343 lines
12 KiB
Python
343 lines
12 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# TODO(aliberts, Steven, Pepijn): use gRPC calls instead of zmq?
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import base64
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import json
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import logging
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from functools import cached_property
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from typing import Any, Dict, Optional, Tuple
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import cv2
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import numpy as np
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import torch
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import zmq
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from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
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from ..robot import Robot
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from .config_lekiwi import LeKiwiClientConfig
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class LeKiwiClient(Robot):
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config_class = LeKiwiClientConfig
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name = "lekiwi_client"
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def __init__(self, config: LeKiwiClientConfig):
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super().__init__(config)
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self.config = config
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self.id = config.id
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self.robot_type = config.type
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self.remote_ip = config.remote_ip
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self.port_zmq_cmd = config.port_zmq_cmd
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self.port_zmq_observations = config.port_zmq_observations
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self.teleop_keys = config.teleop_keys
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self.polling_timeout_ms = config.polling_timeout_ms
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self.connect_timeout_s = config.connect_timeout_s
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self.zmq_context = None
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self.zmq_cmd_socket = None
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self.zmq_observation_socket = None
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self.last_frames = {}
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self.last_remote_state = {}
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# Define three speed levels and a current index
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self.speed_levels = [
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{"xy": 0.1, "theta": 30}, # slow
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{"xy": 0.2, "theta": 60}, # medium
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{"xy": 0.3, "theta": 90}, # fast
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]
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self.speed_index = 0 # Start at slow
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self._is_connected = False
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self.logs = {}
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@cached_property
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def _state_ft(self) -> dict[str, type]:
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return dict.fromkeys(
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(
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"arm_shoulder_pan.pos",
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"arm_shoulder_lift.pos",
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"arm_elbow_flex.pos",
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"arm_wrist_flex.pos",
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"arm_wrist_roll.pos",
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"arm_gripper.pos",
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"x.vel",
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"y.vel",
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"theta.vel",
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),
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float,
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)
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@cached_property
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def _state_order(self) -> tuple[str, ...]:
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return tuple(self._state_ft.keys())
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@cached_property
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def _cameras_ft(self) -> dict[str, tuple[int, int, int]]:
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return {name: (cfg.height, cfg.width, 3) for name, cfg in self.config.cameras.items()}
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@cached_property
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def observation_features(self) -> dict[str, type | tuple]:
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return {**self._state_ft, **self._cameras_ft}
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@cached_property
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def action_features(self) -> dict[str, type]:
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return self._state_ft
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@property
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def is_connected(self) -> bool:
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return self._is_connected
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@property
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def is_calibrated(self) -> bool:
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pass
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def connect(self) -> None:
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"""Establishes ZMQ sockets with the remote mobile robot"""
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if self._is_connected:
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raise DeviceAlreadyConnectedError(
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"LeKiwi Daemon is already connected. Do not run `robot.connect()` twice."
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)
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self.zmq_context = zmq.Context()
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self.zmq_cmd_socket = self.zmq_context.socket(zmq.PUSH)
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zmq_cmd_locator = f"tcp://{self.remote_ip}:{self.port_zmq_cmd}"
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self.zmq_cmd_socket.connect(zmq_cmd_locator)
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self.zmq_cmd_socket.setsockopt(zmq.CONFLATE, 1)
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self.zmq_observation_socket = self.zmq_context.socket(zmq.PULL)
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zmq_observations_locator = f"tcp://{self.remote_ip}:{self.port_zmq_observations}"
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self.zmq_observation_socket.connect(zmq_observations_locator)
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self.zmq_observation_socket.setsockopt(zmq.CONFLATE, 1)
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poller = zmq.Poller()
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poller.register(self.zmq_observation_socket, zmq.POLLIN)
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socks = dict(poller.poll(self.connect_timeout_s * 1000))
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if self.zmq_observation_socket not in socks or socks[self.zmq_observation_socket] != zmq.POLLIN:
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raise DeviceNotConnectedError("Timeout waiting for LeKiwi Host to connect expired.")
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self._is_connected = True
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def calibrate(self) -> None:
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pass
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def _poll_and_get_latest_message(self) -> Optional[str]:
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"""Polls the ZMQ socket for a limited time and returns the latest message string."""
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poller = zmq.Poller()
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poller.register(self.zmq_observation_socket, zmq.POLLIN)
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try:
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socks = dict(poller.poll(self.polling_timeout_ms))
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except zmq.ZMQError as e:
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logging.error(f"ZMQ polling error: {e}")
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return None
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if self.zmq_observation_socket not in socks:
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logging.info("No new data available within timeout.")
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return None
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last_msg = None
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while True:
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try:
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msg = self.zmq_observation_socket.recv_string(zmq.NOBLOCK)
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last_msg = msg
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except zmq.Again:
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break
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if last_msg is None:
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logging.warning("Poller indicated data, but failed to retrieve message.")
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return last_msg
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def _parse_observation_json(self, obs_string: str) -> Optional[Dict[str, Any]]:
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"""Parses the JSON observation string."""
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try:
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return json.loads(obs_string)
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except json.JSONDecodeError as e:
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logging.error(f"Error decoding JSON observation: {e}")
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return None
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def _decode_image_from_b64(self, image_b64: str) -> Optional[np.ndarray]:
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"""Decodes a base64 encoded image string to an OpenCV image."""
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if not image_b64:
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return None
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try:
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jpg_data = base64.b64decode(image_b64)
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np_arr = np.frombuffer(jpg_data, dtype=np.uint8)
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frame = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
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if frame is None:
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logging.warning("cv2.imdecode returned None for an image.")
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return frame
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except (TypeError, ValueError) as e:
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logging.error(f"Error decoding base64 image data: {e}")
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return None
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def _remote_state_from_obs(
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self, observation: Dict[str, Any]
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) -> Tuple[Dict[str, np.ndarray], Dict[str, Any]]:
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"""Extracts frames, and state from the parsed observation."""
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flat_state = {key: value for key, value in observation.items() if key in self._state_ft}
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state_vec = np.array(
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[flat_state.get(k, 0.0) for k in self._state_order],
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dtype=np.float32,
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)
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# Decode images
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image_observation = {
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f"observation.images.{key}": value
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for key, value in observation.items()
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if key in self._cameras_ft
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}
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current_frames: Dict[str, np.ndarray] = {}
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for cam_name, image_b64 in image_observation.items():
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frame = self._decode_image_from_b64(image_b64)
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if frame is not None:
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current_frames[cam_name] = frame
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return current_frames, {"observation.state": state_vec}
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def _get_data(self) -> Tuple[Dict[str, np.ndarray], Dict[str, Any], Dict[str, Any]]:
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"""
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Polls the video socket for the latest observation data.
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Attempts to retrieve and decode the latest message within a short timeout.
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If successful, updates and returns the new frames, speed, and arm state.
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If no new data arrives or decoding fails, returns the last known values.
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"""
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# 1. Get the latest message string from the socket
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latest_message_str = self._poll_and_get_latest_message()
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# 2. If no message, return cached data
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if latest_message_str is None:
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return self.last_frames, self.last_remote_state
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# 3. Parse the JSON message
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observation = self._parse_observation_json(latest_message_str)
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# 4. If JSON parsing failed, return cached data
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if observation is None:
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return self.last_frames, self.last_remote_state
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# 5. Process the valid observation data
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try:
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new_frames, new_state = self._remote_state_from_obs(observation)
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except Exception as e:
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logging.error(f"Error processing observation data, serving last observation: {e}")
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return self.last_frames, self.last_remote_state
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self.last_frames = new_frames
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self.last_remote_state = new_state
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return new_frames, new_state
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def get_observation(self) -> dict[str, Any]:
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"""
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Capture observations from the remote robot: current follower arm positions,
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present wheel speeds (converted to body-frame velocities: x, y, theta),
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and a camera frame. Receives over ZMQ, translate to body-frame vel
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"""
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if not self._is_connected:
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raise DeviceNotConnectedError("LeKiwiClient is not connected. You need to run `robot.connect()`.")
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frames, obs_dict = self._get_data()
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# Loop over each configured camera
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for cam_name, frame in frames.items():
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if frame is None:
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logging.warning("Frame is None")
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frame = np.zeros((640, 480, 3), dtype=np.uint8)
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obs_dict[cam_name] = torch.from_numpy(frame)
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return obs_dict
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def _from_keyboard_to_base_action(self, pressed_keys: np.ndarray):
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# Speed control
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if self.teleop_keys["speed_up"] in pressed_keys:
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self.speed_index = min(self.speed_index + 1, 2)
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if self.teleop_keys["speed_down"] in pressed_keys:
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self.speed_index = max(self.speed_index - 1, 0)
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speed_setting = self.speed_levels[self.speed_index]
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xy_speed = speed_setting["xy"] # e.g. 0.1, 0.25, or 0.4
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theta_speed = speed_setting["theta"] # e.g. 30, 60, or 90
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x_cmd = 0.0 # m/s forward/backward
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y_cmd = 0.0 # m/s lateral
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theta_cmd = 0.0 # deg/s rotation
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if self.teleop_keys["forward"] in pressed_keys:
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x_cmd += xy_speed
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if self.teleop_keys["backward"] in pressed_keys:
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x_cmd -= xy_speed
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if self.teleop_keys["left"] in pressed_keys:
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y_cmd += xy_speed
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if self.teleop_keys["right"] in pressed_keys:
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y_cmd -= xy_speed
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if self.teleop_keys["rotate_left"] in pressed_keys:
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theta_cmd += theta_speed
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if self.teleop_keys["rotate_right"] in pressed_keys:
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theta_cmd -= theta_speed
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return {
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"x.vel": x_cmd,
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"y.vel": y_cmd,
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"theta.vel": theta_cmd,
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}
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def configure(self):
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pass
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def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
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"""Command lekiwi to move to a target joint configuration. Translates to motor space + sends over ZMQ
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Args:
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action (np.ndarray): array containing the goal positions for the motors.
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Raises:
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RobotDeviceNotConnectedError: if robot is not connected.
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Returns:
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np.ndarray: the action sent to the motors, potentially clipped.
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"""
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if not self._is_connected:
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raise DeviceNotConnectedError(
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"ManipulatorRobot is not connected. You need to run `robot.connect()`."
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)
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self.zmq_cmd_socket.send_string(json.dumps(action)) # action is in motor space
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# TODO(Steven): Remove the np conversion when it is possible to record a non-numpy array value
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actions = np.array([action.get(k, 0.0) for k in self._state_order], dtype=np.float32)
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return {"action": actions}
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def disconnect(self):
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"""Cleans ZMQ comms"""
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if not self._is_connected:
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raise DeviceNotConnectedError(
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"LeKiwi is not connected. You need to run `robot.connect()` before disconnecting."
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)
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self.zmq_observation_socket.close()
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self.zmq_cmd_socket.close()
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self.zmq_context.term()
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self._is_connected = False
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