118 lines
3.7 KiB
Python
118 lines
3.7 KiB
Python
import argparse
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import time
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import cv2
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import numpy as np
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from lerobot.common.robot_devices.control_utils import is_headless
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from lerobot.common.robot_devices.robots.factory import make_robot
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from lerobot.common.utils.utils import init_hydra_config
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from lerobot.scripts.server.kinematics import RobotKinematics
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def find_joint_bounds(
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robot,
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control_time_s=30,
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display_cameras=False,
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):
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if not robot.is_connected:
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robot.connect()
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start_episode_t = time.perf_counter()
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pos_list = []
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while True:
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observation, action = robot.teleop_step(record_data=True)
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# Wait for 5 seconds to stabilize the robot initial position
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if time.perf_counter() - start_episode_t < 5:
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continue
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pos_list.append(robot.follower_arms["main"].read("Present_Position"))
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if display_cameras and not is_headless():
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image_keys = [key for key in observation if "image" in key]
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for key in image_keys:
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cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR))
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cv2.waitKey(1)
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if time.perf_counter() - start_episode_t > control_time_s:
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max = np.max(np.stack(pos_list), 0)
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min = np.min(np.stack(pos_list), 0)
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print(f"Max angle position per joint {max}")
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print(f"Min angle position per joint {min}")
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break
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def find_ee_bounds(
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robot,
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control_time_s=30,
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display_cameras=False,
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):
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if not robot.is_connected:
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robot.connect()
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start_episode_t = time.perf_counter()
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ee_list = []
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while True:
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observation, action = robot.teleop_step(record_data=True)
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# Wait for 5 seconds to stabilize the robot initial position
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if time.perf_counter() - start_episode_t < 5:
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continue
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joint_positions = robot.follower_arms["main"].read("Present_Position")
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print(f"Joint positions: {joint_positions}")
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ee_list.append(RobotKinematics.fk_gripper_tip(joint_positions)[:3, 3])
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if display_cameras and not is_headless():
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image_keys = [key for key in observation if "image" in key]
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for key in image_keys:
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cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR))
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cv2.waitKey(1)
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if time.perf_counter() - start_episode_t > control_time_s:
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max = np.max(np.stack(ee_list), 0)
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min = np.min(np.stack(ee_list), 0)
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print(f"Max ee position {max}")
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print(f"Min ee position {min}")
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break
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument(
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"--robot-path",
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type=str,
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default="lerobot/configs/robot/koch.yaml",
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help="Path to robot yaml file used to instantiate the robot using `make_robot` factory function.",
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)
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parser.add_argument(
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"--robot-overrides",
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type=str,
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nargs="*",
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help="Any key=value arguments to override config values (use dots for.nested=overrides)",
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)
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parser.add_argument(
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"--mode",
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type=str,
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default="joint",
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choices=["joint", "ee"],
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help="Mode to run the script in. Can be 'joint' or 'ee'.",
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)
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parser.add_argument(
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"--control-time-s",
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type=int,
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default=30,
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help="Time step to use for control.",
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)
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args = parser.parse_args()
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robot_cfg = init_hydra_config(args.robot_path, args.robot_overrides)
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robot = make_robot(robot_cfg)
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if args.mode == "joint":
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find_joint_bounds(robot, args.control_time_s)
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elif args.mode == "ee":
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find_ee_bounds(robot, args.control_time_s)
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if robot.is_connected:
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robot.disconnect()
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