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# 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.
"""
Simple script to control a robot from teleoperation.
Example:
```shell
lerobot-teleoperate \
--robot.type=so101_follower \
--robot.port=/dev/tty.usbmodem58760431541 \
--robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 1920, height: 1080, fps: 30}}" \
--robot.id=black \
--teleop.type=so101_leader \
--teleop.port=/dev/tty.usbmodem58760431551 \
--teleop.id=blue \
--display_data=true
```
Example teleoperation with bimanual so100:
```shell
lerobot-teleoperate \
--robot.type=bi_so100_follower \
--robot.left_arm_port=/dev/tty.usbmodem5A460851411 \
--robot.right_arm_port=/dev/tty.usbmodem5A460812391 \
--robot.id=bimanual_follower \
--robot.cameras='{
left: {"type": "opencv", "index_or_path": 0, "width": 1920, "height": 1080, "fps": 30},
top: {"type": "opencv", "index_or_path": 1, "width": 1920, "height": 1080, "fps": 30},
right: {"type": "opencv", "index_or_path": 2, "width": 1920, "height": 1080, "fps": 30}
}' \
--teleop.type=bi_so100_leader \
--teleop.left_arm_port=/dev/tty.usbmodem5A460828611 \
--teleop.right_arm_port=/dev/tty.usbmodem5A460826981 \
--teleop.id=bimanual_leader \
--display_data=true
```
"""
import logging
import time
from dataclasses import asdict, dataclass
from pprint import pformat
import rerun as rr
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig # noqa: F401
from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig # noqa: F401
from lerobot.configs import parser
from lerobot.processor import (
RobotAction,
RobotObservation,
RobotProcessorPipeline,
make_default_processors,
)
from lerobot.robots import ( # noqa: F401
Robot,
RobotConfig,
bi_so100_follower,
hope_jr,
koch_follower,
make_robot_from_config,
so100_follower,
so101_follower,
)
from lerobot.teleoperators import ( # noqa: F401
Teleoperator,
TeleoperatorConfig,
bi_so100_leader,
gamepad,
homunculus,
koch_leader,
make_teleoperator_from_config,
so100_leader,
so101_leader,
)
from lerobot.utils.import_utils import register_third_party_devices
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.utils import init_logging, move_cursor_up
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
@dataclass
class TeleoperateConfig:
# TODO: pepijn, steven: if more robots require multiple teleoperators (like lekiwi) its good to make this possibele in teleop.py and record.py with List[Teleoperator]
teleop: TeleoperatorConfig
robot: RobotConfig
# Limit the maximum frames per second.
fps: int = 60
teleop_time_s: float | None = None
# Display all cameras on screen
display_data: bool = False
def teleop_loop(
teleop: Teleoperator,
robot: Robot,
fps: int,
teleop_action_processor: RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction],
robot_action_processor: RobotProcessorPipeline[tuple[RobotAction, RobotObservation], RobotAction],
robot_observation_processor: RobotProcessorPipeline[RobotObservation, RobotObservation],
display_data: bool = False,
duration: float | None = None,
):
"""
This function continuously reads actions from a teleoperation device, processes them through optional
pipelines, sends them to a robot, and optionally displays the robot's state. The loop runs at a
specified frequency until a set duration is reached or it is manually interrupted.
Args:
teleop: The teleoperator device instance providing control actions.
robot: The robot instance being controlled.
fps: The target frequency for the control loop in frames per second.
display_data: If True, fetches robot observations and displays them in the console and Rerun.
duration: The maximum duration of the teleoperation loop in seconds. If None, the loop runs indefinitely.
teleop_action_processor: An optional pipeline to process raw actions from the teleoperator.
robot_action_processor: An optional pipeline to process actions before they are sent to the robot.
robot_observation_processor: An optional pipeline to process raw observations from the robot.
"""
display_len = max(len(key) for key in robot.action_features)
start = time.perf_counter()
while True:
loop_start = time.perf_counter()
# Get robot observation
# Not really needed for now other than for visualization
# teleop_action_processor can take None as an observation
# given that it is the identity processor as default
obs = robot.get_observation()
# Get teleop action
raw_action = teleop.get_action()
# Process teleop action through pipeline
teleop_action = teleop_action_processor((raw_action, obs))
# Process action for robot through pipeline
robot_action_to_send = robot_action_processor((teleop_action, obs))
# Send processed action to robot (robot_action_processor.to_output should return dict[str, Any])
_ = robot.send_action(robot_action_to_send)
if display_data:
# Process robot observation through pipeline
obs_transition = robot_observation_processor(obs)
log_rerun_data(
observation=obs_transition,
action=teleop_action,
)
print("\n" + "-" * (display_len + 10))
print(f"{'NAME':<{display_len}} | {'NORM':>7}")
# Display the final robot action that was sent
for motor, value in robot_action_to_send.items():
print(f"{motor:<{display_len}} | {value:>7.2f}")
move_cursor_up(len(robot_action_to_send) + 5)
dt_s = time.perf_counter() - loop_start
busy_wait(1 / fps - dt_s)
loop_s = time.perf_counter() - loop_start
print(f"\ntime: {loop_s * 1e3:.2f}ms ({1 / loop_s:.0f} Hz)")
if duration is not None and time.perf_counter() - start >= duration:
return
@parser.wrap()
def teleoperate(cfg: TeleoperateConfig):
init_logging()
logging.info(pformat(asdict(cfg)))
if cfg.display_data:
init_rerun(session_name="teleoperation")
teleop = make_teleoperator_from_config(cfg.teleop)
robot = make_robot_from_config(cfg.robot)
teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
teleop.connect()
robot.connect()
try:
teleop_loop(
teleop=teleop,
robot=robot,
fps=cfg.fps,
display_data=cfg.display_data,
duration=cfg.teleop_time_s,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
)
except KeyboardInterrupt:
pass
finally:
if cfg.display_data:
rr.rerun_shutdown()
teleop.disconnect()
robot.disconnect()
def main():
register_third_party_devices()
teleoperate()
if __name__ == "__main__":
main()
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