diff --git a/README.md b/README.md index 5684507..8e0d461 100644 --- a/README.md +++ b/README.md @@ -54,16 +54,54 @@ This script verifies in under 1 second that: | **§1 Authorize** | API key authenticates → Convex picks a live Modal worker (us-west B200) → signs a 30-min HMAC session token | | **§2 Worker health** | Authenticated GET to the Modal worker — proves the worker is up + reachable | -If you want the **closed-loop bimanual YAM demo** (arms move from camera observations): +### Closed-loop bimanual YAM (arms move from camera observations) + +Everything runs from this repo — no monorepo clone, **no local GPU** (the model +runs on a Reflex cloud B200). Uses [`uv`](https://docs.astral.sh/uv/) so the +whole stack installs from a pinned lockfile in **one command** — same versions +that are verified working on real hardware (i2rt @ a known-good commit, Python +3.12, SDK 0.6.6). ```bash -git clone https://github.com/reflex-inc/reflex -cd reflex/sdk/python && pip install -e . +# 1. Install EVERYTHING (SDK[webrtc] + RealSense + i2rt, all pinned in uv.lock) +uv sync --extra yam + +# 2. Auto-detect cameras → write yam_bimanual.yaml → check CAN. No hand-editing. +uv run yam-setup -# Connect to your YAM arms + 3 cameras via the cloud BASELINE worker -reflex connect --config ../../examples/yam_bimanual_molmoact2_BASELINE.yaml +# 3. CAN bring-up (one-time, needs sudo). yam-setup prints these if CAN is down: +sudo ip link set can0 up type can bitrate 1000000 +sudo ip link set can1 up type can bitrate 1000000 + +# 4. Run. Defaults to dry_run (NO motion). Set REFLEX_YAM_APPLY=1 to move arms. +export REFLEX_API_KEY="rfx_..." # or: uv run reflex login +uv run yam-demo # Ctrl-C ONCE → safe-home ``` +That's it — no version hunting, no editing serials by hand. `uv sync` reads +`uv.lock` so every machine gets the identical, hardware-verified dependency set. + +What you need on the robot machine: + +| Need | Notes | +|---|---| +| [`uv`](https://docs.astral.sh/uv/) | `curl -LsSf https://astral.sh/uv/install.sh \| sh`. It installs Python 3.12 + all deps for you | +| 2× YAM arms over CAN | `can0` + `can1` (socketcan) — `yam-setup` checks them + prints the bring-up | +| 3 RealSense cameras | 1× D435 (top) + 2× D405 (wrists) — `yam-setup` auto-detects serials | +| Reflex API key + balance | `export REFLEX_API_KEY=...` or `uv run reflex login` | + +> **Why pinned?** i2rt's tip (1.1.2) has an fd=-1 CAN control bug; the lockfile +> pins the verified commit. dm-tree has no wheels on 3.13+ and lerobot needs +> ≥3.12 → Python is pinned to 3.12. You never have to know any of this — `uv +> sync` just gives you the working set. +> +> Prefer the old pip flow? `./setup_yam.sh all` still works (auto-picks a +> Python, pip-installs) — but `uv sync` is the reproducible path. + +**Ctrl-C** ends the session and **safely homes both arms** (motors released — no +drop, no hold). Start with `mode: dry_run` in the yaml to verify the camera → +state → inference → action loop with the arms held still before applying motion. + **Pricing:** $10/hr × actual GPU-seconds (≈ $0.001 per 200ms inference call). **Quality:** WebRTC + adaptive JPEG q=95 — visually lossless (PSNR 38.8 dB vs raw). **Latency:** ~220 ms p50 RTT from residential WAN to us-west. diff --git a/pyproject.toml b/pyproject.toml index 189f230..98d673c 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,48 +1,58 @@ [project] name = "reflex-quickstart" -version = "0.3.0" +version = "0.4.0" description = "End-to-end quickstart for the Reflex Labs robotics fine-tune + inference API" readme = "README.md" -requires-python = ">=3.12" +# Python 3.12 only: the bimanual-YAM path pulls i2rt → dm-env → dm-tree (no +# wheels on 3.13+), and lerobot (arm extra) requires >=3.12 — 3.12 is the +# single version that satisfies both. uv installs it for you automatically. +requires-python = ">=3.12,<3.13" license = { text = "Apache-2.0" } authors = [{ name = "Reflex Labs", email = "team@tryreflex.ai" }] -keywords = ["robotics", "vla", "fine-tuning", "inference", "reflex", "lerobot", "pi0.5"] +keywords = ["robotics", "vla", "fine-tuning", "inference", "reflex", "yam", "pi0.5"] classifiers = [ "Development Status :: 4 - Beta", "Intended Audience :: Developers", "Intended Audience :: Science/Research", "License :: OSI Approved :: Apache Software License", "Operating System :: POSIX :: Linux", + "Programming Language :: Python :: 3.10", + "Programming Language :: Python :: 3.11", "Programming Language :: Python :: 3.12", - "Programming Language :: Python :: 3.13", "Topic :: Scientific/Engineering :: Artificial Intelligence", "Topic :: System :: Hardware", ] +# Default deps cover the training + inference smoke tests (quickstart*.py). dependencies = [ - # Reflex SDK — talks to the live API for training submission + status polling. - # 0.3.0 added the BYO-model surface used by quickstart_byom.py: - # client.models.import_from_hf / list / get / delete and - # client.keys.bind_model / unbind_model. 0.2.0 added 8 advanced - # training params (lora_alpha, lora_dropout, target_modules, - # warmup_steps, gradient_checkpointing, freeze_vision_encoder, - # dtype, save_freq) with server-side validation. - "reflex-sdk>=0.3.0", - - # Image encoding for inference observations + "reflex-sdk>=0.6.6", "opencv-python>=4.8", "pillow>=10", "numpy>=1.24", ] [project.optional-dependencies] +# `uv sync --extra yam` installs EVERYTHING for the closed-loop bimanual YAM +# demo in one command: the WebRTC transport, RealSense, and the i2rt driver +# pinned to the hardware-verified commit (newer i2rt has an fd=-1 control bug). +yam = [ + "reflex-sdk[webrtc]>=0.6.6", + "pyrealsense2>=2.54", + "i2rt", +] arm = [ - # Required for §3 (closed-loop SO-101 control). Skip with SKIP_ARM=1 - "lerobot>=0.5.2", + # lerobot 0.5.2 was yanked from PyPI; 0.5.1 is the latest available. + "lerobot>=0.5.0", "feetech-servo-sdk>=1.0", "deepdiff>=8.0", ] +# i2rt has no PyPI release — pull it from git, PINNED to the commit verified +# working on real YAM hardware (HAL + box). The tip of main (1.1.2) has an +# fd=-1 CAN control regression; do NOT unpin without re-verifying on hardware. +[tool.uv.sources] +i2rt = { git = "https://github.com/i2rt-robotics/i2rt.git", rev = "7b6d5016f05ca63f9ef0185b7143e63f2c7a5708" } + [project.urls] Homepage = "https://app.tryreflex.ai" Documentation = "https://docs.tryreflex.ai" @@ -51,10 +61,15 @@ Issues = "https://github.com/reflex-inc/quickstart/issues" [project.scripts] reflex-quickstart = "quickstart:main" +# Bimanual YAM: one command each. +# uv run yam-setup → detect RealSense serials, write yam_bimanual.yaml, check CAN +# uv run yam-demo → setup + run the closed-loop demo (Ctrl-C = safe-home) +yam-setup = "yam_robot:setup_cli" +yam-demo = "yam_robot:demo_cli" [build-system] requires = ["setuptools>=68", "wheel"] build-backend = "setuptools.build_meta" [tool.setuptools] -py-modules = ["quickstart", "quickstart_byom"] +py-modules = ["quickstart", "quickstart_byom", "yam_robot"] diff --git a/setup_yam.sh b/setup_yam.sh new file mode 100755 index 0000000..b925d0d --- /dev/null +++ b/setup_yam.sh @@ -0,0 +1,126 @@ +#!/usr/bin/env bash +# ───────────────────────────────────────────────────────────────────────────── +# Reflex Labs — Bimanual YAM setup helper +# +# Gets a fresh Linux machine from nothing → ready to run closed-loop inference +# on two YAM arms. The inference model runs in the Reflex cloud (B200); this +# machine just needs the client + the robot driver + cameras. +# +# USAGE: +# ./setup_yam.sh install # install SDK + robot driver + RealSense +# ./setup_yam.sh can # bring up the CAN interfaces (needs sudo) +# ./setup_yam.sh cameras # list connected RealSense serials (for the yaml) +# ./setup_yam.sh check # verify everything is ready +# ./setup_yam.sh all # install + can + cameras + check +# ───────────────────────────────────────────────────────────────────────────── +set -euo pipefail + +# Pin the audited-stable SDK. Bump deliberately after verifying on hardware. +REFLEX_SDK_VERSION="${REFLEX_SDK_VERSION:-0.6.6}" +CAN_BITRATE="${CAN_BITRATE:-1000000}" +CAN_INTERFACES="${CAN_INTERFACES:-can0 can1}" + +bold() { printf '\033[1m%s\033[0m\n' "$*"; } +ok() { printf ' \033[32m✓\033[0m %s\n' "$*"; } +warn() { printf ' \033[33m!\033[0m %s\n' "$*"; } +die() { printf ' \033[31m✗ %s\033[0m\n' "$*" >&2; exit 1; } + +# Pick a SUPPORTED interpreter. i2rt's pinned dm-env==1.6 pulls dm-tree, which +# only has usable wheels for CPython 3.10–3.12 — on 3.13/3.14 it tries to +# cmake-build from source and fails. HAL runs 3.10. Honor $PYTHON if set, +# else probe 3.12 → 3.11 → 3.10, else fall back to python3 with a version gate. +pick_python() { + if [ -n "${PYTHON:-}" ]; then echo "$PYTHON"; return; fi + for cand in python3.12 python3.11 python3.10; do + command -v "$cand" >/dev/null 2>&1 && { echo "$cand"; return; } + done + echo "python3" +} +PY="$(pick_python)" + +require_supported_python() { + "$PY" - <<'PYEOF' || die "Unsupported Python. Install 3.10–3.12 (e.g. 'pyenv install 3.12') and re-run with PYTHON=python3.12 ./setup_yam.sh ..." +import sys +maj, minor = sys.version_info[:2] +ok = maj == 3 and 10 <= minor <= 12 +print(f" using {sys.executable} (Python {maj}.{minor}) — {'supported' if ok else 'UNSUPPORTED'}") +sys.exit(0 if ok else 1) +PYEOF +} + +install() { + bold "Python interpreter" + require_supported_python + + bold "Installing Reflex SDK (stable v${REFLEX_SDK_VERSION}) + WebRTC extras" + # [webrtc] pulls aiortc/av/msgpack/numpy/Pillow — required for target.kind=webrtc + "$PY" -m pip install --upgrade "reflex-sdk[webrtc]==${REFLEX_SDK_VERSION}" + ok "reflex-sdk[webrtc]==${REFLEX_SDK_VERSION}" + + bold "Installing the i2rt YAM robot driver" + if ! "$PY" -c "import i2rt" 2>/dev/null; then + "$PY" -m pip install "i2rt @ git+https://github.com/i2rt-robotics/i2rt.git" \ + || warn "i2rt pip install failed — clone https://github.com/i2rt-robotics/i2rt and 'pip install -e .' manually" + fi + "$PY" -c "import i2rt" 2>/dev/null && ok "i2rt importable" || warn "i2rt not importable yet" + + bold "Installing RealSense Python bindings (skip if you use USB webcams)" + "$PY" -m pip install pyrealsense2 || warn "pyrealsense2 failed — only needed for kind: realsense cameras" + ok "install step done" +} + +can_up() { + bold "Bringing up CAN interfaces: ${CAN_INTERFACES} @ ${CAN_BITRATE} bps" + for iface in $CAN_INTERFACES; do + if ip link show "$iface" >/dev/null 2>&1; then + sudo ip link set "$iface" down 2>/dev/null || true + sudo ip link set "$iface" type can bitrate "$CAN_BITRATE" + sudo ip link set "$iface" up + ok "$iface up @ ${CAN_BITRATE}" + else + warn "$iface not present — check your CAN adapter / USB connection" + fi + done + ip -br link | grep -E "can[0-9]" || warn "no can interfaces visible" +} + +cameras() { + bold "Connected RealSense devices (copy serials into yam_bimanual.yaml)" + if command -v rs-enumerate-devices >/dev/null 2>&1; then + rs-enumerate-devices -s 2>/dev/null || rs-enumerate-devices 2>/dev/null | grep -iE "serial|name" | head -20 + else + "$PY" - <<'PYEOF' || warn "pyrealsense2 not installed — run ./setup_yam.sh install" +import pyrealsense2 as rs +ctx = rs.context() +devs = list(ctx.query_devices()) +if not devs: + print(" (no RealSense devices found — check USB)") +for d in devs: + print(f" {d.get_info(rs.camera_info.name):32s} serial={d.get_info(rs.camera_info.serial_number)}") +PYEOF + fi +} + +check() { + bold "Readiness check" + "$PY" -c "import sys; v=sys.version_info; ok=v[0]==3 and 10<=v[1]<=12; print(f' Python {v[0]}.{v[1]}', '(supported)' if ok else '(UNSUPPORTED — use 3.10–3.12)')" 2>/dev/null || warn "no usable python" + "$PY" -c "import reflex; print(' reflex-sdk', reflex.__version__)" 2>/dev/null || warn "reflex-sdk not installed — run ./setup_yam.sh install" + "$PY" -c "import aiortc, av, msgpack, numpy, PIL; print(' webrtc extras OK')" 2>/dev/null || warn "webrtc extras missing — pip install 'reflex-sdk[webrtc]'" + "$PY" -c "import i2rt; print(' i2rt OK')" 2>/dev/null || warn "i2rt missing" + ip -br link | grep -qE "can[0-9].*UP" && ok "a CAN interface is UP" || warn "no CAN interface UP — run ./setup_yam.sh can" + if [ -n "${REFLEX_API_KEY:-}" ]; then ok "REFLEX_API_KEY is set"; else warn "REFLEX_API_KEY not set — export it or run 'reflex login'"; fi + echo + bold "Next:" + echo " 1. ./setup_yam.sh cameras # get your 3 RealSense serials" + echo " 2. edit yam_bimanual.yaml # paste serials + set CAN channels + prompt" + echo " 3. reflex connect --config yam_bimanual.yaml # (start with mode: dry_run)" +} + +case "${1:-all}" in + install) install ;; + can) can_up ;; + cameras) cameras ;; + check) check ;; + all) install; can_up; cameras; check ;; 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The model lives on a B200 in Modal; this +# machine only runs the `reflex connect` client — NO local GPU required. +# +# RUN: +# export REFLEX_API_KEY="rfx_..." # or: reflex login +# reflex connect --config yam_bimanual.yaml +# +# Ctrl-C ends the session and safely homes both arms (motors released). +# +# Edit the three places marked # EDIT for your machine, then run. +# ───────────────────────────────────────────────────────────────────────────── + +mode: apply_actions # apply_actions = drive the arms. + # Set to dry_run to test the full pipeline with + # NO arm motion (recommended for first run). +max_steps: 0 # 0 = run until Ctrl-C +control_period_s: 0.2 +stop_on_error: true +pipeline_inference: false + +target: + kind: webrtc # WebRTC DataChannel — the fast path (~90ms server, + # ~220ms round-trip). Do NOT hardcode a worker URL: + # omitting `url` lets the cli ask Convex to pick the + # nearest healthy worker (region-aware) for you. + timeout_s: 60 + connect_timeout_s: 60 + state_field: "state" + instruction_field: "prompt" + img_size: 256 + extra_payload: + num_steps: 5 # action-chunk steps applied per inference + +hardware: + kind: yam_bimanual + config: + # EDIT — match your CAN wiring. Check with: ip -br link | grep can + left: { channel: can1, gripper: linear_4310 } + right: { channel: can0, gripper: linear_4310 } + hz: 25 # arm control loop rate + zero_gravity_mode: false + instruction: "pack the container" # EDIT — the task prompt for the model + home_duration_s: 4.0 # how long the home move takes on start + stop + chunk_boundary_max_delta: 0.05 + chunk_apply_horizon: 0 + +# Three cameras feed the model: a top/overhead view + one per wrist. +# This template uses RealSense devices addressed by serial (most portable — +# survives USB re-enumeration). Find your serials with: ./setup_yam.sh cameras +cameras: + # EDIT — replace with YOUR three RealSense serials. + top: { kind: realsense, serial: "REPLACE_TOP_SERIAL", width: 640, height: 480, fps: 30 } + left: { kind: realsense, serial: "REPLACE_LEFT_SERIAL", width: 640, height: 480, fps: 30 } + right: { kind: realsense, serial: "REPLACE_RIGHT_SERIAL", width: 640, height: 480, fps: 30 } + + # ── Alternatives ────────────────────────────────────────────────────────── + # Plain USB webcams instead of RealSense: + # top: { kind: v4l2, device: /dev/video0, width: 640, height: 480 } + # + # Shared-memory (matches the Reflex HAL rig — requires a separate + # camera_broadcaster process writing frames to /dev/shm): + # top: { kind: shm, name: top } diff --git a/yam_robot.py b/yam_robot.py new file mode 100644 index 0000000..7020744 --- /dev/null +++ b/yam_robot.py @@ -0,0 +1,168 @@ +#!/usr/bin/env python3 +""" +Bimanual YAM — one-command setup + demo. + + uv sync --extra yam # install everything (deps pinned in uv.lock) + uv run yam-setup # auto-detect cameras → write yam_bimanual.yaml → check CAN + uv run yam-demo # setup + run the closed-loop demo + +Philosophy: config is DERIVED, not hand-edited. We enumerate the RealSense +cameras and probe CAN for you, so onboarding a new robot is "plug in + run". +Press Ctrl-C ONCE during a run — the connector safely homes the arms + releases +the motors. (A second Ctrl-C force-quits and SKIPS the safe-home.) +""" +from __future__ import annotations + +import os +import subprocess +import sys +from pathlib import Path + +CONFIG_PATH = Path(__file__).resolve().parent / "yam_bimanual.yaml" +DEFAULT_PROMPT = os.environ.get("REFLEX_YAM_PROMPT", "pack the container") +# Safety: default to dry_run (full pipeline, NO arm motion). Set +# REFLEX_YAM_APPLY=1 to actually drive the arms. +APPLY = os.environ.get("REFLEX_YAM_APPLY", "0") == "1" +MAX_STEPS = int(os.environ.get("REFLEX_YAM_MAX_STEPS", "200")) + + +def _c(code: str, s: str) -> str: + return f"\033[{code}m{s}\033[0m" + + +def detect_cameras() -> dict[str, str]: + """Enumerate RealSense devices → {top: serial, left: serial, right: serial}. + + The D435 (wider FOV) is the overhead/top cam; the two D405s are the wrists. + Left/right is assigned arbitrarily — eyeball the stream and swap if needed. + """ + import pyrealsense2 as rs # imported here so `yam-setup` errors are clear + + ctx = rs.context() + d435: list[str] = [] + d405: list[str] = [] + for dev in ctx.query_devices(): + name = dev.get_info(rs.camera_info.name) + serial = dev.get_info(rs.camera_info.serial_number) + if "D435" in name: + d435.append(serial) + elif "D405" in name: + d405.append(serial) + if not d435 or len(d405) < 2: + raise RuntimeError( + f"expected 1×D435 + 2×D405, found {len(d435)}×D435 + {len(d405)}×D405. " + "Check USB connections (lsusb | grep RealSense). If a camera is " + "wedged, fully unplug all 3 for 30s and replug." + ) + return {"top": d435[0], "left": d405[0], "right": d405[1]} + + +CONFIG_TEMPLATE = """\ +# AUTO-GENERATED by `uv run yam-setup` — camera serials detected from hardware. +mode: {mode} # dry_run = NO arm motion; apply_actions = arms move +max_steps: {max_steps} # finite → attempts the task then auto safe-homes +control_period_s: 0.2 +stop_on_error: true +pipeline_inference: false + +target: + kind: webrtc # cloud, ~90ms server / ~220ms RTT. No url: the SDK + timeout_s: 60 # picks the nearest healthy worker (region-aware). + connect_timeout_s: 60 + state_field: "state" + instruction_field: "prompt" + img_size: 256 + extra_payload: + num_steps: 5 + +hardware: + kind: yam_bimanual + config: + left: {{ channel: can1, gripper: linear_4310 }} + right: {{ channel: can0, gripper: linear_4310 }} + hz: 25 + zero_gravity_mode: false + instruction: "{prompt}" + home_duration_s: 4.0 + chunk_boundary_max_delta: 0.05 + chunk_apply_horizon: 0 + +cameras: + top: {{ kind: realsense, serial: "{top}", width: 640, height: 480, fps: 30 }} + left: {{ kind: realsense, serial: "{left}", width: 640, height: 480, fps: 30 }} + right: {{ kind: realsense, serial: "{right}", width: 640, height: 480, fps: 30 }} +""" + + +def write_config(serials: dict[str, str]) -> None: + CONFIG_PATH.write_text( + CONFIG_TEMPLATE.format( + mode="apply_actions" if APPLY else "dry_run", + max_steps=MAX_STEPS, + prompt=DEFAULT_PROMPT, + **serials, + ) + ) + + +def can_status() -> dict[str, bool]: + """True per interface if it's UP with carrier.""" + out: dict[str, bool] = {} + for iface in ("can0", "can1"): + try: + r = subprocess.run( + ["ip", "-br", "link", "show", iface], + capture_output=True, text=True, timeout=5, + ) + out[iface] = "UP" in r.stdout and "NO-CARRIER" not in r.stdout + except Exception: + out[iface] = False + return out + + +def setup_cli() -> int: + print(_c("1", "YAM setup — detecting hardware")) + try: + serials = detect_cameras() + except Exception as e: + print(_c("31", f" ✗ cameras: {e}")) + return 1 + for slot, s in serials.items(): + print(f" ✓ {slot:5} → {s}") + write_config(serials) + print(f" ✓ wrote {CONFIG_PATH.name} (mode={'apply_actions' if APPLY else 'dry_run'})") + + can = can_status() + for iface, up in can.items(): + print((" ✓ " if up else " ! ") + f"{iface} {'UP' if up else 'DOWN'}") + if not all(can.values()): + print(_c("33", " CAN not ready — bring it up (one-time, needs sudo):")) + print(" sudo ip link set can0 up type can bitrate 1000000") + print(" sudo ip link set can1 up type can bitrate 1000000") + print() + print(" Next: uv run yam-demo (set REFLEX_YAM_APPLY=1 to move the arms)") + return 0 + + +def demo_cli() -> int: + rc = setup_cli() + if rc != 0: + return rc + if not all(can_status().values()): + print(_c("31", " ✗ CAN not up — run the two sudo commands above first.")) + return 1 + print() + mode = "apply_actions (ARMS WILL MOVE)" if APPLY else "dry_run (no motion)" + print(_c("1", f"YAM demo — {mode}")) + print(_c("33", " >>> press Ctrl-C ONCE to stop + safe-home <<<")) + # reflex connect is the SDK cli (installed via reflex-sdk). + cmd = ["reflex", "connect", "--config", str(CONFIG_PATH)] + try: + return subprocess.call(cmd) + except FileNotFoundError: + print(_c("31", " ✗ `reflex` not found — did `uv sync --extra yam` run?")) + return 1 + + +if __name__ == "__main__": + sys.exit(demo_cli() if "--demo" in sys.argv else setup_cli())