From bd8e0f801bf7b4d92e00341b48a208c77c6c2f1f Mon Sep 17 00:00:00 2001 From: Shantanu Date: Fri, 8 Nov 2024 14:48:54 -0600 Subject: [PATCH 1/9] Updated Getting Started --- docs/getting_started.rst | 1 + .../getting_started/mobile/software_setup.rst | 10 +- docs/getting_started/solo.rst | 9 + docs/getting_started/solo/hardware_setup.rst | 113 +++++++++ .../solo/images/rsviewer_serialno.png | Bin 0 -> 53830 bytes docs/getting_started/solo/software_setup.rst | 237 ++++++++++++++++++ .../stationary/software_setup.rst | 10 +- 7 files changed, 364 insertions(+), 16 deletions(-) create mode 100644 docs/getting_started/solo.rst create mode 100644 docs/getting_started/solo/hardware_setup.rst create mode 100644 docs/getting_started/solo/images/rsviewer_serialno.png create mode 100644 docs/getting_started/solo/software_setup.rst diff --git a/docs/getting_started.rst b/docs/getting_started.rst index d994722..54a2957 100644 --- a/docs/getting_started.rst +++ b/docs/getting_started.rst @@ -15,3 +15,4 @@ Getting Started ./getting_started/mobile.rst ./getting_started/stationary.rst + ./getting_started/solo.rst diff --git a/docs/getting_started/mobile/software_setup.rst b/docs/getting_started/mobile/software_setup.rst index 35c41a3..e636a7e 100644 --- a/docs/getting_started/mobile/software_setup.rst +++ b/docs/getting_started/mobile/software_setup.rst @@ -95,13 +95,7 @@ ALOHA Software Installation .. _`link`: https://github.com/Interbotix/interbotix_ros_toolboxes/blob/c187bcea89b60391244bb19943ebd78f770aa975/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/arm.py#L81 -4. Add the following line to your ``~/.bashrc`` file: - - .. code-block:: bash - - $ echo "export INTERBOTIX_ALOHA_IS_MOBILE=true" >> ~/.bashrc - -5. Build the workspace: +4. Build the workspace: .. code-block:: bash @@ -199,7 +193,7 @@ Camera Setup .. image:: images/rsviewer_serialno.png :align: center -4. Put the camera serial number in the appropriate config entry at ``~/interbotix_ws/src/aloha/config/rs_cam.yaml``. +4. Put the camera serial number in the appropriate config entry at ``~/interbotix_ws/src/aloha/config/robot/aloha_mobile.yaml``. 5. Repeat for the rest of the cameras. If the workspace has not been symbolically-linked, a rebuild may be necessary. diff --git a/docs/getting_started/solo.rst b/docs/getting_started/solo.rst new file mode 100644 index 0000000..0c6a252 --- /dev/null +++ b/docs/getting_started/solo.rst @@ -0,0 +1,9 @@ +================================ +Solo ALOHA Getting Started +================================ + +.. toctree:: + :maxdepth: 2 + + ./solo/hardware_setup.rst + ./solo/software_setup.rst diff --git a/docs/getting_started/solo/hardware_setup.rst b/docs/getting_started/solo/hardware_setup.rst new file mode 100644 index 0000000..184375b --- /dev/null +++ b/docs/getting_started/solo/hardware_setup.rst @@ -0,0 +1,113 @@ +=========================== +Solo ALOHA Hardware Setup +=========================== + +.. attention:: + + This page is under construction as we work to provide images and more comprehensive videos. + +If you need any assistance or have questions about this process, please `contact our customer service`_. + +.. _`contact our customer service`: https://www.trossenrobotics.com/support + +Assembly Guide +============== + +Video Overview +-------------- + +.. youtube:: jh21xCD_H0w + :align: center + +Steps +----- + +1. Remove Slotted Power Station Plate using the M3 Ball-End Driver or M3 T-Driver. + Set the M5x8b Bolts aside for future use. Add zip tie between two of the front slots for later use as cable tie-down. + https://drive.google.com/file/d/18ole4JjKtjsJ2nkLWZVKxNgU1EejN6gD/view?usp=drive_link + +2. Lift and position the podium atop the slate base, aligning brackets to bolt holes with a screwdriver. + Mind the slate's orientation. + The display panel should be on the same side as the podium's open side. + +3. Bolt Podium to Slate Top Plate using M5x12b bolts with Loctite. + Use the M3 T-Driver to start and tighten fully with the M3 Ball-End Driver. + +4. Replace the Slotted Power Station Plate using the same M5x8b bolts set aside earlier. + Use Loctite on the bolts. + +5. Remove ViperX Vertical Mount and rotate 180 degrees so that it faces forward. + Use two people and secure all 4 Locks. + +6. Remove the Laptop Plate to easily remove the Bubble wrap placed for shipping. + Set M5x8b Bolts aside for future use. + Pull 1ft Outlet extensions through the side slot into the base of the podium for connection into the power station. + https://drive.google.com/file/d/18_1ZDDmAcJn94XkDeCGeoKFz9z04qygD/view?usp=drive_link + +7. Check all Power Supply Cable Connections and all USB Cables in the USB Hubs. + Confirm that all buttons corresponding to used USB Ports are pressed down. + +8. Insert Power Station into Podium. + Secure the Power Station with Velcro Straps. + Connect the 1ft Outlet extensions to the top 2 outlets, and add the 4-Outlet Power Strip Cord into the bottom outlet. + +9. Connect the USB Type-A Male-Male Cable into Slate and USB Hub. + Thread cable through the zip-tie on the slotted power station plate that was added in step one. + +10. Add front facing straight cam mount to ViperX upright using M5x12b. + Add cam mount to front facing straight cam mount using M4x12b. + https://drive.google.com/file/d/18M_D5VpKznn5vZQsdK11iwPZrQyCofww/view?usp=drive_link + +11. Slot the WidowX leader arm vertical mount to podium rails. + Secure all 4 locks. + Plug USB Type-A males into Hubs and Plug Barrel Extensions females into 12V10A Power Supplies. + +12. Attach ViperX Fingers using M3x14s and M2.5 hex key and Wrist Cam Mounts onto ViperX Arms using M2.5x6 and M2 hex key. + https://drive.google.com/file/d/17xc4w_e9YTrIYQcjEXZU-kCBARTb-rGY/view?usp=sharing + +13. Attach WidowX Paddles using M3x12s. + Attach WidowX Handles onto WidowX Arms using M3x8s with M2.5 T-Driver or hex key. + https://drive.google.com/file/d/17qWw_xHpE5GjYISEBhj2Ap9cLrUU2ijQ/view?usp=sharing + +14. Add Aloha ViperX arms onto front follower arm mounts M5x10b using Loctite. + Don't let go of the ViperX until two bolts are screwed in. + https://drive.google.com/file/d/18QmAPxb8d3ls1AEYoyq4dCScMoKZSamG/view?usp=drive_link + https://drive.google.com/file/d/18WSqeGPSwyj270QRPBveLryoRrG1TDBI/view?usp=drive_link + +15. Add Aloha WidowX arms onto the back WidowX upright mounts. + Don't let go of the WidowX until two bolts are screwed in. + +16. Add camera into middle camera mount using M3x10s. + +17. Add cameras into ViperX camera mounts using M3x6s. + +18. Add Micro-B locking Cables to hubs, snake through holes as needed, and zip tie to the electronics shelf to avoid damaging electronics in case cables catch on anything. + Attach Micro B into cameras. + +19. Connect Power + USB cables to all 4 arms. + Secure cables with zip ties as needed. + +20. Turn on Power Station + Press button to turn on outlets. + Ensure the Power Strip inside the podium is switched on. + Ensure all U2D2s in the arms are glowing red to show they have power. + If not, Confirm that all buttons corresponding to used USB Ports are pressed down. (See tip #6) + +21. Add foot pedal onto Caster mount using M5x18s and M4 T-Driver. + https://drive.google.com/file/d/183kRJpucXmJfrzM1DC--qrryv9TMIAgI/view?usp=sharing + +22. Slide caster mount onto bottom horizontal rails. Ensure the locks are centered. + Aggressively tap the Caster Mount onto the rails if needed. + Run USB cable to USB Hub. + Make sure the USB Hub port is pressed down. + https://drive.google.com/file/d/18hKblrJS3jwKSubBep-m4mbpClRna9Et/view?usp=drive_link + +23. Replace Laptop Plate with bolts set aside from earlier. + Use Loctite. + Run the USB-A Male 3.0 Cables out of the left slot of the podium. + +24. Extend ViperX and WidowX Arm Mounts out horizontally. + +25. Adjust height of WidowX vertical mount. + https://drive.google.com/file/d/17HCPacPmU-9VJrEFs8BNtacl6qrVE9Wx/view?usp=drive_link + +26. 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zXoo4`u#>37z?N>pCNwMRceieO8WWh8>yr7NU&Ii>sbe;fqP6SNYijaCs`9%DAz^V2 z_oeQmX=(vT0BCHO3i~U=rc}x&c!2tiv)<+lsKP_<-Rbbe)6D>YHr5N|+@JtcGC8ks ztSES`>&%#`62Esb+bO*e+o$q zw5+vr*bNnrI3E%~qG`GIb>3vDeA>cx(!bPhF&8?T&|)T)ptxXZM{yd;1f8s_i3@#0 z18i(UIfE`_J|H8rva?PdJGe6J_?BzA(%?7Yc)fx@nfiB?MReyfJ&vi2MVetGl7j_- zv#vP`R`S1Ab*%htkrOMi^|c7{MAE#D3@eL@Fr1GzDVdei-$b;M6HQf&P3&D5_&M!( zy-iLrnxE_mX23O5Z(9FlP3;FBmo)-8T4q77KB4LUA`Q!*YT3@6cwJJX6JM*di_f}h z7F`eCk-^)(w|~eG!%r^nCQ4aqHKVh9$bjN4w3!1s@!*J<#FL44@8%9sM1v%gC@I+@ z@ui&fC_>iu5dVuu@t zr}x!_x$4MO8&+4(Gr=KlM`xX3EBq`iYiD2%6L&i4&T7u-f#D3pZ8Jl zy5gn49Fw4f&+}SJJ}xp$4qi9nghSky)s`U~=TTv?4c)Bvg|2N>eDBp@i2Jux=DkAh z!W&R_iXvU(M)}+~Ym>y}%s@l%vUB_s?4k)tUmdvoKlN~OPf{cbqVx8OJWC!Oep^tH4##x%iSxqzzo@dSD$o6}0RnvpTKmZL5a_Xz!mI zC6$XxrVVg1?RwOx-|&dfy4brF@(O#1P&nd=@49q@1YI#`bfrrRzZ?1tY3uX?Y q2PQqE%(&<%%z?&d|8+pRB+p!x>VB#?K8FN AMD64 Architecture guide`_. + +.. _`ROS 2 Standard Software Setup > AMD64 Architecture guide`: https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros2/software_setup.html#amd64-architecture + +In short, run the following commands on a machine running Linux Ubuntu 22.04: + + .. code-block:: bash + + $ sudo apt install curl + $ curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh' > xsarm_amd64_install.sh + $ chmod +x xsarm_amd64_install.sh + $ ./xsarm_amd64_install.sh -d humble -n + +The installation script does the following: + +1. Installs ROS 2 Humble (if not already installed). +2. Creates the following directory structure: + + .. code-block:: + + ~/interbotix_ws + └── src + ├── interbotix_ros_core + ├── interbotix_ros_manipulators + └── interbotix_ros_toolboxes + +3. Installs dependencies. +4. Builds the control software and other related tools. +5. Configures the ROS 2 environment. + +.. tip:: + + After running the install script, remove all added lines beneath the ``# Interbotix Configurations`` header in the ``~/.bashrc`` file. + Doing so will make environment configuration easier later on. + +ALOHA Software Installation +=========================== + +1. Clone the Interbotix fork of ALOHA into the workspace's source directory: + + .. code-block:: bash + + $ cd ~/interbotix_ws/src + $ git clone https://github.com/Interbotix/aloha.git + +2. Run rosdep to install any dependencies: + + .. code-block:: bash + + $ cd ~/interbotix_ws + $ rosdep install --from-paths src --ignore-src -r -y + +3. Set the ``InterbotixManipulatorXS``'s ``iterative_update_fk`` default value to ``False`` at ``~/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/arm.py`` (`link`_). + +.. _`link`: https://github.com/Interbotix/interbotix_ros_toolboxes/blob/c187bcea89b60391244bb19943ebd78f770aa975/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/arm.py#L81 + +4. Build the workspace: + + .. code-block:: bash + + $ cd ~/interbotix_ws + $ colcon build + +.. note:: + + If planning to change the control or data collection software later on, you may want to do a symbolically-linked install. + If that is the case, remove the build and install directories, and re-run ``colcon build`` with the ``--symlink-install`` flag. + + .. code-block:: bash + + $ cd ~/interbotix_ws + $ rm -rf build install + $ colcon build --symlink-install + +Post-Install Hardware Setup +=========================== + +The arm and cameras need to be bound to a unique device. +The following sections will provide steps on setting up unique symbolic links for each device. + +Arm Symlink Setup +----------------- + +We will configure udev rules to bind the arms to specific device names. +Depending on the orientation of the pair you plan to use, configure the device names accordingly as either left or right: + +* ``ttyDXL_leader_left`` for the left leader arm +* ``ttyDXL_follower_left`` for the left follower arm +* ``ttyDXL_leader_right`` for the right leader arm +* ``ttyDXL_follower_right`` for the right follower arm + + +To set these up, do the following: + +1. Plug in only the leader left robot to the computer. + +2. Determine its device name by checking the ``/dev`` directory before and after plugging the device in. + This is likely something like ``/dev/ttyUSB0``. + +3. Print out the device serial number by running the following command: + + .. code-block:: bash + + $ udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep ATTRS{serial} | head -n 1 | cut -d '"' -f2 + FT88YWBJ + +4. The output of the command will look like ``FT88YWBJ`` and be the serial number of the arm's U2D2 serial converter. + +5. Add the following line to the computer's fixed Interbotix udev rules at ``/etc/udev/rules.d/99-fixed-interbotix-udev.rules``: + + .. code-block:: bash + + SUBSYSTEM=="tty", ATTRS{serial}=="", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL_leader_left" + # ^^^^^^^^^^^^^^^ The result from the previous step + +6. Repeat for the rest of the arms. + +7. To update and refresh the rules, run the following command: + + .. code-block:: bash + + $ sudo udevadm control --reload && sudo udevadm trigger + +8. Plug all arms back into the computer and verify that you can see all devices. + Depending on whether you configured the arms for a left or right orientation, you will see the corresponding device names: + + .. code-block:: bash + + $ ls /dev | grep ttyDXL_ + + For a left orientation, you should see: + + .. code-block:: bash + + ttyDXL_leader_left + ttyDXL_follower_left + + For a right orientation, you should see: + + .. code-block:: bash + + ttyDXL_leader_right + ttyDXL_follower_right + +Camera Setup +------------ + +1. Open realsense-viewer + + .. code-block:: + + $ realsense-viewer + + .. note:: + + If realsense-viewer is not already installed on your machine, follow `these steps on the librealsense GitHub repository`_ to install ``librealsense2-utils``. + +.. _`these steps on the librealsense GitHub repository`: https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md + +2. Plug in a single camera and check the sidebar for its entry. + If it does not show up in the side bar, click **Add Source** and find the Intel RealSense D405 in the drop down. + +3. Click on Info for the camera, find the Serial Number, and copy it. + + .. image:: images/rsviewer_serialno.png + :align: center + +4. Put the camera serial number in the appropriate config entry at ``~/interbotix_ws/src/aloha/config/robot/aloha_solo.yaml``. + +5. Repeat for the rest of the cameras. + If the workspace has not been symbolically-linked, a rebuild may be necessary. + +Post-Install Software Tips +========================== + +Disable wandb +------------- + +It may be helpful to disable wandb while getting started. +To do so, run the command below. +Note that this line is added by default to the laptops distributed by Trossen Robotics. + +.. code-block:: bash + + $ echo "WANDB_MODE=disabled" >> ~/.bashrc + +Alias Setup +----------- + +It may be helpful to create bash aliases to make environment configuration easier. + +Create a ~/.bash_aliases file: + +.. code-block:: bash + + $ touch ~/.bash_aliases + +To create an alias that can be used to set up the ROS 2 environment, add the following line to the ``~/.bash_aliases`` file: + +.. code-block:: bash + + alias setup_aloha="source /opt/ros/humble/setup.bash && source ~/interbotix_ws/install/setup.bash" + +Assuming that dependencies of ACT were installed using a venv, to create an alias that can be used to set up the ROS 2 and ACT environments, add the following line to the ``~/.bash_aliases`` file: + +.. code-block:: bash + + alias setup_act="setup_aloha && source //bin/activate" diff --git a/docs/getting_started/stationary/software_setup.rst b/docs/getting_started/stationary/software_setup.rst index 455fc7a..e02b727 100644 --- a/docs/getting_started/stationary/software_setup.rst +++ b/docs/getting_started/stationary/software_setup.rst @@ -83,13 +83,7 @@ ALOHA Software Installation .. _`link`: https://github.com/Interbotix/interbotix_ros_toolboxes/blob/c187bcea89b60391244bb19943ebd78f770aa975/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/arm.py#L81 -4. Add the following line to your ``~/.bashrc`` file: - - .. code-block:: bash - - $ echo "export INTERBOTIX_ALOHA_IS_MOBILE=false" >> ~/.bashrc - -5. Build the workspace: +4. Build the workspace: .. code-block:: bash @@ -187,7 +181,7 @@ Camera Setup .. image:: images/rsviewer_serialno.png :align: center -4. Put the camera serial number in the appropriate config entry at ``~/interbotix_ws/src/aloha/config/rs_cam.yaml``. +4. Put the camera serial number in the appropriate config entry at ``~/interbotix_ws/src/aloha/config/robot/aloha_stationary.yaml``. 5. Repeat for the rest of the cameras. If the workspace has not been symbolically-linked, a rebuild may be necessary. From 1d7727540c143326abed855f68d220bf77be1d98 Mon Sep 17 00:00:00 2001 From: Shantanu Date: Mon, 18 Nov 2024 16:42:05 -0600 Subject: [PATCH 2/9] Basic Structure --- docs/index.rst | 1 + docs/operation.rst | 4 +- docs/operation/bringup_shutdown.rst | 28 ++- docs/operation/data_collection.rst | 61 ++++-- docs/operation/mobile.rst | 3 +- docs/operation/solo.rst | 41 ++++ docs/operation/stationary.rst | 3 +- docs/operation/test.txt | 3 - docs/specifications.rst | 108 ++++++++++ docs/training.rst | 81 +++++++ docs/{operation => training}/hugging_face.rst | 28 ++- .../{operation => training}/lerobot_guide.rst | 0 docs/training/mobile.rst | 197 ++++++++++++++++++ docs/training/solo.rst | 188 +++++++++++++++++ .../training.rst => training/stationary.rst} | 64 +----- 15 files changed, 704 insertions(+), 106 deletions(-) create mode 100644 docs/operation/solo.rst delete mode 100644 docs/operation/test.txt create mode 100644 docs/training.rst rename docs/{operation => training}/hugging_face.rst (92%) rename docs/{operation => training}/lerobot_guide.rst (100%) create mode 100644 docs/training/mobile.rst create mode 100644 docs/training/solo.rst rename docs/{operation/training.rst => training/stationary.rst} (80%) diff --git a/docs/index.rst b/docs/index.rst index 7e94d6c..0700043 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -23,4 +23,5 @@ Table of Contents specifications.rst getting_started.rst operation.rst + training.rst troubleshooting.rst diff --git a/docs/operation.rst b/docs/operation.rst index 8e231f9..4c74504 100644 --- a/docs/operation.rst +++ b/docs/operation.rst @@ -8,8 +8,6 @@ Operation ./operation/bringup_shutdown.rst ./operation/mobile.rst ./operation/stationary.rst + ./operation/solo.rst ./operation/data_collection.rst - ./operation/training.rst - ./operation/hugging_face.rst - ./operation/lerobot_guide.rst ./operation/gravity_compensation.rst diff --git a/docs/operation/bringup_shutdown.rst b/docs/operation/bringup_shutdown.rst index 98f82c8..4074cc8 100644 --- a/docs/operation/bringup_shutdown.rst +++ b/docs/operation/bringup_shutdown.rst @@ -5,14 +5,18 @@ Bringup & Shutdown Bringup ======= -To bring up a Mobile or Stationary ALOHA, you will need to run the following commands in a terminal: +To bring up an ALOHA robot configuration (Mobile, Solo, or Stationary), you need to specify the robot type and run the following commands in a terminal: .. code-block:: bash - $ export INTERBOTIX_ALOHA_IS_MOBILE=true/false # true for Mobile, false for Stationary $ source /opt/ros/humble/setup.bash # configure ROS system install environment $ source ~/interbotix_ws/install/setup.bash # configure ROS workspace environment - $ ros2 launch aloha aloha_bringup.launch.py # launch hardware drivers and control software + $ ros2 launch aloha aloha_bringup.launch.py robot:= # launch hardware drivers and control software + +.. important:: + + The robot argument is required to specify which ALOHA configuration to bring up. + Choose the value that matches your setup, such as ``aloha_static``, ``aloha_solo``, or ``aloha_mobile``. .. warning:: @@ -36,7 +40,13 @@ While the ALOHA bringup is running in another terminal, open a new one and run t $ source /opt/ros/humble/setup.bash # configure ROS system install environment $ source ~/interbotix_ws/install/setup.bash # configure ROS workspace environment $ cd ~/interbotix_ws/src/aloha/scripts/ - $ python3 sleep.py + $ python3 sleep.py -r + + +.. important:: + + The robot argument is required to specify which ALOHA configuration to bring up. + Choose the value that matches your setup, such as ``aloha_static``, ``aloha_solo``, or ``aloha_mobile``. The follower arms will move to their "staged" configurations and then place themselves into their sleep configurations. @@ -46,9 +56,9 @@ The follower arms will move to their "staged" configurations and then place them .. code-block:: bash - $ python3 sleep.py -a + $ python3 sleep.py -r -a # or - $ python3 sleep.py --all + $ python3 sleep.py -r --all Now that the arms are in their sleep configurations, you can terminate the ALOHA bringup by pressing :kbd:`Ctrl` + :kbd:`C` in the terminal where the bringup was launched. @@ -59,6 +69,7 @@ Now that you know how to bringup and shutdown the ALOHA, teleoperation will be a - :doc:`/operation/mobile` - :doc:`/operation/stationary` +- :doc:`/operation/solo` Configurations ============== @@ -86,11 +97,6 @@ Please follow the links below to see the details of each configuration file: - ``leader_motor_specs_left.yaml`` - ``leader_motor_specs_right.yaml`` -- Intel RealSense Cameras - - - `realsense2_camera Parameters`_: - - - ``rs_cam.yaml`` .. _`teleop_twist_joy Parameters`: https://docs.ros.org/en/humble/p/teleop_twist_joy/index.html#parameters .. _`Mode Configs`: https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros2/config.html#mode-configs diff --git a/docs/operation/data_collection.rst b/docs/operation/data_collection.rst index 9cafeff..c8e14da 100644 --- a/docs/operation/data_collection.rst +++ b/docs/operation/data_collection.rst @@ -5,9 +5,9 @@ Data Collection Task Creation ============= -Task configuration can be found in the ALOHA package's aloha module under ``constants.py`` in the ``TASK_CONFIGS`` dictionary. -A template task (``aloha_template``) is provided containing all possible fields and some placeholder values. -Here, we will focus only on the task name, the dataset directory, the episode length, and the observation cameras. +Task configurations are now set up in the ``tasks_config.yaml`` file located inside the ``config`` folder in the Aloha package. +A template task (aloha_template) is provided within the file, which includes all possible fields and placeholder values. +For this guide, we will focus on configuring the task name, dataset directory, and episode length. .. list-table:: :align: center @@ -23,9 +23,7 @@ Here, we will focus only on the task name, the dataset directory, the episode le - The ``dataset_dir`` field sets the directory episodes will saved to. * - Episode Length - The ``episode_len`` field sets the length of the episode in number of timesteps. - * - Camera Names - - The ``camera_names`` field takes in a list of strings corresponding to camera names. - These camera names will be used as observation sources during dataset collection. + Recording Episodes ================== @@ -43,11 +41,15 @@ To record an episode, follow the steps below: $ cd ~/interbotix_ws/src/aloha/scripts/ $ python3 record_episodes.py \ --task_name \ + --robot \ [--episode_idx ] \ [-b, --enable_base_torque] \ [-g, --gravity_compensation] - The ``task_name`` argument should match one of the task names in the ``TASK_CONFIGS``, as configured in the :ref:`operation/data_collection:Task Creation` section. + The ``task_name`` argument should match one of the task names defined in the ``tasks_config.yaml`` file, as configured in the :ref:`operation/data_collection:Task Creation` section. + + The ``-r, --robot`` argument should correspond to one of the configurations present in the ``config/robot`` directory. + Supported robot names include ``aloha_solo``, ``aloha_mobile``, and ``aloha_stationary``. The ``episode_idx`` argument is optional and specifies the index of the episode to record reflected in the output filename ``/episode_.hdf5``. If not provided, the script will automatically calculate the next episode index based on the number of episodes already saved in the dataset directory. @@ -61,12 +63,13 @@ To record an episode, follow the steps below: Each platform has a "dummy" task that can be used to test basic data collection and playback. For the Stationary variant, use the ``aloha_stationary_dummy`` task. For the Mobile variant, use the ``aloha_mobile_dummy`` task. + For the Solo variant, use the ``aloha_solo_dummy`` task. An example for the Mobile variant would look like: .. code-block:: bash - $ python3 record_episodes.py --task_name aloha_mobile_dummy --episode_idx 0 + $ python3 record_episodes.py --task_name aloha_mobile_dummy --robot aloha_mobile --episode_idx 0 Episode Playback ================ @@ -82,7 +85,7 @@ To play back a previously-recorded episode, follow the steps below: $ source /opt/ros/humble/setup.bash # configure ROS system install environment $ source ~/interbotix_ws/install/setup.bash # configure ROS workspace environment $ cd ~/interbotix_ws/src/aloha/scripts/ - $ python3 replay_episodes.py --dataset_dir --episode_idx + $ python3 replay_episodes.py --robot --dataset_dir --episode_idx .. tip:: @@ -90,7 +93,7 @@ To play back a previously-recorded episode, follow the steps below: .. code-block:: bash - $ python3 replay_episodes.py --dataset_dir ~/aloha_data/aloha_mobile_dummy/ --episode_idx 0 + $ python3 replay_episodes.py --robot aloha_mobile --dataset_dir ~/aloha_data/aloha_mobile_dummy/ --episode_idx 0 Episode Auto-Recording ====================== @@ -160,7 +163,7 @@ Once configured, the auto_record script is now ready to use. To auto-record a sp .. code-block:: - $ auto_record.sh [-b, --enable_base_torque] [-g, --gravity_compensation] + $ auto_record.sh [-b, --enable_base_torque] [-g, --gravity_compensation] .. tip:: @@ -168,7 +171,7 @@ Once configured, the auto_record script is now ready to use. To auto-record a sp .. code-block:: bash - $ auto_record.sh aloha_mobile_dummy 50 + $ auto_record.sh aloha_mobile_dummy 50 aloha_mobile The auto_record script will then call the record_episodes Python script the specified number of times. @@ -183,18 +186,48 @@ ALOHA saves its episodes in the `hdf5 format`_ with the following format: .. _`hdf5 format`: https://en.wikipedia.org/wiki/Hierarchical_Data_Format#HDF5 + +Aloha Stationary + .. code-block:: - images - cam_high (480, 640, 3) 'uint8' - - cam_low (480, 640, 3) 'uint8' (on Stationary) + - cam_low (480, 640, 3) 'uint8' - cam_left_wrist (480, 640, 3) 'uint8' - cam_right_wrist (480, 640, 3) 'uint8' - qpos (14,) 'float64' - qvel (14,) 'float64' action (14,) 'float64' - base_action (2,) 'float64' (on Mobile) + +Aloha Mobile + +.. code-block:: + + - images + - cam_high (480, 640, 3) 'uint8' + - cam_left_wrist (480, 640, 3) 'uint8' + - cam_right_wrist (480, 640, 3) 'uint8' + - qpos (14,) 'float64' + - qvel (14,) 'float64' + + action (14,) 'float64' + base_action (2,) 'float64' + +Aloha Solo + +.. code-block:: + + - images + - cam_high (480, 640, 3) 'uint8' + - cam_left_wrist (480, 640, 3) 'uint8' or + - cam_right_wrist (480, 640, 3) 'uint8' + - qpos (7,) 'float64' + - qvel (7,) 'float64' + + action (7,) 'float64' + What's Next? ============ diff --git a/docs/operation/mobile.rst b/docs/operation/mobile.rst index c208342..9c551f0 100644 --- a/docs/operation/mobile.rst +++ b/docs/operation/mobile.rst @@ -9,11 +9,10 @@ While ALOHA bringup is running in another terminal, open a new one and run the f .. code-block:: bash - $ export INTERBOTIX_ALOHA_IS_MOBILE=true # if not already in your environment $ source /opt/ros/humble/setup.bash # configure ROS system install environment $ source ~/interbotix_ws/install/setup.bash # configure ROS workspace environment $ cd ~/interbotix_ws/src/aloha/scripts/ - $ python3 dual_side_teleop.py [-g] + $ python3 teleop.py -r aloha_mobile [-g] The arms will lift themselves up into their "staged" configurations. Close both grippers on the leader arms to begin teleop. diff --git a/docs/operation/solo.rst b/docs/operation/solo.rst new file mode 100644 index 0000000..29dfb77 --- /dev/null +++ b/docs/operation/solo.rst @@ -0,0 +1,41 @@ +==================== +Solo Operation +==================== + +Teleoperation +============= + +While ALOHA bringup is running in another terminal, open a new one and run the following commands: + +.. code-block:: bash + + $ source /opt/ros/humble/setup.bash # configure ROS system install environment + $ source ~/interbotix_ws/install/setup.bash # configure ROS workspace environment + $ cd ~/interbotix_ws/src/aloha/scripts/ + $ python3 teleop.py -r aloha_solo [-g] + +The arms will lift themselves up into their "staged" configurations. +Close both grippers on the leader arms to begin teleop. + +You should now be able to teleoperate both sets of arms. +When you finish, place the leader arms in their cradles. +Press :kbd:`Ctrl` + :kbd:`C` on the teleoperation terminal to stop teleoperation. + +.. tip:: + + The Aloha Solo does not include a mechanical gravity compensation system. + Instead, it is recommended to use the software-based gravity compensation feature, as it is more convenient for recording episodes over extended periods. + However, for smoother and more precise control of the arms, you may choose to disable gravity compensation. + Be aware that this can put additional strain on the user's arms during operation. + You can set the ``-g`` argument. + This will enable the :doc:`gravity compensation ` feature for the leader robots when teleop starts. + +.. warning:: + + With the ``-g`` argument set, the arms **WILL** still torque off and drop for a short period of time while enabling/disabling the :doc:`gravity compensation ` feature. + Please make sure they are readily held while closing the grippers and placed in the cradles before sending them to the sleep configurations. + +What's Next? +============ + +Now that you know how to teleoperate, you can start :doc:`collecting data ` with your ALOHA. diff --git a/docs/operation/stationary.rst b/docs/operation/stationary.rst index 26b657f..785ffca 100644 --- a/docs/operation/stationary.rst +++ b/docs/operation/stationary.rst @@ -9,11 +9,10 @@ While ALOHA bringup is running in another terminal, open a new one and run the f .. code-block:: bash - $ export INTERBOTIX_ALOHA_IS_MOBILE=false # if not already in your environment $ source /opt/ros/humble/setup.bash # configure ROS system install environment $ source ~/interbotix_ws/install/setup.bash # configure ROS workspace environment $ cd ~/interbotix_ws/src/aloha/scripts/ - $ python3 dual_side_teleop.py [-g] + $ python3 teleop.py -r aloha_stationary [-g] The arms will lift themselves up into their "staged" configurations. Close both grippers on the leader arms to begin teleop. diff --git a/docs/operation/test.txt b/docs/operation/test.txt deleted file mode 100644 index c0570ca..0000000 --- a/docs/operation/test.txt +++ /dev/null @@ -1,3 +0,0 @@ -https://github.com/TrossenRobotics/aloha_docs/blob/main/docs/images/LeRobot_Notebook.ipynb - -https://github.com/shantanuparab-tr/aloha_docs/blob/main/docs/images/LeRobot_Notebook.ipynb \ No newline at end of file diff --git a/docs/specifications.rst b/docs/specifications.rst index 6e627e1..1dae18f 100644 --- a/docs/specifications.rst +++ b/docs/specifications.rst @@ -308,6 +308,114 @@ Mobile Technical Drawing Coming Soon! + +Aloha Stationary +================ + +Stationary Packing List +----------------------- + +.. table:: + :align: center + + +------------------------------------------------------------------------------------------+---------+ + | **Sub-Assembly or Part** | **Qty** | + +------------------------------------------------------------------------------------------+---------+ + | M2.5x6s | 20 | + +------------------------------------------------------------------------------------------+---------+ + | M3x8s | 10 | + +------------------------------------------------------------------------------------------+---------+ + | M3x12s | 5 | + +------------------------------------------------------------------------------------------+---------+ + | M5x8b | 25 | + +------------------------------------------------------------------------------------------+---------+ + | M5x10b | 50 | + +------------------------------------------------------------------------------------------+---------+ + | M5x12b | 20 | + +------------------------------------------------------------------------------------------+---------+ + | M5x14b | 25 | + +------------------------------------------------------------------------------------------+---------+ + | M3 T-Driver | 1 | + +------------------------------------------------------------------------------------------+---------+ + | WX Leader Pair Bag | 1 | + +------------------------------------------------------------------------------------------+---------+ + | .. centered:: **Large Electronics (Cameras + Computer)** | + +------------------------------------------------------------------------------------------+---------+ + | Control Laptop (Delayed) | 1 | + +------------------------------------------------------------------------------------------+---------+ + | Intel RealSense D405 | 2 | + +------------------------------------------------------------------------------------------+---------+ + | Small Electronics | + +------------------------------------------------------------------------------------------+---------+ + | USB 3.0 A Male to Micro B Male, Right Angled with Locking Screws | 2 | + +------------------------------------------------------------------------------------------+---------+ + | USB 3.0 A Male to USB 3.0 Female Extension 10ft | 2 | + +------------------------------------------------------------------------------------------+---------+ + | USB 3.0 A to B Cable in Black, 6 ft | 2 | + +------------------------------------------------------------------------------------------+---------+ + | Foot pedal switch (Delayed) | 1 | + +------------------------------------------------------------------------------------------+---------+ + | Sabrent 7-Port USB Hub | 1 | + +------------------------------------------------------------------------------------------+---------+ + | Belkin Power Strip Surge Protector - 10 AC Outlets, 15ft Heavy Duty Metal Extension Cord | 1 | + +------------------------------------------------------------------------------------------+---------+ + | .. centered:: **3D Printed Components** | + +------------------------------------------------------------------------------------------+---------+ + | Overhead Cam Mount | 1 | + +------------------------------------------------------------------------------------------+---------+ + | Worms-Eye Cam Mount | 1 | + +------------------------------------------------------------------------------------------+---------+ + | ViperX Wrist Cam Mount | 1 | + +------------------------------------------------------------------------------------------+---------+ + | WX Wrist Clip | 3 | + +------------------------------------------------------------------------------------------+---------+ + | 2040 USB Cable Clip | 20 | + +------------------------------------------------------------------------------------------+---------+ + | 2020 USB Cable Clip | 20 | + +------------------------------------------------------------------------------------------+---------+ + | .. centered:: **Robots** | + +------------------------------------------------------------------------------------------+---------+ + | Aloha ViperX 300 6DOF | 1 | + +------------------------------------------------------------------------------------------+---------+ + | Aloha WidowX 250 6DOF | 1 | + +------------------------------------------------------------------------------------------+---------+ + | Aloha Finger Bag | 1 | + +------------------------------------------------------------------------------------------+---------+ + | 12v20a Power Supply | 1 | + +------------------------------------------------------------------------------------------+---------+ + | 12v10a Power Supply | 1 | + +------------------------------------------------------------------------------------------+---------+ + | USB-A to Micro USB, 10 Foot, Black | 2 | + +------------------------------------------------------------------------------------------+---------+ + +Solo Specifications +------------------------- + +.. list-table:: + :width: 50% + :align: center + + * - Dimensions + - 1019D x 1066H x 1225W mm + * - Leader Arms + - WidowX 250 S - Aloha Version + * - Follower Arms + - ViperX 300 S - Aloha Version + * - Camera + - 2x Intel RealSense D405 + * - Chassis + - Modular + * - Computer + - Coming Soon + * - USB Hubs + - Yes 1X + + +Solo Technical Drawing +---------------------------- + +Coming Soon! + ALOHA Pre-configured Laptop =========================== diff --git a/docs/training.rst b/docs/training.rst new file mode 100644 index 0000000..6dcd17e --- /dev/null +++ b/docs/training.rst @@ -0,0 +1,81 @@ +======================= +Training and Evaluation +======================= + + +Virtual Environment Setup +========================= + +Effective containerization is important when it comes to running machine learning models as there can be conflicting dependencies. +You can either use a Virtual Environment or Conda. + +Virtual Environment Installation and Setup +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +#. Install the virtual environment package: + + .. code-block:: bash + + $ sudo apt-get install python3-venv + +#. Create a virtual environment: + + .. code-block:: bash + + $ python3 -m venv ~/act # Creates a venv "act" in the home directory, can be created anywhere + +#. Activate the virtual environment: + + .. code-block:: bash + + $ source act/bin/activate + +Conda Setup +^^^^^^^^^^^ + +#. Create a virtual environment: + + .. code-block:: bash + + $ conda create -n aloha python=3.8.10 + +#. Activate the virtual environment: + + .. code-block:: bash + + $ conda activate aloha + + + +Training and Evaluation +======================= + +Depending upon the setup you are using + +.. toctree:: + :maxdepth: 2 + + ./training/mobile.rst + ./training/stationary.rst + ./training/solo.rst + + +Hugging Face for Dataset storage +================================ + +To understand how to utilize Hugging Face for Uploading and Downloading Datasets + +.. toctree:: + :maxdepth: 2 + + ./training/hugging_face.rst + +LeRobot Guide for Aloha +======================= + +To understand how to utilize LeRobot for Aloha use the below guide + +.. toctree:: + :maxdepth: 2 + + ./training/lerobot_guide.rst diff --git a/docs/operation/hugging_face.rst b/docs/training/hugging_face.rst similarity index 92% rename from docs/operation/hugging_face.rst rename to docs/training/hugging_face.rst index 1f444ec..7ecfa5a 100644 --- a/docs/operation/hugging_face.rst +++ b/docs/training/hugging_face.rst @@ -2,19 +2,17 @@ Hugging Face Guide ================== -Uploading and Downloading Datasets on Hugging Face -================================================== Creating an Account -------------------- +^^^^^^^^^^^^^^^^^^^ If you don't already have an account, sign up for a new account on the `Hugging Face Sign Up `_. Creating a New Dataset Repository ---------------------------------- +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Web Interface -^^^^^^^^^^^^^ +Web Interface (Repository) +-------------------------- #. Navigate to the `Hugging Face website `_. #. Log in to your account. @@ -22,7 +20,7 @@ Web Interface #. Follow the on-screen instructions to create a new dataset repository. Command Line Interface (CLI) -^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +---------------------------- #. Ensure you have the `huggingface_hub `_ library installed. #. Use the following Python script to create a new repository: @@ -37,12 +35,12 @@ Command Line Interface (CLI) For more information on creating repositories, refer to the `Hugging Face Repositories `_. Uploading Your Dataset ----------------------- +^^^^^^^^^^^^^^^^^^^^^^ You have two primary methods to upload datasets: through the web interface or using the Python API. -Web Interface -^^^^^^^^^^^^^ +Web Interface (Dataset Upload) +------------------------------ #. Navigate to your dataset repository on the Hugging Face website. #. Click on the "Files and versions" tab. @@ -50,7 +48,7 @@ Web Interface #. Click "Commit changes" to save the files in the repository. Python API -^^^^^^^^^^ +---------- You can use the following Python script to upload your dataset: @@ -81,12 +79,12 @@ You can use the following Python script to upload your dataset: For more information on uploading datasets, refer to the `Hugging Face Uploading `_. Downloading Datasets --------------------- +^^^^^^^^^^^^^^^^^^^^ You can download datasets either by cloning the repository or using the Hugging Face CLI. Cloning the Repository -^^^^^^^^^^^^^^^^^^^^^^ +---------------------- To clone the repository, use the following command: @@ -95,7 +93,7 @@ To clone the repository, use the following command: $ git clone https://huggingface.co/datasets/username/repository_name Using the Hugging Face CLI -^^^^^^^^^^^^^^^^^^^^^^^^^^ +-------------------------- You can also use the Hugging Face CLI to download datasets with the following Python script: @@ -118,7 +116,7 @@ You can also use the Hugging Face CLI to download datasets with the following Py For more information on downloading datasets, refer to the `Hugging Face Datasets `_. Additional Information ----------------------- +^^^^^^^^^^^^^^^^^^^^^^ - **Repository Management**: Utilize the `Hugging Face Hub documentation `_ for detailed instructions on managing repositories, handling versions, and setting permissions. - **Dataset Formats**: Hugging Face supports various dataset formats. For this guide, we specifically use the Aloha's native ``.hdf5`` format. diff --git a/docs/operation/lerobot_guide.rst b/docs/training/lerobot_guide.rst similarity index 100% rename from docs/operation/lerobot_guide.rst rename to docs/training/lerobot_guide.rst diff --git a/docs/training/mobile.rst b/docs/training/mobile.rst new file mode 100644 index 0000000..ff0985f --- /dev/null +++ b/docs/training/mobile.rst @@ -0,0 +1,197 @@ + +===================== +Aloha Mobile Training +===================== + +Install Dependencies +^^^^^^^^^^^^^^^^^^^^ + +Install the necessary dependencies inside your containerized environment: + +.. code-block:: bash + + $ pip install dm_control==1.0.14 + $ pip install einops + $ pip install h5py + $ pip install ipython + $ pip install matplotlib + $ pip install mujoco==2.3.7 + $ pip install opencv-python + $ pip install packaging + $ pip install pexpect + $ pip install pyquaternion + $ pip install pyyaml + $ pip install rospkg + $ pip install torch + $ pip install torchvision + +Clone ACT++ Repository +^^^^^^^^^^^^^^^^^^^^^^ + + +Clone ACT++ if using Aloha Mobile + +.. code-block:: bash + + $ cd ~ + $ git clone https://github.com/Interbotix/act_plus_plus.git act_training_evaluation + + + + +Build and Install ACT++ Models +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. code-block:: bash + :emphasize-lines: 4 + + ├── act + │   ├── assets + │   ├── constants.py + │   ├── detr + │   ├── ee_sim_env.py + │   ├── imitate_episodes.py + │   ├── __init__.py + │   ├── policy.py + │   ├── record_sim_episodes.py + │   ├── scripted_policy.py + │   ├── sim_env.py + │   ├── utils.py + │   └── visualize_episodes.py + ├── COLCON_IGNORE + ├── conda_env.yaml + ├── LICENSE + └── README.md + + +Navigate to the ``detr`` directory inside the repository and install the detr module which contains the model definitions using the below command: +Will make the changes for clarity. As in ACT++ we run pip install outside detr and in ACT we run it inside detr. + + +.. code-block:: bash + + $ cd /path/to/act/detr && pip install -e . + + +Install Robo Mimic +^^^^^^^^^^^^^^^^^^ + Details about installing robotmimic + +Training +^^^^^^^^ + +To start the training, follow the steps below: + +#. Sanity Check: + + Ensure you have all the hdf5 episodes located in the correct folder after following the data collection steps :ref:`operation/data_collection:Task Creation`. + +#. Source ROS Environment: + + .. code-block:: bash + + $ source /opt/ros/humble/setup.bash + $ source interbotix_ws/install/setup.bash + +#. Activate Virtual Environment: + + .. code-block:: bash + + $ source act/bin/activate + +#. Start Training + + .. code-block:: bash + + $ cd /path/to/act/repository/ + $ python3 imitate_episodes.py \ + --task_name aloha_stationary_dummy \ + --ckpt_dir \ + --policy_class ACT \ + --kl_weight 10 \ + --chunk_size 100 \ + --hidden_dim 512 \ + --batch_size 8 \ + --dim_feedforward 3200 \ + --num_epochs 2000 \ + --lr 1e-5 \ + --seed 0 + +.. note:: + + - ``task_name`` argument should match one of the task names in the ``TASK_CONFIGS``, as configured in the :ref:`operation/data_collection:Task Creation` section. + - ``ckpt_dir``: The relative location where the checkpoints and best policy will be stored. + - ``policy_class``: Determines the choice of policy 'ACT'/'CNNMLP'. + - ``kl_weight``: Controls the balance between exploration and exploitation. + - ``chunk_size``: Determines the length of the action sequence. K=1 is no action chunking and K=episode length is full open loop control. + - ``batch_size``: Low batch size leads to better generalization and high batch size results in slower convergence but faster training time. + - ``num_epochs``: Too many epochs lead to overfitting; too few epochs may not allow the model to learn. + - ``lr``: Higher learning rate can lead to faster convergence but may overshoot the optima, while lower learning rate might lead to slower but stable optimization. + + +.. tip:: + + We recommend the following parameters: + + .. list-table:: + :align: center + :widths: 25 75 + :header-rows: 1 + + * - Parameter + - Value + * - Policy Class + - ACT + * - KL Weight + - 10 + * - Chunk Size + - 100 + * - Batch Size + - 2 + * - Num of Epochs + - 3000 + * - Learning Rate + - 1e-5 + +Evaluation +^^^^^^^^^^ + +To evaluate a trained model, follow the steps below: + +#. :ref:`operation/bringup_shutdown:bringup` the ALOHA + +#. Configure the environment + + .. code-block:: bash + + $ source /opt/ros/humble/setup.bash # Configure ROS system install environment + $ source interbotix_ws/install/setup.bash # Configure ROS workspace environment + $ source //bin/activate # Configure ALOHA Python environment + $ cd ~//act/ + +#. Run the evaluation script + + .. code-block:: bash + :emphasize-lines: 13-14 + + python3 imitate_episodes.py \ + --task_name aloha_stationary_dummy \ + --ckpt_dir \ + --policy_class ACT \ + --kl_weight 10 \ + --chunk_size 100 \ + --hidden_dim 512 \ + --batch_size 8 \ + --dim_feedforward 3200 \ + --num_epochs 2000 \ + --lr 1e-5 \ + --seed 0 \ + --eval \ + --temporal_agg + +.. note:: + + - The ``task_name`` argument should match one of the task names in the ``TASK_CONFIGS``, as configured in the :ref:`operation/data_collection:Task Creation` section. + - The ``ckpt_dir`` argument should match the correct relative directory location of the trained policy. + - The ``eval`` flag will set the script into evaluation mode. + - The ``temporal_agg`` is not required, but helps to smoothen the trajectory of the robots. \ No newline at end of file diff --git a/docs/training/solo.rst b/docs/training/solo.rst new file mode 100644 index 0000000..84c0e4c --- /dev/null +++ b/docs/training/solo.rst @@ -0,0 +1,188 @@ + +=================== +Aloha Solo Training +=================== + +Install Dependencies +^^^^^^^^^^^^^^^^^^^^ + +Install the necessary dependencies inside your containerized environment: + +.. code-block:: bash + + $ pip install dm_control==1.0.14 + $ pip install einops + $ pip install h5py + $ pip install ipython + $ pip install matplotlib + $ pip install mujoco==2.3.7 + $ pip install opencv-python + $ pip install packaging + $ pip install pexpect + $ pip install pyquaternion + $ pip install pyyaml + $ pip install rospkg + $ pip install torch + $ pip install torchvision + +Clone ACT Solo Repository +^^^^^^^^^^^^^^^^^^^^^^^^^ + + +Clone ACT Solo if using Aloha Solo + +.. code-block:: bash + + $ cd ~ + $ git clone https://github.com/Interbotix/act_solo.git act_training_evaluation + + +Build and Install ACT Solo Models +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. code-block:: bash + :emphasize-lines: 4 + + ├── act + │   ├── assets + │   ├── constants.py + │   ├── detr + │   ├── ee_sim_env.py + │   ├── imitate_episodes.py + │   ├── __init__.py + │   ├── policy.py + │   ├── record_sim_episodes.py + │   ├── scripted_policy.py + │   ├── sim_env.py + │   ├── utils.py + │   └── visualize_episodes.py + ├── COLCON_IGNORE + ├── conda_env.yaml + ├── LICENSE + └── README.md + + +Navigate to the ``detr`` directory inside the repository and install the detr module which contains the model definitions using the below command: + +.. code-block:: bash + + $ cd /path/to/act/detr && pip install -e . + +Training +^^^^^^^^ + +To start the training, follow the steps below: + +#. Sanity Check: + + Ensure you have all the hdf5 episodes located in the correct folder after following the data collection steps :ref:`operation/data_collection:Task Creation`. + +#. Source ROS Environment: + + .. code-block:: bash + + $ source /opt/ros/humble/setup.bash + $ source interbotix_ws/install/setup.bash + +#. Activate Virtual Environment: + + .. code-block:: bash + + $ source act/bin/activate + +#. Start Training + + .. code-block:: bash + + $ cd /path/to/act/repository/ + $ python3 imitate_episodes.py \ + --task_name aloha_stationary_dummy \ + --ckpt_dir \ + --policy_class ACT \ + --kl_weight 10 \ + --chunk_size 100 \ + --hidden_dim 512 \ + --batch_size 8 \ + --dim_feedforward 3200 \ + --num_epochs 2000 \ + --lr 1e-5 \ + --seed 0 + +.. note:: + + - ``task_name`` argument should match one of the task names in the ``TASK_CONFIGS``, as configured in the :ref:`operation/data_collection:Task Creation` section. + - ``ckpt_dir``: The relative location where the checkpoints and best policy will be stored. + - ``policy_class``: Determines the choice of policy 'ACT'/'CNNMLP'. + - ``kl_weight``: Controls the balance between exploration and exploitation. + - ``chunk_size``: Determines the length of the action sequence. K=1 is no action chunking and K=episode length is full open loop control. + - ``batch_size``: Low batch size leads to better generalization and high batch size results in slower convergence but faster training time. + - ``num_epochs``: Too many epochs lead to overfitting; too few epochs may not allow the model to learn. + - ``lr``: Higher learning rate can lead to faster convergence but may overshoot the optima, while lower learning rate might lead to slower but stable optimization. + + +.. tip:: + + We recommend the following parameters: + + .. list-table:: + :align: center + :widths: 25 75 + :header-rows: 1 + + * - Parameter + - Value + * - Policy Class + - ACT + * - KL Weight + - 10 + * - Chunk Size + - 100 + * - Batch Size + - 2 + * - Num of Epochs + - 3000 + * - Learning Rate + - 1e-5 + +Evaluation +^^^^^^^^^^ + +To evaluate a trained model, follow the steps below: + +#. :ref:`operation/bringup_shutdown:bringup` the ALOHA + +#. Configure the environment + + .. code-block:: bash + + $ source /opt/ros/humble/setup.bash # Configure ROS system install environment + $ source interbotix_ws/install/setup.bash # Configure ROS workspace environment + $ source //bin/activate # Configure ALOHA Python environment + $ cd ~//act/ + +#. Run the evaluation script + + .. code-block:: bash + :emphasize-lines: 13-14 + + python3 imitate_episodes.py \ + --task_name aloha_stationary_dummy \ + --ckpt_dir \ + --policy_class ACT \ + --kl_weight 10 \ + --chunk_size 100 \ + --hidden_dim 512 \ + --batch_size 8 \ + --dim_feedforward 3200 \ + --num_epochs 2000 \ + --lr 1e-5 \ + --seed 0 \ + --eval \ + --temporal_agg + +.. note:: + + - The ``task_name`` argument should match one of the task names in the ``TASK_CONFIGS``, as configured in the :ref:`operation/data_collection:Task Creation` section. + - The ``ckpt_dir`` argument should match the correct relative directory location of the trained policy. + - The ``eval`` flag will set the script into evaluation mode. + - The ``temporal_agg`` is not required, but helps to smoothen the trajectory of the robots. \ No newline at end of file diff --git a/docs/operation/training.rst b/docs/training/stationary.rst similarity index 80% rename from docs/operation/training.rst rename to docs/training/stationary.rst index 46d7e99..9475f6b 100644 --- a/docs/operation/training.rst +++ b/docs/training/stationary.rst @@ -1,48 +1,7 @@ -======================= -Training and Evaluation -======================= -Virtual Environment Setup ========================= - -Effective containerization is important when it comes to running machine learning models as there can be conflicting dependencies. -You can either use a Virtual Environment or Conda. - -Virtual Environment Installation and Setup -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -#. Install the virtual environment package: - - .. code-block:: bash - - $ sudo apt-get install python3-venv - -#. Create a virtual environment: - - .. code-block:: bash - - $ python3 -m venv ~/act # Creates a venv "act" in the home directory, can be created anywhere - -#. Activate the virtual environment: - - .. code-block:: bash - - $ source act/bin/activate - -Conda Setup -^^^^^^^^^^^ - -#. Create a virtual environment: - - .. code-block:: bash - - $ conda create -n aloha python=3.8.10 - -#. Activate the virtual environment: - - .. code-block:: bash - - $ conda activate aloha +Aloha Stationary Training +========================= Install Dependencies ^^^^^^^^^^^^^^^^^^^^ @@ -66,8 +25,8 @@ Install the necessary dependencies inside your containerized environment: $ pip install torch $ pip install torchvision -Clone Repository -================ +Clone ACT Repository +^^^^^^^^^^^^^^^^ Clone ACT if using Aloha Stationary @@ -76,15 +35,8 @@ Clone ACT if using Aloha Stationary $ cd ~ $ git clone https://github.com/Interbotix/act.git act_training_evaluation -Clone ACT++ if using Aloha Mobile - -.. code-block:: bash - - $ cd ~ - $ git clone https://github.com/Interbotix/act_plus_plus.git act_training_evaluation - Build and Install ACT Models -============================ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. code-block:: bash :emphasize-lines: 4 @@ -108,14 +60,14 @@ Build and Install ACT Models └── README.md -Navigate to the ``detr`` directory inside the repository and install the detr module whihc contains the model definitions using the below command: +Navigate to the ``detr`` directory inside the repository and install the detr module which contains the model definitions using the below command: .. code-block:: bash $ cd /path/to/act/detr && pip install -e . Training -======== +^^^^^^^^ To start the training, follow the steps below: @@ -191,7 +143,7 @@ To start the training, follow the steps below: - 1e-5 Evaluation -========== +^^^^^^^^^^ To evaluate a trained model, follow the steps below: From 119ccb0443e57d9d5d859932a3e95e2b92f11451 Mon Sep 17 00:00:00 2001 From: Shantanu Date: Tue, 19 Nov 2024 15:33:39 -0600 Subject: [PATCH 3/9] Updated Training and Evaluation --- docs/files/act_aloha_solo_real.yaml | 117 +++++++++++++++ docs/files/aloha_solo.yaml | 78 ++++++++++ docs/files/aloha_solo_real.yaml | 10 ++ .../getting_started/mobile/software_setup.rst | 14 +- docs/getting_started/solo/software_setup.rst | 2 +- .../stationary/software_setup.rst | 11 ++ docs/specifications.rst | 4 +- docs/training/lerobot_guide.rst | 141 ++++++++++++++++-- docs/training/mobile.rst | 44 ++++-- docs/training/solo.rst | 27 ++-- docs/training/stationary.rst | 13 +- 11 files changed, 417 insertions(+), 44 deletions(-) create mode 100644 docs/files/act_aloha_solo_real.yaml create mode 100644 docs/files/aloha_solo.yaml create mode 100644 docs/files/aloha_solo_real.yaml diff --git a/docs/files/act_aloha_solo_real.yaml b/docs/files/act_aloha_solo_real.yaml new file mode 100644 index 0000000..6ba0ef1 --- /dev/null +++ b/docs/files/act_aloha_solo_real.yaml @@ -0,0 +1,117 @@ +# @package _global_ + +# Use `act_aloha_solo_real.yaml` to train on real-world datasets collected on Aloha or Aloha-2 robots. +# It contains 2 cameras (i.e. cam_right_wrist/cam_left_wrist, cam_high). +# Also, `training.eval_freq` is set to -1. This config is used to evaluate checkpoints at a certain frequency of training steps. +# When it is set to -1, it deactivates evaluation. This is because real-world evaluation is done through our `control_robot.py` script. +# Look at the documentation in header of `control_robot.py` for more information on how to collect data , train and evaluate a policy. +# +# Example of usage for training and inference with `control_robot.py`: +# ```bash +# python lerobot/scripts/train.py \ +# policy=act_aloha_solo_real \ +# env=aloha_solo_real +# ``` +# +# Example of usage for training and inference with [Dora-rs](https://github.com/dora-rs/dora-lerobot): +# ```bash +# python lerobot/scripts/train.py \ +# policy=act_aloha_solo_real \ +# env=dora_aloha_solo_real +# ``` + +seed: 1000 +dataset_repo_id: lerobot/aloha_solo_lego + +override_dataset_stats: + observation.images.cam_right_wrist: + # stats from imagenet, since we use a pretrained vision model + mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1) + std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) + # Uncomment for left wrist and comment the right wrist + # observation.images.cam_left_wrist: + # # stats from imagenet, since we use a pretrained vision model + # mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1) + # std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) + observation.images.cam_high: + # stats from imagenet, since we use a pretrained vision model + mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1) + std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) + + +training: + offline_steps: 80000 + online_steps: 0 + eval_freq: -1 + save_freq: 10000 + log_freq: 100 + save_checkpoint: true + + batch_size: 8 + lr: 1e-5 + lr_backbone: 1e-5 + weight_decay: 1e-4 + grad_clip_norm: 10 + online_steps_between_rollouts: 1 + + delta_timestamps: + action: "[i / ${fps} for i in range(${policy.chunk_size})]" + +eval: + n_episodes: 50 + batch_size: 50 + +# See `configuration_act.py` for more details. +policy: + name: act + + # Input / output structure. + n_obs_steps: 1 + chunk_size: 100 + n_action_steps: 100 + + input_shapes: + # TODO(rcadene, alexander-soare): add variables for height and width from the dataset/env? + observation.images.cam_right_wrist: [3, 480, 640] + # observation.images.cam_left_wrist: [3, 480, 640] # Uncomment if using left wrist and comment the right. + observation.images.cam_high: [3, 480, 640] + observation.state: ["${env.state_dim}"] + output_shapes: + action: ["${env.action_dim}"] + + # Normalization / Unnormalization + input_normalization_modes: + observation.images.cam_right_wrist: mean_std + # observation.images.cam_left_wrist: mean_std # Uncomment if using left wrist and comment the right. + observation.images.cam_high: mean_std + observation.state: mean_std + output_normalization_modes: + action: mean_std + + # Architecture. + # Vision backbone. + vision_backbone: resnet18 + pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1 + replace_final_stride_with_dilation: false + # Transformer layers. + pre_norm: false + dim_model: 512 + n_heads: 8 + dim_feedforward: 3200 + feedforward_activation: relu + n_encoder_layers: 4 + # Note: Although the original ACT implementation has 7 for `n_decoder_layers`, there is a bug in the code + # that means only the first layer is used. Here we match the original implementation by setting this to 1. + # See this issue https://github.com/tonyzhaozh/act/issues/25#issue-2258740521. + n_decoder_layers: 1 + # VAE. + use_vae: true + latent_dim: 32 + n_vae_encoder_layers: 4 + + # Inference. + temporal_ensemble_momentum: null + + # Training and loss computation. + dropout: 0.1 + kl_weight: 10.0 diff --git a/docs/files/aloha_solo.yaml b/docs/files/aloha_solo.yaml new file mode 100644 index 0000000..afb0bd7 --- /dev/null +++ b/docs/files/aloha_solo.yaml @@ -0,0 +1,78 @@ +# [Aloha: A Low-Cost Hardware for Bimanual Teleoperation](https://www.trossenrobotics.com/aloha-stationary) +# https://aloha-2.github.io + +# Requires installing extras packages +# With pip: `pip install -e ".[dynamixel intelrealsense]"` +# With poetry: `poetry install --sync --extras "dynamixel intelrealsense"` + +# See [tutorial](https://github.com/huggingface/lerobot/blob/main/examples/9_use_aloha.md) + + +_target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot +robot_type: aloha +# Specific to Aloha, LeRobot comes with default calibration files. Assuming the motors have been +# properly assembled, no manual calibration step is expected. If you need to run manual calibration, +# simply update this path to ".cache/calibration/aloha" +calibration_dir: .cache/calibration/aloha_default + +# /!\ FOR SAFETY, READ THIS /!\ +# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes. +# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as +# the number of motors in your follower arms. +# For Aloha, for every goal position request, motor rotations are capped at 5 degrees by default. +# When you feel more confident with teleoperation or running the policy, you can extend +# this safety limit and even removing it by setting it to `null`. +# Also, everything is expected to work safely out-of-the-box, but we highly advise to +# first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml), +# then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully +max_relative_target: null + +leader_arms: + right: + _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus + port: /dev/ttyDXL_leader_right + motors: # window_x + # name: (index, model) + waist: [1, xm430-w350] + shoulder: [2, xm430-w350] + shoulder_shadow: [3, xm430-w350] + elbow: [4, xm430-w350] + elbow_shadow: [5, xm430-w350] + forearm_roll: [6, xm430-w350] + wrist_angle: [7, xm430-w350] + wrist_rotate: [8, xl430-w250] + gripper: [9, xc430-w150] + +follower_arms: + right: + _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus + port: /dev/ttyDXL_follower_right + motors: + # name: [index, model] + waist: [1, xm540-w270] + shoulder: [2, xm540-w270] + shoulder_shadow: [3, xm540-w270] + elbow: [4, xm540-w270] + elbow_shadow: [5, xm540-w270] + forearm_roll: [6, xm540-w270] + wrist_angle: [7, xm540-w270] + wrist_rotate: [8, xm430-w350] + gripper: [9, xm430-w350] + +# Troubleshooting: If one of your IntelRealSense cameras freeze during +# data recording due to bandwidth limit, you might need to plug the camera +# on another USB hub or PCIe card. +cameras: + cam_high: + _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera + serial_number: 1234567890 + fps: 30 + width: 640 + height: 480 + + cam_right_wrist: + _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera + serial_number: 1234567890 + fps: 30 + width: 640 + height: 480 diff --git a/docs/files/aloha_solo_real.yaml b/docs/files/aloha_solo_real.yaml new file mode 100644 index 0000000..d9a0a48 --- /dev/null +++ b/docs/files/aloha_solo_real.yaml @@ -0,0 +1,10 @@ +# @package _global_ + +fps: 30 + +env: + name: real_world + task: null + state_dim: 9 + action_dim: 9 + fps: ${fps} diff --git a/docs/getting_started/mobile/software_setup.rst b/docs/getting_started/mobile/software_setup.rst index e636a7e..876b3dd 100644 --- a/docs/getting_started/mobile/software_setup.rst +++ b/docs/getting_started/mobile/software_setup.rst @@ -77,12 +77,24 @@ To build the SLATE base control software, run the following commands: ALOHA Software Installation =========================== +.. admonition:: Important Compatibility Notice + + This documentation and software correspond to **Aloha version 2.0**. + It supports features such as teleoperation, data recording, replay, and visualization. + However, it is **not compatible** with training and evaluation for **ACT** or **ACT++**. + + For end-to-end training of **Aloha Stationary** and **Aloha Mobile**, stick to **Aloha 1.0**. + You can find the Aloha 1.0 documentation here: `Aloha 1.0 Documentation `_ + + We are actively working on updates to provide full compatibility in the future. + + 1. Clone the Interbotix fork of ALOHA into the workspace's source directory: .. code-block:: bash $ cd ~/interbotix_ws/src - $ git clone https://github.com/Interbotix/aloha.git + $ git clone https://github.com/Interbotix/aloha.git -b 2.0 2. Run rosdep to install any dependencies: diff --git a/docs/getting_started/solo/software_setup.rst b/docs/getting_started/solo/software_setup.rst index 258cd19..0dcf6e7 100644 --- a/docs/getting_started/solo/software_setup.rst +++ b/docs/getting_started/solo/software_setup.rst @@ -70,7 +70,7 @@ ALOHA Software Installation .. code-block:: bash $ cd ~/interbotix_ws/src - $ git clone https://github.com/Interbotix/aloha.git + $ git clone https://github.com/Interbotix/aloha.git -b 2.0 2. Run rosdep to install any dependencies: diff --git a/docs/getting_started/stationary/software_setup.rst b/docs/getting_started/stationary/software_setup.rst index e02b727..939c266 100644 --- a/docs/getting_started/stationary/software_setup.rst +++ b/docs/getting_started/stationary/software_setup.rst @@ -65,6 +65,17 @@ The installation script does the following: ALOHA Software Installation =========================== +.. admonition:: Important Compatibility Notice + + This documentation and software correspond to **Aloha version 2.0**. + It supports features such as teleoperation, data recording, replay, and visualization. + However, it is **not compatible** with training and evaluation for **ACT** or **ACT++**. + + For end-to-end training of **Aloha Stationary** and **Aloha Mobile**, stick to **Aloha 1.0**. + You can find the Aloha 1.0 documentation here: `Aloha 1.0 Documentation `_ + + We are actively working on updates to provide full compatibility in the future. + 1. Clone the Interbotix fork of ALOHA into the workspace's source directory: .. code-block:: bash diff --git a/docs/specifications.rst b/docs/specifications.rst index 1dae18f..af599fd 100644 --- a/docs/specifications.rst +++ b/docs/specifications.rst @@ -309,10 +309,10 @@ Mobile Technical Drawing Coming Soon! -Aloha Stationary +Aloha Solo ================ -Stationary Packing List +Solo Packing List ----------------------- .. table:: diff --git a/docs/training/lerobot_guide.rst b/docs/training/lerobot_guide.rst index 719a093..b6a5846 100644 --- a/docs/training/lerobot_guide.rst +++ b/docs/training/lerobot_guide.rst @@ -1,6 +1,6 @@ -========================== -LeRobot X Aloha User Guide -========================== +===================================== +LeRobot X Aloha Stationary User Guide +===================================== Setting up Conda Environment @@ -359,6 +359,127 @@ Instructions for downloading and using these datasets can be found at the follow `Trossen Robotics Community `_ + + +=============================== +LeRobot X Aloha Solo User Guide +=============================== + +The process for using Aloha Solo is similar to Aloha Stationary. However, there are key differences in the configurations, policies, and environment settings that must be applied. This guide outlines the specific changes needed to set up and run Aloha Solo. + +Key Differences Between Aloha Solo and Aloha Stationary +======================================================= + +.. list-table:: + :widths: 20 40 40 + :header-rows: 1 + + * - **Feature** + - **Aloha Stationary** + - **Aloha Solo** + * - **Robot Configuration** + - ``aloha_stationary.yaml`` + - ``aloha_solo.yaml`` + * - **Policy** + - ``act_aloha_real`` + - ``act_aloha_solo_real`` + * - **Environment** + - ``aloha_real`` + - ``aloha_solo_real`` + * - **Camera Support** + - ``cam_high``, ``cam_low``, ``cam_left_wrist``, ``cam_right_wrist`` + - ``cam_high`` and either ``cam_left_wrist`` or ``cam_right_wrist`` + + +Steps to Configure Aloha Solo +============================= + +#. **Place the Required Files**: + + Ensure the following files are updated and placed in their appropriate folder locations: + + - **Robot Configuration**: Place ``aloha_solo.yaml`` in ``lerobot/configs/robot/``. + :download:`Download Robot Configuration <../files/aloha_solo.yaml>` + + - **Policy Configuration**: Place ``act_aloha_solo_real.yaml`` in ``lerobot/configs/policy/``. + :download:`Download Policy Configuration <../files/act_aloha_solo_real.yaml>` + + - **Environment Configuration**: Place ``aloha_solo_real.yaml`` in ``lerobot/configs/env/``. + :download:`Download Environment Configuration <../files/aloha_solo_real.yaml>` + +#. **Camera Setup**: + + For Aloha Solo, ensure that only two cameras are configured: + - ``cam_high`` + - Either ``cam_left_wrist`` or ``cam_right_wrist`` (depending on your setup). + - +#. **Update the Robot Configuration**: + + Replace the robot configuration file used in your setup with ``aloha_solo.yaml``. This file is located in the ``lerobot/configs/robot/`` directory. + + Example: + + .. code-block:: bash + + --robot-path lerobot/configs/robot/aloha_solo.yaml + +#. **Adjust the Policy and Environment**: + + Update the policy and environment names in the commands you use: + - **Policy**: ``act_aloha_solo_real`` + - **Environment**: ``aloha_solo_real`` + + Example Training Command: + + .. code-block:: bash + + $ DATA_DIR=data python lerobot/scripts/train.py \ + dataset_repo_id=${HF_USER}/aloha_solo_dataset \ + policy=act_aloha_solo \ + env=aloha_solo \ + hydra.run.dir=outputs/train/act_aloha_solo \ + hydra.job.name=act_aloha_solo \ + device=cuda \ + wandb.enable=false + +Example Command Updates for Aloha Solo +====================================== + +- **Teleoperation**: + + .. code-block:: bash + + $ python lerobot/scripts/control_robot.py teleoperate \ + --robot-path lerobot/configs/robot/aloha_solo.yaml + +- **Recording Data**: + + .. code-block:: bash + + $ python lerobot/scripts/control_robot.py record \ + --robot-path lerobot/configs/robot/aloha_solo.yaml \ + --fps 30 \ + --root data \ + --repo-id ${HF_USER}/aloha_solo_dataset \ + --warmup-time-s 5 \ + --episode-time-s 30 \ + --reset-time-s 30 \ + --num-episodes 10 + +- **Training**: + + .. code-block:: bash + + $ DATA_DIR=data python lerobot/scripts/train.py \ + dataset_repo_id=${HF_USER}/aloha_solo_dataset \ + policy=act_aloha_solo \ + env=aloha_solo \ + hydra.run.dir=outputs/train/act_aloha_solo \ + hydra.job.name=act_aloha_solo \ + device=cuda \ + wandb.enable=false + +=============== Troubleshooting =============== @@ -367,7 +488,7 @@ Troubleshooting Lag Observed in Follower Arms ------------------------------ +============================= If you notice lag in the follower arms, it's due to the safety settings, which are in place to prevent overshooting that could harm the robot. These are designed to ensure safety for new users or when using untested policies. @@ -403,7 +524,7 @@ Follow these steps: Gradually enable additional motors until you can control both arms safely. OpenCV Installation Issues (Linux) ----------------------------------- +================================== If you encounter OpenCV installation issues, uninstall it via :guilabel:`pip` and reinstall using Conda: @@ -413,7 +534,7 @@ OpenCV Installation Issues (Linux) $ conda install -c conda-forge opencv=4.10.0 FFmpeg Encoding Error (:guilabel:`unknown encoder libsvtav1`) -------------------------------------------------------------- +============================================================= Install FFmpeg with :guilabel:`libsvtav1` support via Conda-Forge or Homebrew: @@ -428,12 +549,12 @@ FFmpeg Encoding Error (:guilabel:`unknown encoder libsvtav1`) $ brew install ffmpeg Arrow Keys Not Working During Data Recording (Linux) ----------------------------------------------------- +==================================================== Ensure that the :guilabel:`$DISPLAY` environment variable is set correctly. Frequency drops during evaluation ---------------------------------- +================================= This happens on low-performance systems due to their inability to handle multi-threaded I/O operations. Checkout the following version for a smoother operation. @@ -441,13 +562,13 @@ Frequency drops during evaluation `Low Frequency Fix `_ Compute Dataset Statistic Failure ---------------------------------- +================================= It is noticed that on low-performance systems the compute statistic fails due to high batch size and number of workers. Checkout the following version with lower batch size and number of workers. `Compute Statistic Fix `_ Checkout LeRobot Documentation for further help and details ------------------------------------------------------------ +=========================================================== `LeRobot Github `_ diff --git a/docs/training/mobile.rst b/docs/training/mobile.rst index ff0985f..192c3a4 100644 --- a/docs/training/mobile.rst +++ b/docs/training/mobile.rst @@ -1,7 +1,12 @@ -===================== -Aloha Mobile Training -===================== +================================== +Aloha Mobile Training & Evaluation +================================== + +.. note:: + + **ACT++** is only supported with **Aloha 1.0**. + Ensure that you are using compatible software versions to avoid any issues during training or evaluation. Install Dependencies ^^^^^^^^^^^^^^^^^^^^ @@ -15,6 +20,7 @@ Install the necessary dependencies inside your containerized environment: $ pip install h5py $ pip install ipython $ pip install matplotlib + $ pip install modern_robotics $ pip install mujoco==2.3.7 $ pip install opencv-python $ pip install packaging @@ -24,6 +30,18 @@ Install the necessary dependencies inside your containerized environment: $ pip install rospkg $ pip install torch $ pip install torchvision + $ pip install transforms3d + $ pip install wandb + +Clone Robomimic +^^^^^^^^^^^^^^^ + +.. code-block:: bash + + $ cd ~ + $ git clone -b r2d2 https://github.com/ARISE-Initiative/robomimic.git + $ cd robomimic + $ pip install -e . Clone ACT++ Repository ^^^^^^^^^^^^^^^^^^^^^^ @@ -64,19 +82,13 @@ Build and Install ACT++ Models └── README.md -Navigate to the ``detr`` directory inside the repository and install the detr module which contains the model definitions using the below command: -Will make the changes for clarity. As in ACT++ we run pip install outside detr and in ACT we run it inside detr. - +Navigate to the ``act_plus_plus`` directory inside the repository and install the ``detr`` module, which contains the model definitions, by running the following command: .. code-block:: bash - $ cd /path/to/act/detr && pip install -e . + $ cd /path/to/act_plus_plus && pip install -e . -Install Robo Mimic -^^^^^^^^^^^^^^^^^^ - Details about installing robotmimic - Training ^^^^^^^^ @@ -105,7 +117,7 @@ To start the training, follow the steps below: $ cd /path/to/act/repository/ $ python3 imitate_episodes.py \ - --task_name aloha_stationary_dummy \ + --task_name aloha_mobile_dummy \ --ckpt_dir \ --policy_class ACT \ --kl_weight 10 \ @@ -113,7 +125,7 @@ To start the training, follow the steps below: --hidden_dim 512 \ --batch_size 8 \ --dim_feedforward 3200 \ - --num_epochs 2000 \ + --num_steps 2000 \ --lr 1e-5 \ --seed 0 @@ -125,7 +137,7 @@ To start the training, follow the steps below: - ``kl_weight``: Controls the balance between exploration and exploitation. - ``chunk_size``: Determines the length of the action sequence. K=1 is no action chunking and K=episode length is full open loop control. - ``batch_size``: Low batch size leads to better generalization and high batch size results in slower convergence but faster training time. - - ``num_epochs``: Too many epochs lead to overfitting; too few epochs may not allow the model to learn. + - ``num_steps``: Too many steps lead to overfitting; too few steps may not allow the model to learn. - ``lr``: Higher learning rate can lead to faster convergence but may overshoot the optima, while lower learning rate might lead to slower but stable optimization. @@ -167,7 +179,7 @@ To evaluate a trained model, follow the steps below: $ source /opt/ros/humble/setup.bash # Configure ROS system install environment $ source interbotix_ws/install/setup.bash # Configure ROS workspace environment $ source //bin/activate # Configure ALOHA Python environment - $ cd ~//act/ + $ cd ~//act_plus_plus/ #. Run the evaluation script @@ -183,7 +195,7 @@ To evaluate a trained model, follow the steps below: --hidden_dim 512 \ --batch_size 8 \ --dim_feedforward 3200 \ - --num_epochs 2000 \ + --num_steps 2000 \ --lr 1e-5 \ --seed 0 \ --eval \ diff --git a/docs/training/solo.rst b/docs/training/solo.rst index 84c0e4c..ed9346d 100644 --- a/docs/training/solo.rst +++ b/docs/training/solo.rst @@ -1,7 +1,14 @@ -=================== -Aloha Solo Training -=================== +================================ +Aloha Solo Training $ Evaluation +================================ + +.. note:: + + **ACT Solo** is supported exclusively with **Aloha 2.0**. + There is no support for **Aloha Solo** on **Aloha 1.0**. + Ensure that you are using compatible software versions to avoid any issues during training or evaluation. + Install Dependencies ^^^^^^^^^^^^^^^^^^^^ @@ -62,11 +69,11 @@ Build and Install ACT Solo Models └── README.md -Navigate to the ``detr`` directory inside the repository and install the detr module which contains the model definitions using the below command: +Navigate to the ``detr`` directory inside the repository and install the ``detr`` module which contains the model definitions using the below command: .. code-block:: bash - $ cd /path/to/act/detr && pip install -e . + $ cd /path/to/act_solo/ && pip install -e . Training ^^^^^^^^ @@ -96,7 +103,7 @@ To start the training, follow the steps below: $ cd /path/to/act/repository/ $ python3 imitate_episodes.py \ - --task_name aloha_stationary_dummy \ + --task_name aloha_solo_dummy \ --ckpt_dir \ --policy_class ACT \ --kl_weight 10 \ @@ -110,7 +117,7 @@ To start the training, follow the steps below: .. note:: - - ``task_name`` argument should match one of the task names in the ``TASK_CONFIGS``, as configured in the :ref:`operation/data_collection:Task Creation` section. + - ``task_name`` argument should match one of the task names in the ``tasks_config.yaml``, as configured in the :ref:`operation/data_collection:Task Creation` section. - ``ckpt_dir``: The relative location where the checkpoints and best policy will be stored. - ``policy_class``: Determines the choice of policy 'ACT'/'CNNMLP'. - ``kl_weight``: Controls the balance between exploration and exploitation. @@ -158,7 +165,7 @@ To evaluate a trained model, follow the steps below: $ source /opt/ros/humble/setup.bash # Configure ROS system install environment $ source interbotix_ws/install/setup.bash # Configure ROS workspace environment $ source //bin/activate # Configure ALOHA Python environment - $ cd ~//act/ + $ cd ~//act_solo/ #. Run the evaluation script @@ -166,7 +173,7 @@ To evaluate a trained model, follow the steps below: :emphasize-lines: 13-14 python3 imitate_episodes.py \ - --task_name aloha_stationary_dummy \ + --task_name aloha_solo_dummy \ --ckpt_dir \ --policy_class ACT \ --kl_weight 10 \ @@ -182,7 +189,7 @@ To evaluate a trained model, follow the steps below: .. note:: - - The ``task_name`` argument should match one of the task names in the ``TASK_CONFIGS``, as configured in the :ref:`operation/data_collection:Task Creation` section. + - The ``task_name`` argument should match one of the task names in the ``tasks_config.yaml``, as configured in the :ref:`operation/data_collection:Task Creation` section. - The ``ckpt_dir`` argument should match the correct relative directory location of the trained policy. - The ``eval`` flag will set the script into evaluation mode. - The ``temporal_agg`` is not required, but helps to smoothen the trajectory of the robots. \ No newline at end of file diff --git a/docs/training/stationary.rst b/docs/training/stationary.rst index 9475f6b..fec082c 100644 --- a/docs/training/stationary.rst +++ b/docs/training/stationary.rst @@ -1,7 +1,12 @@ -========================= -Aloha Stationary Training -========================= +====================================== +Aloha Stationary Training & Evaluation +====================================== + +.. note:: + + **ACT** is only supported with **Aloha 1.0**. + Ensure that you are using compatible software versions to avoid any issues during training or evaluation. Install Dependencies ^^^^^^^^^^^^^^^^^^^^ @@ -26,7 +31,7 @@ Install the necessary dependencies inside your containerized environment: $ pip install torchvision Clone ACT Repository -^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^ Clone ACT if using Aloha Stationary From 957874678a69537d54773d703caa67918f45859b Mon Sep 17 00:00:00 2001 From: Shantanu Date: Tue, 19 Nov 2024 16:08:23 -0600 Subject: [PATCH 4/9] Added Mini PC specifications --- docs/specifications.rst | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/docs/specifications.rst b/docs/specifications.rst index af599fd..06bb20c 100644 --- a/docs/specifications.rst +++ b/docs/specifications.rst @@ -429,3 +429,17 @@ The laptop is the Serval WS (serw13) from System76 with the following specificat * WiFi 6E + Bluetooth 5 * 8 GB GeForce RTX 4060 with 3072 CUDA Cores * 17.3" Matte 2K QHD (240Hz) Display + + +ALOHA Pre-configured Mini PC +============================ + +Trossen Robotics offers the option of providing a mini computer pre-configured to work with either variant of the ALOHA kit. +The computer is the Meerkat (meer8) from System76 with the following specifications: + +* Ubuntu 22.04 LTS +* 4.5 GHz i5-1340P +* 32 GB DDR5 3200 MHz (2x 16GB) +* 500 GB PCIe4 M.2 SSD +* WiFi 6E + Bluetooth 5 +* i5-1340P: Intel® Iris® Xe Graphics From e87967825298d8fea9ce8c4a9ae5933132ee0a8b Mon Sep 17 00:00:00 2001 From: Shantanu Date: Tue, 19 Nov 2024 16:30:09 -0600 Subject: [PATCH 5/9] Added Hardware Assembly Step to Aloha Solo --- docs/getting_started/solo/hardware_setup.rst | 95 ++------------------ 1 file changed, 7 insertions(+), 88 deletions(-) diff --git a/docs/getting_started/solo/hardware_setup.rst b/docs/getting_started/solo/hardware_setup.rst index 184375b..1fb6693 100644 --- a/docs/getting_started/solo/hardware_setup.rst +++ b/docs/getting_started/solo/hardware_setup.rst @@ -22,92 +22,11 @@ Video Overview Steps ----- -1. Remove Slotted Power Station Plate using the M3 Ball-End Driver or M3 T-Driver. - Set the M5x8b Bolts aside for future use. Add zip tie between two of the front slots for later use as cable tie-down. - https://drive.google.com/file/d/18ole4JjKtjsJ2nkLWZVKxNgU1EejN6gD/view?usp=drive_link -2. Lift and position the podium atop the slate base, aligning brackets to bolt holes with a screwdriver. - Mind the slate's orientation. - The display panel should be on the same side as the podium's open side. - -3. Bolt Podium to Slate Top Plate using M5x12b bolts with Loctite. - Use the M3 T-Driver to start and tighten fully with the M3 Ball-End Driver. - -4. Replace the Slotted Power Station Plate using the same M5x8b bolts set aside earlier. - Use Loctite on the bolts. - -5. Remove ViperX Vertical Mount and rotate 180 degrees so that it faces forward. - Use two people and secure all 4 Locks. - -6. Remove the Laptop Plate to easily remove the Bubble wrap placed for shipping. - Set M5x8b Bolts aside for future use. - Pull 1ft Outlet extensions through the side slot into the base of the podium for connection into the power station. - https://drive.google.com/file/d/18_1ZDDmAcJn94XkDeCGeoKFz9z04qygD/view?usp=drive_link - -7. Check all Power Supply Cable Connections and all USB Cables in the USB Hubs. - Confirm that all buttons corresponding to used USB Ports are pressed down. - -8. Insert Power Station into Podium. - Secure the Power Station with Velcro Straps. - Connect the 1ft Outlet extensions to the top 2 outlets, and add the 4-Outlet Power Strip Cord into the bottom outlet. - -9. Connect the USB Type-A Male-Male Cable into Slate and USB Hub. - Thread cable through the zip-tie on the slotted power station plate that was added in step one. - -10. Add front facing straight cam mount to ViperX upright using M5x12b. - Add cam mount to front facing straight cam mount using M4x12b. - https://drive.google.com/file/d/18M_D5VpKznn5vZQsdK11iwPZrQyCofww/view?usp=drive_link - -11. Slot the WidowX leader arm vertical mount to podium rails. - Secure all 4 locks. - Plug USB Type-A males into Hubs and Plug Barrel Extensions females into 12V10A Power Supplies. - -12. Attach ViperX Fingers using M3x14s and M2.5 hex key and Wrist Cam Mounts onto ViperX Arms using M2.5x6 and M2 hex key. - https://drive.google.com/file/d/17xc4w_e9YTrIYQcjEXZU-kCBARTb-rGY/view?usp=sharing - -13. Attach WidowX Paddles using M3x12s. - Attach WidowX Handles onto WidowX Arms using M3x8s with M2.5 T-Driver or hex key. - https://drive.google.com/file/d/17qWw_xHpE5GjYISEBhj2Ap9cLrUU2ijQ/view?usp=sharing - -14. Add Aloha ViperX arms onto front follower arm mounts M5x10b using Loctite. - Don't let go of the ViperX until two bolts are screwed in. - https://drive.google.com/file/d/18QmAPxb8d3ls1AEYoyq4dCScMoKZSamG/view?usp=drive_link - https://drive.google.com/file/d/18WSqeGPSwyj270QRPBveLryoRrG1TDBI/view?usp=drive_link - -15. Add Aloha WidowX arms onto the back WidowX upright mounts. - Don't let go of the WidowX until two bolts are screwed in. - -16. Add camera into middle camera mount using M3x10s. - -17. Add cameras into ViperX camera mounts using M3x6s. - -18. Add Micro-B locking Cables to hubs, snake through holes as needed, and zip tie to the electronics shelf to avoid damaging electronics in case cables catch on anything. - Attach Micro B into cameras. - -19. Connect Power + USB cables to all 4 arms. - Secure cables with zip ties as needed. - -20. Turn on Power Station + Press button to turn on outlets. - Ensure the Power Strip inside the podium is switched on. - Ensure all U2D2s in the arms are glowing red to show they have power. - If not, Confirm that all buttons corresponding to used USB Ports are pressed down. (See tip #6) - -21. Add foot pedal onto Caster mount using M5x18s and M4 T-Driver. - https://drive.google.com/file/d/183kRJpucXmJfrzM1DC--qrryv9TMIAgI/view?usp=sharing - -22. Slide caster mount onto bottom horizontal rails. Ensure the locks are centered. - Aggressively tap the Caster Mount onto the rails if needed. - Run USB cable to USB Hub. - Make sure the USB Hub port is pressed down. - https://drive.google.com/file/d/18hKblrJS3jwKSubBep-m4mbpClRna9Et/view?usp=drive_link - -23. Replace Laptop Plate with bolts set aside from earlier. - Use Loctite. - Run the USB-A Male 3.0 Cables out of the left slot of the podium. - -24. Extend ViperX and WidowX Arm Mounts out horizontally. - -25. Adjust height of WidowX vertical mount. - https://drive.google.com/file/d/17HCPacPmU-9VJrEFs8BNtacl6qrVE9Wx/view?usp=drive_link - -26. Ensure Slate E-Stop is released. +#. Attach the camera mount and fix the camera securely on the Viper arm. +#. Find a stable, flat surface to place your arms. Once satisfied, secure them using `Gorilla Tape `_ or G-Clamps. +#. Connect the power cables to the arms. +#. Position the tripod so the camera effectively covers the experiment space. + Warning: Keep the camera position consistent throughout data collection and evaluation for optimal results. +#. Connect the camera cables and arm cables to the USB hub. +#. Connect the USB hub to your computer. \ No newline at end of file From 1a429bc68292168d3d308e4d597124b0bd4c8662 Mon Sep 17 00:00:00 2001 From: Shantanu Date: Tue, 19 Nov 2024 16:33:07 -0600 Subject: [PATCH 6/9] Aloha Solo Specification Update --- docs/getting_started/solo/hardware_setup.rst | 2 +- .../solo/images/rsviewer_serialno.png | Bin 53830 -> 0 bytes docs/specifications.rst | 10 +++++----- 3 files changed, 6 insertions(+), 6 deletions(-) delete mode 100644 docs/getting_started/solo/images/rsviewer_serialno.png diff --git a/docs/getting_started/solo/hardware_setup.rst b/docs/getting_started/solo/hardware_setup.rst index 1fb6693..184d62b 100644 --- a/docs/getting_started/solo/hardware_setup.rst +++ b/docs/getting_started/solo/hardware_setup.rst @@ -27,6 +27,6 @@ Steps #. Find a stable, flat surface to place your arms. Once satisfied, secure them using `Gorilla Tape `_ or G-Clamps. #. Connect the power cables to the arms. #. Position the tripod so the camera effectively covers the experiment space. - Warning: Keep the camera position consistent throughout data collection and evaluation for optimal results. + **Warning:** Keep the camera position consistent throughout data collection and evaluation for optimal results. #. Connect the camera cables and arm cables to the USB hub. #. 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zXoo4`u#>37z?N>pCNwMRceieO8WWh8>yr7NU&Ii>sbe;fqP6SNYijaCs`9%DAz^V2 z_oeQmX=(vT0BCHO3i~U=rc}x&c!2tiv)<+lsKP_<-Rbbe)6D>YHr5N|+@JtcGC8ks ztSES`>&%#`62Esb+bO*e+o$q zw5+vr*bNnrI3E%~qG`GIb>3vDeA>cx(!bPhF&8?T&|)T)ptxXZM{yd;1f8s_i3@#0 z18i(UIfE`_J|H8rva?PdJGe6J_?BzA(%?7Yc)fx@nfiB?MReyfJ&vi2MVetGl7j_- zv#vP`R`S1Ab*%htkrOMi^|c7{MAE#D3@eL@Fr1GzDVdei-$b;M6HQf&P3&D5_&M!( zy-iLrnxE_mX23O5Z(9FlP3;FBmo)-8T4q77KB4LUA`Q!*YT3@6cwJJX6JM*di_f}h z7F`eCk-^)(w|~eG!%r^nCQ4aqHKVh9$bjN4w3!1s@!*J<#FL44@8%9sM1v%gC@I+@ z@ui&fC_>iu5dVuu@t zr}x!_x$4MO8&+4(Gr=KlM`xX3EBq`iYiD2%6L&i4&T7u-f#D3pZ8Jl zy5gn49Fw4f&+}SJJ}xp$4qi9nghSky)s`U~=TTv?4c)Bvg|2N>eDBp@i2Jux=DkAh z!W&R_iXvU(M)}+~Ym>y}%s@l%vUB_s?4k)tUmdvoKlN~OPf{cbqVx8OJWC!Oep^tH4##x%iSxqzzo@dSD$o6}0RnvpTKmZL5a_Xz!mI zC6$XxrVVg1?RwOx-|&dfy4brF@(O#1P&nd=@49q@1YI#`bfrrRzZ?1tY3uX?Y q2PQqE%(&<%%z?&d|8+pRB+p!x>VB#?K8FN Date: Fri, 6 Dec 2024 13:22:27 -0600 Subject: [PATCH 7/9] Added GUI Documentation and Fixed Some Reviewed Code --- .../getting_started/mobile/software_setup.rst | 7 +- docs/getting_started/solo/hardware_setup.rst | 5 +- docs/getting_started/solo/software_setup.rst | 18 +- .../stationary/software_setup.rst | 4 +- docs/gui.rst | 242 ++++++++++++++++++ docs/images/aloha_gui.png | Bin 0 -> 845556 bytes docs/images/rsviewer_serialno.png | Bin 0 -> 53830 bytes docs/index.rst | 4 + docs/operation/bringup_shutdown.rst | 1 - docs/operation/data_collection.rst | 7 +- docs/operation/solo.rst | 4 +- docs/specifications.rst | 18 +- docs/training/hugging_face.rst | 27 +- docs/training/lerobot_guide.rst | 19 +- docs/training/mobile.rst | 9 - docs/training/solo.rst | 6 +- docs/training/stationary.rst | 14 +- 17 files changed, 306 insertions(+), 79 deletions(-) create mode 100644 docs/gui.rst create mode 100644 docs/images/aloha_gui.png create mode 100644 docs/images/rsviewer_serialno.png diff --git a/docs/getting_started/mobile/software_setup.rst b/docs/getting_started/mobile/software_setup.rst index 876b3dd..8826533 100644 --- a/docs/getting_started/mobile/software_setup.rst +++ b/docs/getting_started/mobile/software_setup.rst @@ -79,16 +79,15 @@ ALOHA Software Installation .. admonition:: Important Compatibility Notice - This documentation and software correspond to **Aloha version 2.0**. + This documentation and software correspond to **Interbotix Aloha version 2.0**. It supports features such as teleoperation, data recording, replay, and visualization. However, it is **not compatible** with training and evaluation for **ACT** or **ACT++**. - For end-to-end training of **Aloha Stationary** and **Aloha Mobile**, stick to **Aloha 1.0**. - You can find the Aloha 1.0 documentation here: `Aloha 1.0 Documentation `_ + For end-to-end training of **Aloha Stationary** and **Aloha Mobile**, stick to **Interbotix Aloha 1.0**. + You can find the Aloha 1.0 documentation here: `Aloha 1.0 Documentation `_ We are actively working on updates to provide full compatibility in the future. - 1. Clone the Interbotix fork of ALOHA into the workspace's source directory: .. code-block:: bash diff --git a/docs/getting_started/solo/hardware_setup.rst b/docs/getting_started/solo/hardware_setup.rst index 184d62b..3343674 100644 --- a/docs/getting_started/solo/hardware_setup.rst +++ b/docs/getting_started/solo/hardware_setup.rst @@ -1,6 +1,6 @@ -=========================== +========================= Solo ALOHA Hardware Setup -=========================== +========================= .. attention:: @@ -22,7 +22,6 @@ Video Overview Steps ----- - #. Attach the camera mount and fix the camera securely on the Viper arm. #. Find a stable, flat surface to place your arms. Once satisfied, secure them using `Gorilla Tape `_ or G-Clamps. #. Connect the power cables to the arms. diff --git a/docs/getting_started/solo/software_setup.rst b/docs/getting_started/solo/software_setup.rst index 0dcf6e7..5f20986 100644 --- a/docs/getting_started/solo/software_setup.rst +++ b/docs/getting_started/solo/software_setup.rst @@ -1,6 +1,6 @@ -=============================== +========================= Solo ALOHA Software Setup -=============================== +========================= .. note:: @@ -113,10 +113,10 @@ Arm Symlink Setup We will configure udev rules to bind the arms to specific device names. Depending on the orientation of the pair you plan to use, configure the device names accordingly as either left or right: -* ``ttyDXL_leader_left`` for the left leader arm -* ``ttyDXL_follower_left`` for the left follower arm -* ``ttyDXL_leader_right`` for the right leader arm -* ``ttyDXL_follower_right`` for the right follower arm +* ``ttyDXL_leader_left`` for the left oriented leader arm +* ``ttyDXL_follower_left`` for the follower arm +* ``ttyDXL_leader_right`` for the right oriented leader arm +* ``ttyDXL_follower_right`` for the follower arm To set these up, do the following: @@ -142,7 +142,7 @@ To set these up, do the following: SUBSYSTEM=="tty", ATTRS{serial}=="", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL_leader_left" # ^^^^^^^^^^^^^^^ The result from the previous step -6. Repeat for the rest of the arms. +6. Repeat for the other arm. 7. To update and refresh the rules, run the following command: @@ -150,7 +150,7 @@ To set these up, do the following: $ sudo udevadm control --reload && sudo udevadm trigger -8. Plug all arms back into the computer and verify that you can see all devices. +8. Plug both arms back into the computer and verify that you can see all devices. Depending on whether you configured the arms for a left or right orientation, you will see the corresponding device names: .. code-block:: bash @@ -191,7 +191,7 @@ Camera Setup 3. Click on Info for the camera, find the Serial Number, and copy it. - .. image:: images/rsviewer_serialno.png + .. image:: ../../images/rsviewer_serialno.png :align: center 4. Put the camera serial number in the appropriate config entry at ``~/interbotix_ws/src/aloha/config/robot/aloha_solo.yaml``. diff --git a/docs/getting_started/stationary/software_setup.rst b/docs/getting_started/stationary/software_setup.rst index 939c266..6c98fde 100644 --- a/docs/getting_started/stationary/software_setup.rst +++ b/docs/getting_started/stationary/software_setup.rst @@ -67,11 +67,11 @@ ALOHA Software Installation .. admonition:: Important Compatibility Notice - This documentation and software correspond to **Aloha version 2.0**. + This documentation and software correspond to **Interbotix Aloha version 2.0**. It supports features such as teleoperation, data recording, replay, and visualization. However, it is **not compatible** with training and evaluation for **ACT** or **ACT++**. - For end-to-end training of **Aloha Stationary** and **Aloha Mobile**, stick to **Aloha 1.0**. + For end-to-end training of **Aloha Stationary** and **Aloha Mobile**, stick to **Interbotix Aloha 1.0**. You can find the Aloha 1.0 documentation here: `Aloha 1.0 Documentation `_ We are actively working on updates to provide full compatibility in the future. diff --git a/docs/gui.rst b/docs/gui.rst new file mode 100644 index 0000000..d862144 --- /dev/null +++ b/docs/gui.rst @@ -0,0 +1,242 @@ +Trossen Aloha UI +====================== + +.. image:: ./images/aloha_gui.png + :alt: ALOHA GUI + +Overview +-------- + +**Trossen Aloha UI** is a Python-based application designed for seamless and efficient robotic data collection. +It provides an intuitive GUI to manage robot configurations, perform task recordings, and streamline data collection with advanced features like camera views, task management, and progress tracking. + +Pre-Installation Setup +---------------------- + +Before installing the application, complete the following setup: + +#. Install Miniconda: + Download and install `Miniconda `_ for your operating system. + +#. Create a Virtual Environment: + Use Miniconda to create a virtual environment: + + .. code-block:: bash + + conda create -n aloha_env python=3.10 -y + conda activate aloha_env + +Installation +------------ + +Install **Trossen Aloha UI** directly using `pip`: + +.. code-block:: bash + + pip install trossen_aloha_ui + + +Post-Installation +----------------- + +After installation, run the following command to set up the application: + +- Clones and installs required dependencies for `lerobot`. +- Resolves common issues with OpenCV and video encoding. +- Creates a desktop icon for launching the application. + +.. code-block:: bash + + post_install + +Launching the Application +------------------------- + +Desktop Application +^^^^^^^^^^^^^^^^^^^ + +After installation, a desktop shortcut named **Trossen Aloha UI** is available. Click on it to launch the application. + +Command Line +^^^^^^^^^^^^ + +Alternatively, you can run the application directly from the terminal: + +.. code-block:: bash + + trossen_aloha_ui + +Application Features +-------------------- + +#. Task Management: + + - Task Names: Select predefined tasks from the dropdown menu. + - Episodes: Specify the number of episodes using the spin box. Adjust the count using the `+` and `-` buttons. + +#. Recording Controls: + + - Start Recording: Initiates data collection for the selected task. + - Stop Recording: Stops the current data collection session. + - Re-Record: Allows re-recording of the current episode if necessary. + +#. Progress Tracking: + - A progress bar tracks the recording session in real-time, displaying completion percentage. + +#. Camera Views: + - View multiple camera feeds in real-time during recording for better monitoring. + +#. Configuration Management: + + - Edit Robot Configuration: Modify the robot's YAML configuration for granular control. + - Edit Task Configuration: Adjust task-specific parameters via a YAML editor. + +#. Quit Button: + - Use the Quit button in the menu to gracefully exit the application. + +Configuration Management +======================== + +The **Trossen Aloha UI** application provides two primary configuration files for setup: + +#. Task Configuration: Used to manage task-specific parameters like task names, episode lengths, warmup times, and more. +#. Robot Configuration: Used to define arm and camera settings, motor limits, and safety parameters. + +Task Configuration +------------------ + +Task-specific parameters are stored in the `tasks_config.yaml` file. Below is an example configuration: + +.. code-block:: yaml + + tasks: + - task_name: "aloha_solo_dummy" + episode_length_s: 12 + warmup_time_s: 1 + reset_time_s: 5 + hf_user: "TrossenRobotics" + fps: 30 + push_to_hub: false + + - task_name: "aloha_mobile_dummy" + episode_length_s: 15 + warmup_time_s: 5 + reset_time_s: 10 + hf_user: "TrossenRobotics" + fps: 30 + push_to_hub: false + + - task_name: "aloha_stationary_dummy" + episode_length_s: 9 + warmup_time_s: 5 + reset_time_s: 5 + hf_user: "TrossenRobotics" + fps: 30 + push_to_hub: false + +**Key Fields** + +- **task_name**: A unique identifier for the task. Ensure no duplicate task names exist. +- **episode_length_s**: Duration of each episode in seconds. +- **warmup_time_s**: Time in seconds for the system to warm up before starting the episode. +- **reset_time_s**: Time in seconds for the system to reset after each episode. +- **hf_user**: Your Hugging Face username to associate with the dataset. +- **fps**: Frames per second for recording data. +- **push_to_hub**: Set to `true` to upload datasets automatically to Hugging Face Hub. Ensure Hugging Face authentication is set up if this is enabled. + +Hugging Face Authentication +^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +To enable dataset uploads to the Hugging Face Hub, set up authentication using the following guide: +`Hugging Face Authentication Guide `_ + +Robot Configuration +-------------------- + +The robot's settings are defined in a YAML file (e.g., `aloha_solo.yaml`). +Below is a simplified version of a robot configuration file: + +.. code-block:: yaml + :emphasize-lines: 5,10,21,32,38 + + _target_: lerobot.common.robot_devices.robots.manipulator.ManipulatorRobot + robot_type: aloha + calibration_dir: trossen_aloha_ui/configs/calibration/aloha_default + + max_relative_target: null # Set to null for more precise control once comfortable + + leader_arms: + right: + _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus + port: /dev/ttyDXL_leader_right + motors: + waist: [1, xm430-w350] + shoulder: [2, xm430-w350] + elbow: [4, xm430-w350] + wrist_rotate: [8, xl430-w250] + gripper: [9, xc430-w150] + + follower_arms: + right: + _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus + port: /dev/ttyDXL_follower_right + motors: + waist: [1, xm540-w270] + shoulder: [2, xm540-w270] + elbow: [4, xm540-w270] + wrist_rotate: [8, xm430-w350] + gripper: [9, xm430-w350] + + cameras: + cam_right_wrist: + _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera + serial_number: 218622272670 + fps: 30 + width: 640 + height: 480 + cam_top: + _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera + serial_number: 128422271347 + fps: 30 + width: 640 + height: 480 + +**Key Fields** + +- **max_relative_target**: Limits the motion range of motors for safety. Set to `null` for precise control after gaining confidence. +- **leader_arms / follower_arms**: Specifies motor configurations for both leader and follower arms, including ports and motor models. +- **cameras**: Configures Intel RealSense cameras with serial numbers, frame rates, and resolutions. + +**Steps to Configure the Robot YAML:** + +#. **Set Ports for Arms**: + Update the `port` fields for `leader_arms` and `follower_arms` based on the symbolic links set for the robotic arms. + +#. **Add Serial Numbers for Cameras**: + Use the Intel RealSense Viewer to obtain and add the correct serial numbers for each camera under the `cameras` section. + +#. **Verify Calibration**: + Ensure the `calibration_dir` points to the appropriate calibration files. + +Once the above configurations are completed, your setup is ready for teleoperation, data recording, and other tasks. + +Hardware Setup +-------------- + +For detailed instructions on the hardware setup, please refer to the official documentation: +`Aloha Hardware Setup Guide `_ + +This guide provides comprehensive information, including: + +- Connecting the Arms: Step-by-step guidance to assemble and connect the robotic arms. +- Serial Number Configuration: Instructions on setting up and verifying serial numbers for the arms. +- Camera Setup: Using the Intel RealSense Viewer for calibrating and positioning cameras effectively. + + +License +------- + +This project is licensed under the **BSD-3-Clause License**. +You are free to use, modify, and distribute this software under the conditions of the BSD-3-Clause license. + +See the `LICENSE `_ file for full license details. diff --git a/docs/images/aloha_gui.png b/docs/images/aloha_gui.png new file mode 100644 index 0000000000000000000000000000000000000000..5f3ab62d6c50aeacc91caa927c3a391b3a9d7784 GIT binary patch literal 845556 zcmbrlWmH>Tw>Au=Kq*#AaV@k+aVKagr8pER?(P=c-K9uzDW!!{+=9D16xZMs3lboN 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zXoo4`u#>37z?N>pCNwMRceieO8WWh8>yr7NU&Ii>sbe;fqP6SNYijaCs`9%DAz^V2 z_oeQmX=(vT0BCHO3i~U=rc}x&c!2tiv)<+lsKP_<-Rbbe)6D>YHr5N|+@JtcGC8ks ztSES`>&%#`62Esb+bO*e+o$q zw5+vr*bNnrI3E%~qG`GIb>3vDeA>cx(!bPhF&8?T&|)T)ptxXZM{yd;1f8s_i3@#0 z18i(UIfE`_J|H8rva?PdJGe6J_?BzA(%?7Yc)fx@nfiB?MReyfJ&vi2MVetGl7j_- zv#vP`R`S1Ab*%htkrOMi^|c7{MAE#D3@eL@Fr1GzDVdei-$b;M6HQf&P3&D5_&M!( zy-iLrnxE_mX23O5Z(9FlP3;FBmo)-8T4q77KB4LUA`Q!*YT3@6cwJJX6JM*di_f}h z7F`eCk-^)(w|~eG!%r^nCQ4aqHKVh9$bjN4w3!1s@!*J<#FL44@8%9sM1v%gC@I+@ z@ui&fC_>iu5dVuu@t zr}x!_x$4MO8&+4(Gr=KlM`xX3EBq`iYiD2%6L&i4&T7u-f#D3pZ8Jl zy5gn49Fw4f&+}SJJ}xp$4qi9nghSky)s`U~=TTv?4c)Bvg|2N>eDBp@i2Jux=DkAh z!W&R_iXvU(M)}+~Ym>y}%s@l%vUB_s?4k)tUmdvoKlN~OPf{cbqVx8OJWC!Oep^tH4##x%iSxqzzo@dSD$o6}0RnvpTKmZL5a_Xz!mI zC6$XxrVVg1?RwOx-|&dfy4brF@(O#1P&nd=@49q@1YI#`bfrrRzZ?1tY3uX?Y q2PQqE%(&<%%z?&d|8+pRB+p!x>VB#?K8FN - .. important:: The robot argument is required to specify which ALOHA configuration to bring up. diff --git a/docs/operation/data_collection.rst b/docs/operation/data_collection.rst index c8e14da..937fd87 100644 --- a/docs/operation/data_collection.rst +++ b/docs/operation/data_collection.rst @@ -5,7 +5,7 @@ Data Collection Task Creation ============= -Task configurations are now set up in the ``tasks_config.yaml`` file located inside the ``config`` folder in the Aloha package. +Task configurations are set up in the ``tasks_config.yaml`` file located inside the ``config`` folder in the Aloha package. A template task (aloha_template) is provided within the file, which includes all possible fields and placeholder values. For this guide, we will focus on configuring the task name, dataset directory, and episode length. @@ -85,7 +85,7 @@ To play back a previously-recorded episode, follow the steps below: $ source /opt/ros/humble/setup.bash # configure ROS system install environment $ source ~/interbotix_ws/install/setup.bash # configure ROS workspace environment $ cd ~/interbotix_ws/src/aloha/scripts/ - $ python3 replay_episodes.py --robot --dataset_dir --episode_idx + $ python3 replay_episodes.py --robot --dataset_dir --episode_idx .. tip:: @@ -188,6 +188,7 @@ ALOHA saves its episodes in the `hdf5 format`_ with the following format: Aloha Stationary +---------------- .. code-block:: @@ -202,6 +203,7 @@ Aloha Stationary action (14,) 'float64' Aloha Mobile +------------ .. code-block:: @@ -216,6 +218,7 @@ Aloha Mobile base_action (2,) 'float64' Aloha Solo +---------- .. code-block:: diff --git a/docs/operation/solo.rst b/docs/operation/solo.rst index 29dfb77..cdc2fe6 100644 --- a/docs/operation/solo.rst +++ b/docs/operation/solo.rst @@ -1,6 +1,6 @@ -==================== +============== Solo Operation -==================== +============== Teleoperation ============= diff --git a/docs/specifications.rst b/docs/specifications.rst index 37387bd..c23a455 100644 --- a/docs/specifications.rst +++ b/docs/specifications.rst @@ -310,10 +310,10 @@ Coming Soon! Aloha Solo -================ +========== Solo Packing List ------------------------ +----------------- .. table:: :align: center @@ -337,7 +337,7 @@ Solo Packing List +------------------------------------------------------------------------------------------+---------+ | M3 T-Driver | 1 | +------------------------------------------------------------------------------------------+---------+ - | WX Leader Bag | 1 | + | WX Leader Bag | 1 | +------------------------------------------------------------------------------------------+---------+ | .. centered:: **Large Electronics (Cameras + Computer)** | +------------------------------------------------------------------------------------------+---------+ @@ -345,7 +345,7 @@ Solo Packing List +------------------------------------------------------------------------------------------+---------+ | Intel RealSense D405 | 2 | +------------------------------------------------------------------------------------------+---------+ - | Small Electronics | + | .. centered:: **Small Electronics** | +------------------------------------------------------------------------------------------+---------+ | USB 3.0 A Male to Micro B Male, Right Angled with Locking Screws | 2 | +------------------------------------------------------------------------------------------+---------+ @@ -355,7 +355,7 @@ Solo Packing List +------------------------------------------------------------------------------------------+---------+ | Foot pedal switch (Delayed) | 1 | +------------------------------------------------------------------------------------------+---------+ - | Camera Tripod Stand | 1 | + | Camera Tripod Stand | 1 | +------------------------------------------------------------------------------------------+---------+ | Sabrent 7-Port USB Hub | 1 | +------------------------------------------------------------------------------------------+---------+ @@ -381,9 +381,9 @@ Solo Packing List +------------------------------------------------------------------------------------------+---------+ | Aloha Finger Bag | 1 | +------------------------------------------------------------------------------------------+---------+ - | 12v20a Power Supply | 1 | + | 12v20A Power Supply | 1 | +------------------------------------------------------------------------------------------+---------+ - | 12v10a Power Supply | 1 | + | 12V10A Power Supply | 1 | +------------------------------------------------------------------------------------------+---------+ | USB-A to Micro USB, 10 Foot, Black | 2 | +------------------------------------------------------------------------------------------+---------+ @@ -412,7 +412,7 @@ Solo Specifications Solo Technical Drawing ----------------------------- +---------------------- Coming Soon! @@ -434,7 +434,7 @@ The laptop is the Serval WS (serw13) from System76 with the following specificat ALOHA Pre-configured Mini PC ============================ -Trossen Robotics offers the option of providing a mini computer pre-configured to work with either variant of the ALOHA kit. +Trossen Robotics offers the option of providing a mini computer pre-configured to work with any variant of the ALOHA kit. The computer is the Meerkat (meer8) from System76 with the following specifications: * Ubuntu 22.04 LTS diff --git a/docs/training/hugging_face.rst b/docs/training/hugging_face.rst index 7ecfa5a..822f38f 100644 --- a/docs/training/hugging_face.rst +++ b/docs/training/hugging_face.rst @@ -2,17 +2,16 @@ Hugging Face Guide ================== - Creating an Account -^^^^^^^^^^^^^^^^^^^ +------------------- If you don't already have an account, sign up for a new account on the `Hugging Face Sign Up `_. Creating a New Dataset Repository -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +--------------------------------- -Web Interface (Repository) --------------------------- +Web Interface +^^^^^^^^^^^^^ #. Navigate to the `Hugging Face website `_. #. Log in to your account. @@ -20,7 +19,7 @@ Web Interface (Repository) #. Follow the on-screen instructions to create a new dataset repository. Command Line Interface (CLI) ----------------------------- +^^^^^^^^^^^^^^^^^^^^^^^^^^^^ #. Ensure you have the `huggingface_hub `_ library installed. #. Use the following Python script to create a new repository: @@ -35,12 +34,12 @@ Command Line Interface (CLI) For more information on creating repositories, refer to the `Hugging Face Repositories `_. Uploading Your Dataset -^^^^^^^^^^^^^^^^^^^^^^ +---------------------- You have two primary methods to upload datasets: through the web interface or using the Python API. -Web Interface (Dataset Upload) ------------------------------- +Web Interface +^^^^^^^^^^^^^ #. Navigate to your dataset repository on the Hugging Face website. #. Click on the "Files and versions" tab. @@ -48,7 +47,7 @@ Web Interface (Dataset Upload) #. Click "Commit changes" to save the files in the repository. Python API ----------- +^^^^^^^^^^ You can use the following Python script to upload your dataset: @@ -79,12 +78,12 @@ You can use the following Python script to upload your dataset: For more information on uploading datasets, refer to the `Hugging Face Uploading `_. Downloading Datasets -^^^^^^^^^^^^^^^^^^^^ +-------------------- You can download datasets either by cloning the repository or using the Hugging Face CLI. Cloning the Repository ----------------------- +^^^^^^^^^^^^^^^^^^^^^^ To clone the repository, use the following command: @@ -93,7 +92,7 @@ To clone the repository, use the following command: $ git clone https://huggingface.co/datasets/username/repository_name Using the Hugging Face CLI --------------------------- +^^^^^^^^^^^^^^^^^^^^^^^^^^ You can also use the Hugging Face CLI to download datasets with the following Python script: @@ -116,7 +115,7 @@ You can also use the Hugging Face CLI to download datasets with the following Py For more information on downloading datasets, refer to the `Hugging Face Datasets `_. Additional Information -^^^^^^^^^^^^^^^^^^^^^^ +---------------------- - **Repository Management**: Utilize the `Hugging Face Hub documentation `_ for detailed instructions on managing repositories, handling versions, and setting permissions. - **Dataset Formats**: Hugging Face supports various dataset formats. For this guide, we specifically use the Aloha's native ``.hdf5`` format. diff --git a/docs/training/lerobot_guide.rst b/docs/training/lerobot_guide.rst index b6a5846..ab6b323 100644 --- a/docs/training/lerobot_guide.rst +++ b/docs/training/lerobot_guide.rst @@ -1,6 +1,6 @@ -===================================== -LeRobot X Aloha Stationary User Guide -===================================== +========================== +LeRobot X Aloha User Guide +========================== Setting up Conda Environment @@ -359,8 +359,6 @@ Instructions for downloading and using these datasets can be found at the follow `Trossen Robotics Community `_ - - =============================== LeRobot X Aloha Solo User Guide =============================== @@ -394,7 +392,7 @@ Key Differences Between Aloha Solo and Aloha Stationary Steps to Configure Aloha Solo ============================= -#. **Place the Required Files**: +#. Place the Required Files: Ensure the following files are updated and placed in their appropriate folder locations: @@ -407,13 +405,13 @@ Steps to Configure Aloha Solo - **Environment Configuration**: Place ``aloha_solo_real.yaml`` in ``lerobot/configs/env/``. :download:`Download Environment Configuration <../files/aloha_solo_real.yaml>` -#. **Camera Setup**: +#. Camera Setup: For Aloha Solo, ensure that only two cameras are configured: - ``cam_high`` - Either ``cam_left_wrist`` or ``cam_right_wrist`` (depending on your setup). - - -#. **Update the Robot Configuration**: + +#. Update the Robot Configuration: Replace the robot configuration file used in your setup with ``aloha_solo.yaml``. This file is located in the ``lerobot/configs/robot/`` directory. @@ -423,7 +421,7 @@ Steps to Configure Aloha Solo --robot-path lerobot/configs/robot/aloha_solo.yaml -#. **Adjust the Policy and Environment**: +#. Adjust the Policy and Environment: Update the policy and environment names in the commands you use: - **Policy**: ``act_aloha_solo_real`` @@ -486,7 +484,6 @@ Troubleshooting .. warning:: If you encounter issues, follow these troubleshooting steps: - Lag Observed in Follower Arms ============================= diff --git a/docs/training/mobile.rst b/docs/training/mobile.rst index 192c3a4..de7c15c 100644 --- a/docs/training/mobile.rst +++ b/docs/training/mobile.rst @@ -1,4 +1,3 @@ - ================================== Aloha Mobile Training & Evaluation ================================== @@ -46,17 +45,11 @@ Clone Robomimic Clone ACT++ Repository ^^^^^^^^^^^^^^^^^^^^^^ - -Clone ACT++ if using Aloha Mobile - .. code-block:: bash $ cd ~ $ git clone https://github.com/Interbotix/act_plus_plus.git act_training_evaluation - - - Build and Install ACT++ Models ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -81,14 +74,12 @@ Build and Install ACT++ Models ├── LICENSE └── README.md - Navigate to the ``act_plus_plus`` directory inside the repository and install the ``detr`` module, which contains the model definitions, by running the following command: .. code-block:: bash $ cd /path/to/act_plus_plus && pip install -e . - Training ^^^^^^^^ diff --git a/docs/training/solo.rst b/docs/training/solo.rst index ed9346d..520ea96 100644 --- a/docs/training/solo.rst +++ b/docs/training/solo.rst @@ -1,6 +1,5 @@ - ================================ -Aloha Solo Training $ Evaluation +Aloha Solo Training & Evaluation ================================ .. note:: @@ -9,9 +8,8 @@ Aloha Solo Training $ Evaluation There is no support for **Aloha Solo** on **Aloha 1.0**. Ensure that you are using compatible software versions to avoid any issues during training or evaluation. - Install Dependencies -^^^^^^^^^^^^^^^^^^^^ +-------------------- Install the necessary dependencies inside your containerized environment: diff --git a/docs/training/stationary.rst b/docs/training/stationary.rst index fec082c..25696a6 100644 --- a/docs/training/stationary.rst +++ b/docs/training/stationary.rst @@ -9,7 +9,7 @@ Aloha Stationary Training & Evaluation Ensure that you are using compatible software versions to avoid any issues during training or evaluation. Install Dependencies -^^^^^^^^^^^^^^^^^^^^ +-------------------- Install the necessary dependencies inside your containerized environment: @@ -31,9 +31,7 @@ Install the necessary dependencies inside your containerized environment: $ pip install torchvision Clone ACT Repository -^^^^^^^^^^^^^^^^^^^^ - -Clone ACT if using Aloha Stationary +-------------------- .. code-block:: bash @@ -41,7 +39,7 @@ Clone ACT if using Aloha Stationary $ git clone https://github.com/Interbotix/act.git act_training_evaluation Build and Install ACT Models -^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +---------------------------- .. code-block:: bash :emphasize-lines: 4 @@ -64,7 +62,6 @@ Build and Install ACT Models ├── LICENSE └── README.md - Navigate to the ``detr`` directory inside the repository and install the detr module which contains the model definitions using the below command: .. code-block:: bash @@ -72,7 +69,7 @@ Navigate to the ``detr`` directory inside the repository and install the detr mo $ cd /path/to/act/detr && pip install -e . Training -^^^^^^^^ +-------- To start the training, follow the steps below: @@ -122,7 +119,6 @@ To start the training, follow the steps below: - ``num_epochs``: Too many epochs lead to overfitting; too few epochs may not allow the model to learn. - ``lr``: Higher learning rate can lead to faster convergence but may overshoot the optima, while lower learning rate might lead to slower but stable optimization. - .. tip:: We recommend the following parameters: @@ -148,7 +144,7 @@ To start the training, follow the steps below: - 1e-5 Evaluation -^^^^^^^^^^ +---------- To evaluate a trained model, follow the steps below: From 00449c010d90c1eabeef2bfe6eb3096b3ecb4608 Mon Sep 17 00:00:00 2001 From: Shantanu Parab Date: Mon, 9 Dec 2024 11:32:39 -0600 Subject: [PATCH 8/9] Fixed Reviewed Code 1-Pending --- docs/_data/bringup.csv | 2 +- docs/getting_started/solo/hardware_setup.rst | 6 ++++- docs/getting_started/solo/software_setup.rst | 22 ++++++++++------- docs/gui.rst | 25 +++++++++----------- docs/operation/bringup_shutdown.rst | 1 + docs/operation/data_collection.rst | 2 +- docs/training.rst | 4 ++-- docs/training/hugging_face.rst | 8 +++---- 8 files changed, 38 insertions(+), 32 deletions(-) diff --git a/docs/_data/bringup.csv b/docs/_data/bringup.csv index a20af17..8a5616f 100644 --- a/docs/_data/bringup.csv +++ b/docs/_data/bringup.csv @@ -9,7 +9,7 @@ leader_modes_left,the file path to the 'mode config' YAML file for the left lead leader_modes_right,the file path to the 'mode config' YAML file for the right leader arm.,LocalVar('FindPackageShare\(pkg= ``aloha``\) + 'config' + 'leader_modes_right.yaml''), follower_modes_left,the file path to the 'mode config' YAML file for the left follower arm.,LocalVar('FindPackageShare\(pkg= ``aloha``\) + 'config' + 'follower_modes_left.yaml''), follower_modes_right,the file path to the 'mode config' YAML file for the right follower arm.,LocalVar('FindPackageShare\(pkg= ``aloha``\) + 'config' + 'follower_modes_right.yaml''), -launch_leaders,"if ``true``, launches both the leader and follower arms; if ``false, just the followers are launched.",``true``,"``true``, ``false``" +launch_leaders,"if ``true``, launches both the leader and follower arms; if ``false``, just the followers are launched.",``true``,"``true``, ``false``" use_cameras,"if ``true``, launches the camera drivers.",``true``,"``true``, ``false``" cam_high_name,,``cam_high``, cam_low_name,,``cam_low``, diff --git a/docs/getting_started/solo/hardware_setup.rst b/docs/getting_started/solo/hardware_setup.rst index 3343674..ea3b68f 100644 --- a/docs/getting_started/solo/hardware_setup.rst +++ b/docs/getting_started/solo/hardware_setup.rst @@ -26,6 +26,10 @@ Steps #. Find a stable, flat surface to place your arms. Once satisfied, secure them using `Gorilla Tape `_ or G-Clamps. #. Connect the power cables to the arms. #. Position the tripod so the camera effectively covers the experiment space. - **Warning:** Keep the camera position consistent throughout data collection and evaluation for optimal results. + + .. warning:: + + Keep the camera position consistent throughout data collection and evaluation for optimal results. + #. Connect the camera cables and arm cables to the USB hub. #. Connect the USB hub to your computer. \ No newline at end of file diff --git a/docs/getting_started/solo/software_setup.rst b/docs/getting_started/solo/software_setup.rst index 5f20986..31f4379 100644 --- a/docs/getting_started/solo/software_setup.rst +++ b/docs/getting_started/solo/software_setup.rst @@ -121,36 +121,40 @@ Depending on the orientation of the pair you plan to use, configure the device n To set these up, do the following: -1. Plug in only the leader left robot to the computer. +#. Plug in only the leader robot to the computer. -2. Determine its device name by checking the ``/dev`` directory before and after plugging the device in. +#. Determine its device name by checking the ``/dev`` directory before and after plugging the device in. This is likely something like ``/dev/ttyUSB0``. -3. Print out the device serial number by running the following command: +#. Print out the device serial number by running the following command: .. code-block:: bash $ udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep ATTRS{serial} | head -n 1 | cut -d '"' -f2 FT88YWBJ -4. The output of the command will look like ``FT88YWBJ`` and be the serial number of the arm's U2D2 serial converter. +#. The output of the command will look like ``FT88YWBJ`` and be the serial number of the arm's U2D2 serial converter. -5. Add the following line to the computer's fixed Interbotix udev rules at ``/etc/udev/rules.d/99-fixed-interbotix-udev.rules``: +#. Add the following line to the computer's Interbotix udev rules file located at ``/etc/udev/rules.d/99-fixed-interbotix-udev.rules``. + You only need to configure a leader and a follower. + The orientation (left or right) depends on your choice. + If you use a right leader, ensure you pair it with a right follower, and similarly for the left orientation. + Update the serial number and symlink name accordingly for your chosen configuration: .. code-block:: bash SUBSYSTEM=="tty", ATTRS{serial}=="", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL_leader_left" # ^^^^^^^^^^^^^^^ The result from the previous step -6. Repeat for the other arm. +#. Repeat for the other arm. -7. To update and refresh the rules, run the following command: +#. To update and refresh the rules, run the following command: .. code-block:: bash $ sudo udevadm control --reload && sudo udevadm trigger -8. Plug both arms back into the computer and verify that you can see all devices. +#. Plug both arms back into the computer and verify that you can see all devices. Depending on whether you configured the arms for a left or right orientation, you will see the corresponding device names: .. code-block:: bash @@ -196,7 +200,7 @@ Camera Setup 4. Put the camera serial number in the appropriate config entry at ``~/interbotix_ws/src/aloha/config/robot/aloha_solo.yaml``. -5. Repeat for the rest of the cameras. +5. Repeat for the other camera. If the workspace has not been symbolically-linked, a rebuild may be necessary. Post-Install Software Tips diff --git a/docs/gui.rst b/docs/gui.rst index d862144..0dc7ebc 100644 --- a/docs/gui.rst +++ b/docs/gui.rst @@ -81,9 +81,11 @@ Application Features - Re-Record: Allows re-recording of the current episode if necessary. #. Progress Tracking: + - A progress bar tracks the recording session in real-time, displaying completion percentage. #. Camera Views: + - View multiple camera feeds in real-time during recording for better monitoring. #. Configuration Management: @@ -92,6 +94,7 @@ Application Features - Edit Task Configuration: Adjust task-specific parameters via a YAML editor. #. Quit Button: + - Use the Quit button in the menu to gracefully exit the application. Configuration Management @@ -114,7 +117,7 @@ Task-specific parameters are stored in the `tasks_config.yaml` file. Below is an episode_length_s: 12 warmup_time_s: 1 reset_time_s: 5 - hf_user: "TrossenRobotics" + hf_user: "YourUser" fps: 30 push_to_hub: false @@ -122,7 +125,7 @@ Task-specific parameters are stored in the `tasks_config.yaml` file. Below is an episode_length_s: 15 warmup_time_s: 5 reset_time_s: 10 - hf_user: "TrossenRobotics" + hf_user: "YourUser" fps: 30 push_to_hub: false @@ -130,7 +133,7 @@ Task-specific parameters are stored in the `tasks_config.yaml` file. Below is an episode_length_s: 9 warmup_time_s: 5 reset_time_s: 5 - hf_user: "TrossenRobotics" + hf_user: "YourUser" fps: 30 push_to_hub: false @@ -207,16 +210,11 @@ Below is a simplified version of a robot configuration file: - **leader_arms / follower_arms**: Specifies motor configurations for both leader and follower arms, including ports and motor models. - **cameras**: Configures Intel RealSense cameras with serial numbers, frame rates, and resolutions. -**Steps to Configure the Robot YAML:** - -#. **Set Ports for Arms**: - Update the `port` fields for `leader_arms` and `follower_arms` based on the symbolic links set for the robotic arms. +#. **Set Ports for Arms**: Update the `port` fields for `leader_arms` and `follower_arms` based on the symbolic links set for the robotic arms. -#. **Add Serial Numbers for Cameras**: - Use the Intel RealSense Viewer to obtain and add the correct serial numbers for each camera under the `cameras` section. +#. **Add Serial Numbers for Cameras**: Use the Intel RealSense Viewer to obtain and add the correct serial numbers for each camera under the `cameras` section. -#. **Verify Calibration**: - Ensure the `calibration_dir` points to the appropriate calibration files. +#. **Verify Calibration**: Ensure the `calibration_dir` points to the appropriate calibration files. Once the above configurations are completed, your setup is ready for teleoperation, data recording, and other tasks. @@ -228,9 +226,8 @@ For detailed instructions on the hardware setup, please refer to the official do This guide provides comprehensive information, including: -- Connecting the Arms: Step-by-step guidance to assemble and connect the robotic arms. -- Serial Number Configuration: Instructions on setting up and verifying serial numbers for the arms. -- Camera Setup: Using the Intel RealSense Viewer for calibrating and positioning cameras effectively. +- `Arm Configuration `_: Step-by-step guidance to assemble and connect the robotic arms. +- `Camera Setup `_: Using the Intel RealSense Viewer for calibrating and positioning cameras effectively. License diff --git a/docs/operation/bringup_shutdown.rst b/docs/operation/bringup_shutdown.rst index 1a088b6..ab52bd5 100644 --- a/docs/operation/bringup_shutdown.rst +++ b/docs/operation/bringup_shutdown.rst @@ -109,3 +109,4 @@ Please refer to the following table for details: :file: ../_data/bringup.csv :header-rows: 1 :widths: 20, 60, 20, 20 + diff --git a/docs/operation/data_collection.rst b/docs/operation/data_collection.rst index 937fd87..7ecc715 100644 --- a/docs/operation/data_collection.rst +++ b/docs/operation/data_collection.rst @@ -235,4 +235,4 @@ Aloha Solo What's Next? ============ -With the data collected, we are ready to :doc:`train and evaluate ` the machine learning models. +With the data collected, we are ready to :doc:`train and evaluate <../training>` the machine learning models. diff --git a/docs/training.rst b/docs/training.rst index 6dcd17e..bde084f 100644 --- a/docs/training.rst +++ b/docs/training.rst @@ -47,8 +47,8 @@ Conda Setup -Training and Evaluation -======================= +Train and Evaluate +================== Depending upon the setup you are using diff --git a/docs/training/hugging_face.rst b/docs/training/hugging_face.rst index 822f38f..4e75883 100644 --- a/docs/training/hugging_face.rst +++ b/docs/training/hugging_face.rst @@ -10,8 +10,8 @@ If you don't already have an account, sign up for a new account on the `Hugging Creating a New Dataset Repository --------------------------------- -Web Interface -^^^^^^^^^^^^^ +Web Interface (Create Repository) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ #. Navigate to the `Hugging Face website `_. #. Log in to your account. @@ -38,8 +38,8 @@ Uploading Your Dataset You have two primary methods to upload datasets: through the web interface or using the Python API. -Web Interface -^^^^^^^^^^^^^ +Web Interface (Upload Dataset) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ #. Navigate to your dataset repository on the Hugging Face website. #. Click on the "Files and versions" tab. From 49ea7854867a67b78035e3d435d60c66538a34ec Mon Sep 17 00:00:00 2001 From: Shantanu Parab Date: Mon, 9 Dec 2024 14:35:23 -0600 Subject: [PATCH 9/9] Fixed Reviewed Code --- docs/getting_started/stationary/software_setup.rst | 2 +- docs/training/lerobot_guide.rst | 9 ++++++++- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/docs/getting_started/stationary/software_setup.rst b/docs/getting_started/stationary/software_setup.rst index 6c98fde..fa29ea7 100644 --- a/docs/getting_started/stationary/software_setup.rst +++ b/docs/getting_started/stationary/software_setup.rst @@ -72,7 +72,7 @@ ALOHA Software Installation However, it is **not compatible** with training and evaluation for **ACT** or **ACT++**. For end-to-end training of **Aloha Stationary** and **Aloha Mobile**, stick to **Interbotix Aloha 1.0**. - You can find the Aloha 1.0 documentation here: `Aloha 1.0 Documentation `_ + You can find the Aloha 1.0 documentation here: `Aloha 1.0 Documentation `_ We are actively working on updates to provide full compatibility in the future. diff --git a/docs/training/lerobot_guide.rst b/docs/training/lerobot_guide.rst index ab6b323..eec5bf2 100644 --- a/docs/training/lerobot_guide.rst +++ b/docs/training/lerobot_guide.rst @@ -355,7 +355,7 @@ Datasets can also be downloaded from the Trossen Robotics Community on Hugging F These datasets can be used with your preferred network architectures. Instructions for downloading and using these datasets can be found at the following link: -`Dataset Download and Upload Instructions `_ +`Dataset Download and Upload Instructions `_ `Trossen Robotics Community `_ @@ -365,6 +365,13 @@ LeRobot X Aloha Solo User Guide The process for using Aloha Solo is similar to Aloha Stationary. However, there are key differences in the configurations, policies, and environment settings that must be applied. This guide outlines the specific changes needed to set up and run Aloha Solo. +.. warning:: + + **Aloha Solo is not yet officially supported on LeRobot.** + To use Aloha Solo, you will need to apply custom upgrades and manually adjust configurations. + These upgrades include adding specific policies, environment files, and robot configurations, which are outlined in this guide. + Proceed with caution and ensure all changes are tested thoroughly before deployment. + Key Differences Between Aloha Solo and Aloha Stationary =======================================================