2872, 1950, -2211], + "drive_mode": [0, 0, 1, 1, 1, 0], + "start_pos": [1442, 843, 2166, 2849, 1988, 1835], + "end_pos": [2440, 1869, -1106, -1848, -926, 3235], + "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], + "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"], + } + Path(str(calibration_dir)).mkdir(parents=True, exist_ok=True) + with open(calibration_dir / "main_follower.json", "w") as f: + json.dump(example_calib, f) + with open(calibration_dir / "main_leader.json", "w") as f: + json.dump(example_calib, f) + with open(calibration_dir / "left_follower.json", "w") as f: + json.dump(example_calib, f) + with open(calibration_dir / "left_leader.json", "w") as f: + json.dump(example_calib, f) + with open(calibration_dir / "right_follower.json", "w") as f: + json.dump(example_calib, f) + with open(calibration_dir / "right_leader.json", "w") as f: + json.dump(example_calib, f) + + def make_robot(robot_type: str, overrides: list[str] | None = None, mock=False) -> Robot: if mock: overrides = [] if overrides is None else copy(overrides) # Explicitely add mock argument to the cameras and set it to true # TODO(rcadene, aliberts): redesign when we drop hydra - if robot_type == "koch": + if robot_type in ["koch", "so100", "moss"]: overrides.append("+leader_arms.main.mock=true") overrides.append("+follower_arms.main.mock=true") if "~cameras" not in overrides: @@ -338,5 +376,12 @@ def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus: motors = kwargs.pop("motors", DYNAMIXEL_MOTORS) return DynamixelMotorsBus(port, motors, **kwargs) + elif motor_type == "feetech": + from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus + + port = kwargs.pop("port", FEETECH_PORT) + motors = kwargs.pop("motors", FEETECH_MOTORS) + return FeetechMotorsBus(port, motors, **kwargs) + else: raise ValueError(f"The motor type '{motor_type}' is not valid.") From 55e4ff67423e10c50c51b8424503ce976e241572 Mon Sep 17 00:00:00 2001 From: Remi Date: Sat, 26 Oct 2024 12:15:17 +0200 Subject: [PATCH 12/29] Fix autocalib moss (#486) --- .../robot_devices/robots/feetech_calibration.py | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/lerobot/common/robot_devices/robots/feetech_calibration.py b/lerobot/common/robot_devices/robots/feetech_calibration.py index 1fca07f43..b015951a0 100644 --- a/lerobot/common/robot_devices/robots/feetech_calibration.py +++ b/lerobot/common/robot_devices/robots/feetech_calibration.py @@ -64,7 +64,7 @@ def move_until_block(arm, motor_name, positive_direction=True, while_move_hook=N # print(f"{present_voltage=}") # print(f"{present_temperature=}") - if present_speed == 0 and present_current > 50: + if present_speed == 0 and present_current > 40: count += 1 if count > 100 or present_current > 300: return present_pos @@ -306,16 +306,16 @@ def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str calib = {} print("Calibrate shoulder_pan") - calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan", load_threshold=350, count_threshold=200) + calib["shoulder_pan"] = move_to_calibrate(arm, "shoulder_pan") arm.write("Goal_Position", calib["shoulder_pan"]["zero_pos"], "shoulder_pan") time.sleep(1) print("Calibrate gripper") - calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True, count_threshold=200) + calib["gripper"] = move_to_calibrate(arm, "gripper", invert_drive_mode=True) time.sleep(1) print("Calibrate wrist_flex") - calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex", invert_drive_mode=True, count_threshold=200) + calib["wrist_flex"] = move_to_calibrate(arm, "wrist_flex", invert_drive_mode=True) calib["wrist_flex"] = apply_offset(calib["wrist_flex"], offset=-210 + 1024) wr_pos = arm.read("Present_Position", "wrist_roll") @@ -329,7 +329,7 @@ def run_arm_auto_calibration_moss(arm: MotorsBus, robot_type: str, arm_name: str time.sleep(1) print("Calibrate wrist_roll") - calib["wrist_roll"] = move_to_calibrate(arm, "wrist_roll", invert_drive_mode=True, count_threshold=200) + calib["wrist_roll"] = move_to_calibrate(arm, "wrist_roll", invert_drive_mode=True) calib["wrist_roll"] = apply_offset(calib["wrist_roll"], offset=790) arm.write("Goal_Position", calib["wrist_roll"]["zero_pos"] - 1024, "wrist_roll") @@ -348,7 +348,6 @@ def in_between_move_elbow_flex_hook(): arm, "elbow_flex", invert_drive_mode=True, - count_threshold=200, in_between_move_hook=in_between_move_elbow_flex_hook, ) arm.write("Goal_Position", calib["wrist_flex"]["zero_pos"] - 1024, "wrist_flex") From 172809a5022d8d59019680942aa3fef77248aa75 Mon Sep 17 00:00:00 2001 From: Remi Date: Sat, 26 Oct 2024 15:27:21 +0200 Subject: [PATCH 13/29] [Fix] Move back to manual calibration (#488) --- examples/10_use_so100.md | 18 +++++++++--------- examples/11_use_moss.md | 16 ++++++++-------- .../robot_devices/robots/manipulator.py | 9 +-------- media/moss/follower_rest.webp | Bin 0 -> 156426 bytes media/moss/follower_rotated.webp | Bin 0 -> 213252 bytes media/moss/follower_zero.webp | Bin 0 -> 303388 bytes media/so100/follower_rest.webp | Bin 0 -> 148184 bytes media/so100/follower_rotated.webp | Bin 0 -> 97420 bytes media/so100/follower_zero.webp | Bin 0 -> 137504 bytes 9 files changed, 18 insertions(+), 25 deletions(-) create mode 100644 media/moss/follower_rest.webp create mode 100644 media/moss/follower_rotated.webp create mode 100644 media/moss/follower_zero.webp create mode 100644 media/so100/follower_rest.webp create mode 100644 media/so100/follower_rotated.webp create mode 100644 media/so100/follower_zero.webp diff --git a/examples/10_use_so100.md b/examples/10_use_so100.md index ffadb1f3e..405e80ec0 100644 --- a/examples/10_use_so100.md +++ b/examples/10_use_so100.md @@ -123,22 +123,22 @@ Follow step 4 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5 Next, you'll need to calibrate your SO-100 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position. This calibration is essential because it allows a neural network trained on one SO-100 robot to work on another. -**Auto-calibration of follower arm** -Follow step 5 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I) which illustrates the auto-calibration of the follower arm. You first need to manually move your follower arm to this initial position: +**Manual calibration of follower arm** +/!\ Contrarily to step 6 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I) which illustrates the auto calibration, we will actually do manual calibration of follower for now. -