jWdZddlZddlZddlmZmZddlmZmZm Z ddl Z ddl m Z m Z mZmZmZddlmZddlmZddlmZdd lmZmZdd lmZdd lmZdd lmZdd l m!Z!m"Z"m#Z#ddl$m%Z%m&Z&ddl'm(Z(m)Z)eGddZ*eGddZ+dZ,eGddZ-eGddZ.eGddZ/eGddZ0eGddZ1eGdd Z2eGd!d"Z3eGd#d$Z4eGd%d&Z5eGd'd(Z6eGd)d*Z7eGd+d,Z8efd-e9d.e:fd/Z;d3d0Zd2kr e=dSdS)4z7Command-line interface for Raiden teleoperation toolkitN) dataclassfield)ListLiteralOptional)CALIBRATION_FILECALIBRATION_POSES_FILE CAMERA_CONFIGSPACEMOUSE_CONFIG WEIGHTS_DIR)run_calibration_pose_recording)CalibrationRunner)build_interface) convert_task select_tasks) run_recording) run_replay)run_bimanual_teleop)ShardifyConfig run_shardifyselect_processed_task)select_processed_recordingselect_recording)select_task_and_episodevisualize_recordingceZdZUdZdZeded< dZeded< dZe ed < d Z e ed < d Z e ed < dZ e ed< dZe ed< dZeed<dS) TeleopCommand:Start bimanual teleoperation with improved synchronizationleaderr spacemousecontrolbimanualr#singlearmsg bilateral_kp /dev/hidraw7spacemouse_path_r /dev/hidraw6spacemouse_path_lgQ? vel_scale皙? rot_scaleFinvert_rotationN)__name__ __module__ __qualname____doc__r"r__annotations__r&r'floatr)strr+r,r.r/bool1/home/robot-lab/cameron/raiden_fork/raiden/cli.pyrrsDD/7GW+ ,777N*4D'& '444FL%F+s+++I+s+++HIuRIuQ!OT!!!DDr9rceZdZUdZdZeded< dZeed< dZ e eed< d Z eed < d Z eed < d Z eed< dZeed< dZeed< dZeed< dZeded<dS) RecordCommand2Record a demonstration with cameras and robot datarr r"datadata_dirN s3_bucketdemonstrations s3_prefixr(r)r*r+Q?r,@r.Fr/r#r$r&)r0r1r2r3r"rr4r?r6r@rrBr)r+r,r5r.r/r7r&r8r9r:r<r<;s<E3=K=Hc8M4PPr9rLcveZdZUdZdZeded< dZee ed< dZ ee ed< dZ e ed <dS) MakeTriStereoEngineCommand2Compile TRI Stereo TensorRT engine from ONNX modelc64c32r[variantNonnxengineTfp16) r0r1r2r3r^rr4r_rr6r`rar7r8r9r:rYrYsn<<%*GW\ "***D(3-N FHSM   SD$r9rYceZdZdS)ConsoleCommandNr0r1r2r8r9r:rcrcDr9rcceZdZdS)ListDevicesCommandNrdr8r9r:rgrgrer9rgceZdZUdZdZeed< eZe ed< dZ e ded< dZ e ed < d Z e ed < d Zeed < dZeed< dZeed<dS)RecordCalibrationPosesCommand)Record robot poses for camera calibration min_poses output_filerr r"r(r)r*r+rCr,rDr.Fr/N)r0r1r2r3rlrWr4r rmr6r"rr)r+r,r5r.r/r7r8r9r:riris33Is8-K---(/7GW+ ,777N+s+++I+s+++HIuRIuQ!OT!!!DDr9riceZdZUdZeZeed< eZ eed< e Z eed< dZ e ed< dZe ed< dZeed < d Zeed < d Zeed <dS)CalibrateCommand+Run camera calibration using recorded poses poses_filermcamera_config_file squares_x squares_ygQ? square_lengthgZd;O? marker_length DICT_6X6_250 dictionaryN)r0r1r2r3r rqr6r4rrmr rrrtrWrurvr5rwryr8r9r:roros55,J,,,,'K'''*++++IsNIsNM5F M5   E$J$$$22r9roceZdZUdZdZeed< dZeded< dZ e ed< d Z e ed < d Z ed ed < dZeed<dS)ConvertCommandzAConvert raw camera recordings (SVO2/bag) to UnifiedDataset formatr>r?zedr|ffs tri_stereo stereo_method? ffs_scalerR ffs_itersr[r\tri_stereo_variantF reconvertN)r0r1r2r3r?r6r4rrrr5rrWrrr7r8r9r:r{r{sKKHcl9>M756>>>eIuwIs[05 -555uItggr9r{ceZdZUdZdZeeed< dZe ded< dZ e ed< d Z e ed < d Zeed < d Ze ded<dS) ReplayCommand#Replay recorded follower arm motionN recording_dirr#r$r&rspeedstrideF visualizeraw)r processedsource)r0r1r2r3rrr6r4r&rrr5rrWrr7rr8r9r:rrs--#'M8C='''S*4D'& '444?E5PFCOOOyItK*/FG& '///RRr9rcReZdZUdZdZeed< dZeed< dZ e ed< dZ eed <d S) VisualizeCommand:Visualize a converted UnifiedDataset recording using Rerunrrg? image_scaleFwebi#web_portN) r0r1r2r3rrWr4rr5rr7rr8r9r:rrs^DDFCOOO+KGC\Hc66r9rcveZdZUdZdZeed< dZeed< dZe eed< dZ e eed< d Z eed < d Z e ed < d Ze ed< dZe ed< dZe ed< dZe ed< dZe ed< dZe eed< dZeed< dZeed< dZeed< dZe ed< d Ze ed!< d"Ze ed#< d Ze ed$< dZeed%<dS)&ShardifyCommand;Export converted episodes to WebDataset sharded .tar formatr>r?z data/shards output_dirN task_namer@ yam_datasetsrBrpast_lowdim_stepsfuture_lowdim_stepsmax_padding_leftmax_padding_rightdsamples_per_shard_ jpeg_quality384x384 resize_imagesFfilter_still_samplesg?still_thresholdT fail_on_nanr stats_stride max_episodes num_workers use_depth)r0r1r2r3r?r6r4rrrr@rBrrWrrrrrrrr7rr5rrrrrrr8r9r:rrsEEHcQ#J###B#Ix}###F#Ix}###J#Is###hsD!!!!GcRsT s   9L#:#,M8C=,,,C!&$&&&A!OU!!!PKOFCOOOUL#^L#GK1ItFFr9rceZdZUdZdZeed< dZeed< dZ e ded< d Z e ed < d Z eed < d Ze ded< dZe ed< dZe ded< dZeed< dZeeed< dZeed< dZeed< dZeed<dS) ServeCommandzStart the chiral policy serverz0.0.0.0hosti="portr|r}rrrrRrr[r\rr-max_joint_deltaee_pose)jointr action_typeFno_depthrrrrrcalibration_fileN)r0r1r2r3rr6r4rrWrrrr5rrrrrr7rrrrrrr8r9r:rrXs$((D##D#%9>M756>>>oIuUIs.05 -555L OU   U/8K+,888zHdR#,M8C=,,,oIte    Ec__r9rpathreturnc t|5}tj|cdddS#1swxYwYdS#t$ricYSwxYwN)openjsonloadFileNotFoundError)rfs r:_load_spacemouse_configrs $ZZ 19Q<<                   s'?2 ?6?6? A Acvtdttdttdtdtdtdtdtdtd td td td td tdtdtdtdttddS)NzARaiden - Toolkit for policy learning with YAM bimanual robot armszUsage: rd [options]z Commands:z: teleop Start bimanual teleoperationzA record Record teleoperation demonstrationszR convert Convert SVO2/bag recordings to UnifiedDataset formatzA replay Replay recorded follower arm motionzH visualize Visualize a converted recording with RerunzG record_calibration_poses Record robot poses for camera calibrationzI calibrate Run camera calibration using recorded poseszV list_devices List all connected cameras, arms, and SpaceMouse deviceszL shardify Export converted episodes to WebDataset shardszI console Open the interactive metadata console (TUI)zG reset_can Reset CAN interfaces (bring down then up)zO serve Start the chiral policy server for live inferencez\ make_ffs_onnx Export Fast Foundation Stereo model to ONNX / TensorRT engineszP make_tri_stereo_engine Compile TRI Stereo TensorRT engine from ONNX modelz --help' for more information on a command.)printr8r9r: _print_helprs` MNNN GGG )*** GGG + FGGG MNNN \ MNNN TUUU STTT UVVV ` V UVVV STTT Y f Z GGG HIIIIIr9c)ttjdkrtjd}|dkrtjdt }t jtdt|dd|dd }t|j |j |j |j |j|j|j|j dS|d krtjdt }t jt$d t%|dd|dd }t'|j|jt-|j |j |j |j|j|j |j|jdS|dkrtjdt jt0d}|jddlm}||j}n(|jdkrt;}nt=}t?||j|j |j!|j"dS|dkrLtjdt jtFdddl$m%}|dS|dkrtjdt jtLd}t }tOt-|j |d|j |d|j |j|j|j |j(|j)tTdS|dkrtjdt jtVd}ddl,m-}dd l.m/}||j0}||j1|j2|j3|j4|j5!} tm|j0|j7|j)| "} | 8|9d#|9d$|:d%pd&dS|d'krtjdddlm} t jtvd(}ty|jD]O} t{| |j>|j?|j@|jAt| |jdz |jC)PdS|d*krvtjdt jtd+}t\}} t|| |j!|jG|jH|jI,dS|d-krtjdt jtd.}ddlm} t|j}d}|jLr;|jLMd/\}}t|t|f}|D]\} }td0t|d1| |jPp| jQ}|jr |jd2|d3nd}tdid4| |jS|z d5|jTd6|jUd7|jVd8|jWd9|jXd:|jYd;|d<|jZd=|j[d>|j\d?|j!d@|j]dA|j^dB|j_dC|j`}t|||j|DdS|dEkr`tjdt jtdFddGlcmd}|}|edS|dHkrtjdt jtdI}ddJlgmh}mi}|jjp |}|s#tdKtjkdtdLt|dMtdNdO}|D]+}||tP}|rtdQ|)dR},|rtdSdStjkddS|dTkrtjdt jtdU}ddVlnmo}d}|jLr;|jLMd/\}}t|t|f}||j0|jp|jq|jr|j>|j?|j@|jC|js|jt|ju||j"W dS|dXkrtjdt jtdY}ddlw}ddlm} ddlx} ddly}!ddlz}"ddZl{m|}#|j}~d[d\|j}~d]d\| tjjd^z d_z }$tjdt|$dd`lm}%m}&m}'| |jpttdaz }(|(dOdOb|jdczdkr|jdczdksJdd|jde|jdf|j})|)kttjdgdhdOi}*|*s-tdjtdktjkdt|*d})tdl|)tdm|jdn|jtdo|(|!jdRtdp|!|)dqdRr}+|j|+j_|j|+j_|+|%|+},|&|+}-|!dds|j|jdtz}.|!dds|j|jdtz}/|(duz }0tdv|!jx|,|.|/ft|0dwdxdyggdzdO{|0d|}1|1rjtd}| t|0}2| |2t|0|1dO~td|,|.|/\}3}4}5}6}7}8|'|3|7|jdz|+j}9|!jx|-|3|4|5|6|7|8|9ft|(dz dwgddgdOdR|#|+j}|j|d<|j|d<|+j|d<tC|(dz d5}:|"||:dddn #1swxYwYtd|(d2|jr`ddl};|;|;jj}<|;||(|=dz }?td|=d|;|<}@|@}A|;|A|<}BtC|>d5}:|B|:}dddn #1swxYwY|sct[|BjD]'}Ctd|B|C(td|>tjkd|@}D|D|;jj|@|A|D}E|E&td|=tjkdtk|E}Ftdt|Fdz dz ddtC|?d5}:|:|Fdddn #1swxYwYtd|?tddSdS|dkrtjdt jtnd}ddl};ddlm} | tjjdz dz }G|jxr| |jxn |Gd|jdz }>|jr| |jn |Gd|jdz }?|>s5td|>tdtjkdtd|>td|?td|jtd|;|;jj}<|;|<}H|Hdt|;jjz}I|;|I|<}J|Jt|>s&td|>tjkd|H}K|jr|K|;jj|H|I|K}L|L#tdtjkd|?jdOdObtC|?d5}:|:|Ldddn #1swxYwYtd|?dSttjkddSttjkddS)zMain entry point for rd commandrteleoprpath_rr(path_lr*)r)r+) descriptiondefault)r'r"r)r+r,r.r/r&recordr=)r)r+r,r.r/)r@rB interfacer&r?replayr)rNr)Pathr)r&rrr list_devicesz>List all connected cameras, robot arms, and SpaceMouse devices)rrecord_calibration_posesrj)rrlrmrr calibraterp)ChArUcoBoardConfig) CameraConfig)rtrurvrwry)rrrqrmcharuco_config left_wrist right_wristscene)left_wrist_camera_idright_wrist_camera_idscene_camera_idsconvertzEConvert raw camera recordings (SVO2/bag) to PNG frames and depth maps)rrrrprocessed_baserrr)repisoderrrrshardifyrxzFound z episodes in /z/shardsrrrrrrrresize_images_sizerrrrmax_episodes_to_processrrr)r@rBconsoleuInteractive TUI for managing Raiden demonstrations and metadata. Tabs: Dashboard Live counts and per-task / per-teacher breakdown Demonstrations Full list of recorded episodes — mark success or failure, reassign teacher / task, delete entries Teachers Add, rename, or remove teacher records Tasks Add, edit, or remove task definitions Workflow: Demonstrations are marked Success or Failure directly from the teaching hardware during recording. Open the console only to correct mistakes. Only successful demonstrations are converted when you run rd convert. Marking during recording (without opening the console): Left pedal / leader button Start or stop recording Middle pedal / top leader button Mark as Success Right pedal / bottom leader button Mark as Failure Key bindings inside the console: r Refresh all panes s Settings (DB path and record counts) ? Help screen q Quit) RaidenConsole reset_canrG)list_can_interfacesreset_can_interfacezNo CAN interfaces found.z Resetting z CAN interface(s) at z bps...T)bitrateu ✓ FzDone.servez1Start the chiral policy server for live inference) run_server) rrrrrrrrrrrrrr make_ffs_onnxrM) OmegaConfTORCH_COMPILE_DISABLE1TORCHDYNAMO_DISABLE third_partyzFast-FoundationStereo)TrtFeatureRunner TrtPostRunnerbuild_gwc_volume_tritonr_)parentsexist_ok zheight (z ) and width (z) must both be divisible by 32z*.pthc4|jSr)statst_mtime)ps r:zmain.. s!&&(("3r9)keyreversezNo *.pth checkpoint found in ''z Checkpoint : z Input size : z x z Output dir : z Loading model...cpu) map_location weights_onlyrzfeature_runner.onnxz" Exporting feature_runner.onnx ...leftright)features_left_04features_left_08features_left_16features_left_32features_right_04stem_2x) opset_version input_names output_namesdo_constant_foldingz .onnx.dataz, Merging external data into single file ...) missing_okzExporting post_runner.onnx ...zpost_runner.onnx)r r rrrr gwc_volumedisp)rrrrdynamoimage_himage_wcv_groupz onnx.yamlwz Done. Files written to r)feature_runner post_runnerz.onnxz.enginez Building z%.engine (may take several minutes)...rbz Parse error: zFailed to parse z$TensorRT failed to build engine for z Engine size: iz.1fz MiBwbz Saved z@ TensorRT engines ready. rd convert will use them automatically.make_tri_stereo_enginerZweightsrstereo_zONNX model not found: zRun: git lfs pullz ONNX : z Engine : z FP16 : z7 Building TensorRT engine (may take several minutes)...zFailed to parse ONNX model: zTensorRT engine build failed.z Saved engine to r8)lensysargvpoprtyroclirgetrr'r"r)r+r,r.r/r&r<rr@rBrr?rrpathlibrrrrrrrrrgraiden.camera_utilsrrir rlrmr roraiden.calibration.recorderrraiden.camera_configrrrrtrurvrwryrrqrun_calibrationget_camera_by_roleget_cameras_by_roler{rrrrrrr6rrrrrrrrrrsplitrWrrnamerrrrrrrrrrrrrrrrrcraiden.tui.apprrunrFraiden.robot.controllerrrrIexit _CAN_BITRATEr raiden.serverrrrrrrrrLosr_torchyaml omegaconfrenviron setdefault__file__parentrinsertcore.foundation_stereorrrrOr mkdirrPrQrNsortedglobautogradset_grad_enabledrrUargsrScudaevalrandnr5export with_suffixexistssaveunlinkhalfr to_containerr safe_dumprVtensorrtLoggerWARNINGinit_libnvinfer_pluginsBuildercreate_network OnnxParserparsereadrange num_errors get_errorcreate_builder_configset_flag BuilderFlagFP16build_serialized_networkbyteswriterYr^r`raERRORNetworkDefinitionCreationFlagEXPLICIT_BATCHparse_from_filer)M subcommandsmcommandrrrrr_cfgrrunner_Pathtask_dirrselected_tasksresizehr episode_dirsrs3_full_prefixcfgrapprrrIall_okifaceokrr<r_r=r>r_ffs_dirrrrrOrNckptsmodelrr left_img right_imgfeature_onnx_path _data_file_mr r rrrrrrtrt trt_loggerr5 onnx_path engine_pathbuildernetworkparsericonfig engine_mem engine_bytes_tri_stereo_weights trt_builder trt_network trt_parser trt_config serializedsM r:mainrsJ 38}}qXa[  ! ! 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