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lerobot
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feat(visualization): implement rerun

This commit is contained in:
Steven Palma 2025-03-25 17:14:57 +01:00
parent 2c22f7d76d
commit a7d7f1258d
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7 changed files with 92 additions and 45 deletions
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15
benchmarks/video/capture_camera_feed.py
View File

@ -17,12 +17,19 @@
import argparse
import datetime as dt
import os
from pathlib import Path
import cv2
import keyboard
import rerun as rr
def display_and_save_video_stream(output_dir: Path, fps: int, width: int, height: int):
rr.init("lerobot_capture_camera_feed")
memory_limit = os.getenv("LEROBOT_RERUN_MEMORY_LIMIT", "5%")
rr.spawn(memory_limit=memory_limit)
now = dt.datetime.now()
capture_dir = output_dir / f"{now:%Y-%m-%d}" / f"{now:%H-%M-%S}"
if not capture_dir.exists():
@ -45,18 +52,18 @@ def display_and_save_video_stream(output_dir: Path, fps: int, width: int, height
if not ret:
print("Error: Could not read frame.")
break
cv2.imshow("Video Stream", frame)
rr.log("video/stream", rr.Image(frame.numpy()), static=True)
cv2.imwrite(str(capture_dir / f"frame_{frame_index:06d}.png"), frame)
frame_index += 1
# Break the loop on 'q' key press
if cv2.waitKey(1) & 0xFF == ord("q"):
if keyboard.is_pressed("q"):
break
# Release the capture and destroy all windows
cap.release()
cv2.destroyAllWindows()
# TODO(Steven): Find a way to close visualizer: https://github.com/rerun-io/rerun/pull/9400
# cv2.destroyAllWindows()
if __name__ == "__main__":

4
lerobot/common/robot_devices/control_configs.py
View File

@ -41,7 +41,7 @@ class TeleoperateControlConfig(ControlConfig):
fps: int | None = None
teleop_time_s: float | None = None
# Display all cameras on screen
display_cameras: bool = True
display_data: bool = False
@ControlConfig.register_subclass("record")
@ -82,7 +82,7 @@ class RecordControlConfig(ControlConfig):
# Not enough threads might cause low camera fps.
num_image_writer_threads_per_camera: int = 4
# Display all cameras on screen
display_cameras: bool = True
display_data: bool = False
# Use vocal synthesis to read events.
play_sounds: bool = True
# Resume recording on an existing dataset.

31
lerobot/common/robot_devices/control_utils.py
View File

@ -24,7 +24,7 @@ from contextlib import nullcontext
from copy import copy
from functools import cache
import cv2
import rerun as rr
import torch
from deepdiff import DeepDiff
from termcolor import colored
@ -174,13 +174,13 @@ def warmup_record(
events,
enable_teleoperation,
warmup_time_s,
display_cameras,
display_data,
fps,
):
control_loop(
robot=robot,
control_time_s=warmup_time_s,
display_cameras=display_cameras,
display_data=display_data,
events=events,
fps=fps,
teleoperate=enable_teleoperation,
@ -192,7 +192,7 @@ def record_episode(
dataset,
events,
episode_time_s,
display_cameras,
display_data,
policy,
fps,
single_task,
@ -200,7 +200,7 @@ def record_episode(
control_loop(
robot=robot,
control_time_s=episode_time_s,
display_cameras=display_cameras,
display_data=display_data,
dataset=dataset,
events=events,
policy=policy,
@ -215,7 +215,7 @@ def control_loop(
robot,
control_time_s=None,
teleoperate=False,
display_cameras=False,
display_data=False,
dataset: LeRobotDataset | None = None,
events=None,
policy: PreTrainedPolicy = None,
@ -264,11 +264,14 @@ def control_loop(
frame = {**observation, **action, "task": single_task}
dataset.add_frame(frame)
if display_cameras and not is_headless():
if display_data and not is_headless():
for k, v in action.items():
for i, vv in enumerate(v):
rr.log(f"sent_{k}_{i}", rr.Scalar(vv.numpy()))
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)
rr.log(key, rr.Image(observation[key].numpy()), static=True)
if fps is not None:
dt_s = time.perf_counter() - start_loop_t
@ -297,15 +300,15 @@ def reset_environment(robot, events, reset_time_s, fps):
)
def stop_recording(robot, listener, display_cameras):
def stop_recording(robot, listener, display_data):
robot.disconnect()
if not is_headless():
if listener is not None:
if not is_headless() and listener is not None:
listener.stop()
if display_cameras:
cv2.destroyAllWindows()
# TODO(Steven): Find a way to close visualizer: https://github.com/rerun-io/rerun/pull/9400
# if display_data:
# cv2.destroyAllWindows()
def sanity_check_dataset_name(repo_id, policy_cfg):

16
lerobot/common/robot_devices/robots/configs.py
View File

@ -443,7 +443,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
leader_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem58760431091",
port="/dev/tty.usbmodem58760434171",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
@ -460,7 +460,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
follower_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem585A0076891",
port="/dev/tty.usbmodem58760430031",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
@ -476,17 +476,11 @@ class So100RobotConfig(ManipulatorRobotConfig):
cameras: dict[str, CameraConfig] = field(
default_factory=lambda: {
"laptop": OpenCVCameraConfig(
"cam": OpenCVCameraConfig(
camera_index=0,
fps=30,
width=640,
height=480,
),
"phone": OpenCVCameraConfig(
camera_index=1,
fps=30,
width=640,
height=480,
width=1280,
height=720,
),
}
)

52
lerobot/scripts/control_robot.py
View File

@ -135,15 +135,19 @@ python lerobot/scripts/control_robot.py \
"""
import logging
import os
import time
from dataclasses import asdict
from pprint import pformat
import rerun as rr
# from safetensors.torch import load_file, save_file
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.policies.factory import make_policy
from lerobot.common.robot_devices.control_configs import (
CalibrateControlConfig,
ControlConfig,
ControlPipelineConfig,
RecordControlConfig,
RemoteRobotConfig,
@ -153,6 +157,7 @@ from lerobot.common.robot_devices.control_configs import (
from lerobot.common.robot_devices.control_utils import (
control_loop,
init_keyboard_listener,
is_headless,
log_control_info,
record_episode,
reset_environment,
@ -232,7 +237,7 @@ def teleoperate(robot: Robot, cfg: TeleoperateControlConfig):
control_time_s=cfg.teleop_time_s,
fps=cfg.fps,
teleoperate=True,
display_cameras=cfg.display_cameras,
display_data=cfg.display_data,
)
@ -280,7 +285,7 @@ def record(
# 3. place the cameras windows on screen
enable_teleoperation = policy is None
log_say("Warmup record", cfg.play_sounds)
warmup_record(robot, events, enable_teleoperation, cfg.warmup_time_s, cfg.display_cameras, cfg.fps)
warmup_record(robot, events, enable_teleoperation, cfg.warmup_time_s, cfg.display_data, cfg.fps)
if has_method(robot, "teleop_safety_stop"):
robot.teleop_safety_stop()
@ -296,7 +301,7 @@ def record(
dataset=dataset,
events=events,
episode_time_s=cfg.episode_time_s,
display_cameras=cfg.display_cameras,
display_data=cfg.display_data,
policy=policy,
fps=cfg.fps,
single_task=cfg.single_task,
@ -326,7 +331,7 @@ def record(
break
log_say("Stop recording", cfg.play_sounds, blocking=True)
stop_recording(robot, listener, cfg.display_cameras)
stop_recording(robot, listener, cfg.display_data)
if cfg.push_to_hub:
dataset.push_to_hub(tags=cfg.tags, private=cfg.private)
@ -363,6 +368,40 @@ def replay(
log_control_info(robot, dt_s, fps=cfg.fps)
def _init_rerun(control_config: ControlConfig, session_name: str = "lerobot_control_loop") -> None:
"""Initializes the Rerun SDK for visualizing the control loop.
Args:
control_config: Configuration determining data display and robot type.
session_name: Rerun session name. Defaults to "lerobot_control_loop".
Raises:
ValueError: If viewer IP is missing for non-remote configurations with display enabled.
"""
if control_config.display_data and not is_headless():
# Configure Rerun flush batch size
batch_size = os.getenv("RERUN_FLUSH_NUM_BYTES", "8000")
os.environ["RERUN_FLUSH_NUM_BYTES"] = batch_size
# Get memory limit and viewer connection parameters
memory_limit = os.getenv("LEROBOT_RERUN_MEMORY_LIMIT", "5%")
viewer_ip = os.getenv("LEROBOT_VIEWER_IP")
viewer_port = os.getenv("LEROBOT_VIEWER_PORT", "9876")
# Initialize Rerun based on configuration
rr.init(session_name)
if isinstance(control_config, RemoteRobotConfig):
if not viewer_ip:
raise ValueError(
"Viewer IP required for remote config. Set LEROBOT_VIEWER_IP "
"or disable control_config.display_data."
)
logging.info(f"Connecting to viewer at {viewer_ip}:{viewer_port}")
rr.connect_tcp(f"{viewer_ip}:{viewer_port}")
else:
rr.spawn(memory_limit=memory_limit)
@parser.wrap()
def control_robot(cfg: ControlPipelineConfig):
init_logging()
@ -370,17 +409,22 @@ def control_robot(cfg: ControlPipelineConfig):
robot = make_robot_from_config(cfg.robot)
# TODO(Steven): Blueprint for fixed window size
if isinstance(cfg.control, CalibrateControlConfig):
calibrate(robot, cfg.control)
elif isinstance(cfg.control, TeleoperateControlConfig):
_init_rerun(control_config=cfg.control, session_name="lerobot_control_loop_teleop")
teleoperate(robot, cfg.control)
elif isinstance(cfg.control, RecordControlConfig):
_init_rerun(control_config=cfg.control, session_name="lerobot_control_loop_record")
record(robot, cfg.control)
elif isinstance(cfg.control, ReplayControlConfig):
replay(robot, cfg.control)
elif isinstance(cfg.control, RemoteRobotConfig):
from lerobot.common.robot_devices.robots.lekiwi_remote import run_lekiwi
_init_rerun(control_config=cfg.control, session_name="lerobot_control_loop_remote")
run_lekiwi(cfg.robot)
if robot.is_connected:

4
pyproject.toml
View File

@ -60,9 +60,9 @@ dependencies = [
"jsonlines>=4.0.0",
"numba>=0.59.0",
"omegaconf>=2.3.0",
"opencv-python>=4.9.0",
"opencv-python-headless>=4.9.0",
"keyboard>=0.13.5",
"packaging>=24.2",
"av>=12.0.5,<13.0.0",
"pymunk>=6.6.0",
"pynput>=1.7.7",
"pyzmq>=26.2.1",

13
tests/robots/test_control_robot.py
View File

@ -172,8 +172,7 @@ def test_record_and_replay_and_policy(tmp_path, request, robot_type, mock):
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,
display_data=False,
play_sounds=False,
)
dataset = record(robot, rec_cfg)
@ -226,7 +225,7 @@ def test_record_and_replay_and_policy(tmp_path, request, robot_type, mock):
num_episodes=2,
push_to_hub=False,
video=False,
display_cameras=False,
display_data=False,
play_sounds=False,
num_image_writer_processes=num_image_writer_processes,
)
@ -273,7 +272,7 @@ def test_resume_record(tmp_path, request, robot_type, mock):
episode_time_s=1,
push_to_hub=False,
video=False,
display_cameras=False,
display_data=False,
play_sounds=False,
num_episodes=1,
)
@ -330,7 +329,7 @@ def test_record_with_event_rerecord_episode(tmp_path, request, robot_type, mock)
num_episodes=1,
push_to_hub=False,
video=False,
display_cameras=False,
display_data=False,
play_sounds=False,
)
dataset = record(robot, rec_cfg)
@ -380,7 +379,7 @@ def test_record_with_event_exit_early(tmp_path, request, robot_type, mock):
num_episodes=1,
push_to_hub=False,
video=False,
display_cameras=False,
display_data=False,
play_sounds=False,
)
@ -433,7 +432,7 @@ def test_record_with_event_stop_recording(tmp_path, request, robot_type, mock, n
num_episodes=2,
push_to_hub=False,
video=False,
display_cameras=False,
display_data=False,
play_sounds=False,
num_image_writer_processes=num_image_writer_processes,
)