From beed4763f96ef786e3201daff2270dfc53aa31a9 Mon Sep 17 00:00:00 2001 From: Steve Nguyen Date: Fri, 15 Nov 2024 18:02:46 +0100 Subject: [PATCH] initial support for Reachy2. Add basic camera access and joint positions --- .../common/robot_devices/robots/reachy2.py | 197 ++ lerobot/configs/robot/reachy2.yaml | 36 + lerobot/scripts/test_reachy.py | 32 + poetry.lock | 2899 +++++++++-------- pyproject.toml | 2 + 5 files changed, 1756 insertions(+), 1410 deletions(-) create mode 100644 lerobot/common/robot_devices/robots/reachy2.py create mode 100644 lerobot/configs/robot/reachy2.yaml create mode 100644 lerobot/scripts/test_reachy.py diff --git a/lerobot/common/robot_devices/robots/reachy2.py b/lerobot/common/robot_devices/robots/reachy2.py new file mode 100644 index 00000000..cf39e80a --- /dev/null +++ b/lerobot/common/robot_devices/robots/reachy2.py @@ -0,0 +1,197 @@ +#!/usr/bin/env python + +# Copyright 2024 The Pollen Robotics team and 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 numpy as np +import torch +from lerobot.common.robot_devices.cameras.utils import Camera +from reachy2_sdk import ReachySDK +from reachy2_sdk.media.camera import CameraView +from reachy2_sdk.media.camera_manager import CameraManager + + +@dataclass +class ReachyCameraConfig: + + fps: int | None = None + width: int | None = None + height: int | None = None + color_mode: str = "rgb" + rotation: int | None = None + mock: bool = False + + +class ReachyCamera: + def __init__(self, host: str, post: int,name: str, image_type: str, config: ReachyCameraConfig): + self.host=host + self.port=port + self.image_type = image_type + self.name = name + self.config = config + self.camera = Camera() + self.cam_manager=None + self.is_connected = False + self.logs = {} + + def connect(self): + if not self.is_connected: + self.cam_manager=CameraManager(host=self.host, port=self.port) + self.cam_manager.initialize_cameras()#FIXME: maybe we should not re-initialize + self.is_connected=True + + def read(self) -> np.ndarray: + if self.name=='teleop': + if self.image_type=='left': + return self.cam_manager.teleop.get_frame(CameraView.LEFT) + elif self.image_type=='right': + return self.cam_manager.teleop.get_frame(CameraView.RIGHT) + else: + return None + elif self.name=='depth': + if self.image_type=='depth': + return self.cam_manager.depth.get_depth_frame() + elif self.image_type=='rgb': + return self.cam_manager.depth.get_frame() + else: + return None +@dataclass +class ReachyRobotConfig: + robot_type: str | None = "Reachy2" + cameras: dict[str, Camera] = field(default_factory=lambda: {}) + ip_address: str | None = "localhost" + +class ReachyRobot(): + """Wrapper of ReachySDK """ + + def __init__(self, config: ReachyRobotConfig | None = None, **kwargs): + if config is None: + config = ReachyRobotConfig() + + + + # 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 #at init Reachy2 is in fact connected... + self.teleop = None + self.logs = {} + self.reachy=ReachySDK(host=config.ip_address) + + 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.reachy.is_connected = self.reachy.connect() + if not self.is_connected: + print(f'Cannot connect to Reachy at address {self.config.ip_address}. Maybe a connection already exists.') + raise ConnectionError() + + self.reachy.turn_on() + 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() + + def teleop_step( + self, record_data=False + ) -> None | tuple[dict[str, torch.Tensor], dict[str, torch.Tensor]]: + # TODO + + return None + + def get_state(self) -> dict: + + return { + "neck_yaw.pos": np.radians(self.reachy.head.neck.yaw.present_position), + "neck_pitch.pos": np.radians(self.reachy.head.neck.pitch.present_position), + "neck_roll.pos": np.radians(self.reachy.head.neck.roll.present_position), + "r_shoulder_pitch.pos": np.radians(self.reachy.r_arm.shoulder.pitch.present_position), + "r_shoulder_roll.pos": np.radians(self.reachy.r_arm.shoulder.roll.present_position), + "r_elbow_yaw.pos": np.radians(self.reachy.r_arm.elbow.yaw.present_position), + "r_elbow_pitch.pos": np.radians(self.reachy.r_arm.elbow.pitch.present_position), + "r_wrist_roll.pos": np.radians(self.reachy.r_arm.wrist.roll.present_position), + "r_wrist_pitch.pos": np.radians(self.reachy.r_arm.wrist.pitch.present_position), + "r_wrist_yaw.pos": np.radians(self.reachy.r_arm.wrist.yaw.present_position), + "r_gripper.pos": np.radians(self.reachy.r_arm.gripper.present_position), + "l_shouldel_pitch.pos": np.radians(self.reachy.l_arm.shoulder.pitch.present_position), + "l_shouldel_roll.pos": np.radians(self.reachy.l_arm.shoulder.roll.present_position), + "l_elbow_yaw.pos": np.radians(self.reachy.l_arm.elbow.yaw.present_position), + "l_elbow_pitch.pos": np.radians(self.reachy.l_arm.elbow.pitch.present_position), + "l_wrist_roll.pos": np.radians(self.reachy.l_arm.wrist.roll.present_position), + "l_wrist_pitch.pos": np.radians(self.reachy.l_arm.wrist.pitch.present_position), + "l_wrist_yaw.pos": np.radians(self.reachy.l_arm.wrist.yaw.present_position), + "l_gripper.pos": np.radians(self.reachy.l_arm.gripper.present_position), + #TODO mobile base + } + + def capture_observation(self) -> dict: + + 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].read() #Reachy cameras read() is not blocking? + 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: + + if not self.is_connected: + raise ConnectionError() + + #TODO + return action + + def print_logs(self) -> None: + pass + + + def disconnect(self) -> None: + + self.reachy.turn_off_smoothly() + + self.is_connected = False + + def __del__(self): + self.disconnect() diff --git a/lerobot/configs/robot/reachy2.yaml b/lerobot/configs/robot/reachy2.yaml new file mode 100644 index 00000000..3f83f10d --- /dev/null +++ b/lerobot/configs/robot/reachy2.yaml @@ -0,0 +1,36 @@ +# [Reachy2 from Pollen Robotics](https://www.pollen-robotics.com) + +# Requires installing extras packages +# With pip: `pip install -e ".[reachy2]"` +# With poetry: `poetry install --sync --extras "reachy2"` + + +_target_: lerobot.common.robot_devices.robots.reachy2.ReachyRobot + +robot_type: Reachy2 + +cameras: + head_left: + _target_: lerobot.common.robot_devices.robots.reachy2.Reachycamera + name: teleop + host: localhost + port: 50065 + image_type: left + head_right: + _target_: lerobot.common.robot_devices.robots.reachy2.Reachycamera + name: teleop + host: localhost + port: 50065 + image_type: right + torso_rgb: + _target_: lerobot.common.robot_devices.robots.reachy2.Reachycamera + name: depth + host: localhost + port: 50065 + image_type: rgb + torso_depth: + _target_: lerobot.common.robot_devices.robots.reachy2.Reachycamera + name: depth + host: localhost + port: 50065 + image_type: depth diff --git a/lerobot/scripts/test_reachy.py b/lerobot/scripts/test_reachy.py new file mode 100644 index 00000000..81cb478a --- /dev/null +++ b/lerobot/scripts/test_reachy.py @@ -0,0 +1,32 @@ + +import argparse +import logging +import time +from pathlib import Path +from typing import List + +# from safetensors.torch import load_file, save_file +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 +from lerobot.common.robot_devices.utils import busy_wait, safe_disconnect +from lerobot.common.utils.utils import (init_hydra_config, init_logging, + log_say, none_or_int) + +if __name__ == '__main__': + init_logging() + + control_mode = "test" + robot_path = "lerobot/configs/robot/reachy2.yaml" + robot_overrides = None + + robot_cfg = init_hydra_config(robot_path, robot_overrides) + robot = make_robot(robot_cfg) diff --git a/poetry.lock b/poetry.lock index bb82228d..7d9f25dc 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. 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