Add sim tutorial, fix lekiwi motor config, add notebook links (#1275)

Co-authored-by: AdilZouitine <adilzouitinegm@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
Co-authored-by: Michel Aractingi <michel.aractingi@gmail.com>
Co-authored-by: Eugene Mironov <helper2424@gmail.com>
Co-authored-by: imstevenpmwork <steven.palma@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>

lerobot/common/datasets/v2/batch_convert_dataset_v1_to_v2.py

@@ -63,7 +63,7 @@ ALOHA_STATIC_INFO = {
 PUSHT_INFO = {
     "license": "mit",
     "url": "https://diffusion-policy.cs.columbia.edu/",
-    "paper": "https://huggingface.co/papers/2303.04137v5",
+    "paper": "https://huggingface.co/papers/2303.04137",
     "citation_bibtex": dedent(r"""
         @article{chi2024diffusionpolicy,
             author = {Cheng Chi and Zhenjia Xu and Siyuan Feng and Eric Cousineau and Yilun Du and Benjamin Burchfiel and Russ Tedrake and Shuran Song},

lerobot/common/robots/lekiwi/config_lekiwi.py

@@ -34,7 +34,7 @@ def lekiwi_cameras_config() -> dict[str, CameraConfig]:
 @RobotConfig.register_subclass("lekiwi")
 @dataclass
 class LeKiwiConfig(RobotConfig):
-    port = "/dev/ttyACM0"  # port to connect to the bus
+    port: str = "/dev/ttyACM0"  # port to connect to the bus
 
     disable_torque_on_disconnect: bool = True
 

lerobot/common/robots/lekiwi/lekiwi.mdx

@@ -43,9 +43,69 @@ First, we will assemble the two SO100/SO101 arms. One to attach to the mobile ba
 - [Assemble SO101](./so101#step-by-step-assembly-instructions)
 - [Assemble LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi/blob/main/Assembly.md)
 
+### Find the USB ports associated with motor board
+
+To find the port for each bus servo adapter, run this script:
+```bash
+python lerobot/find_port.py
+```
+
+<hfoptions id="example">
+<hfoption id="Mac">
+
+Example output:
+
+```
+Finding all available ports for the MotorBus.
+['/dev/tty.usbmodem575E0032081']
+Remove the USB cable from your MotorsBus and press Enter when done.
+
+[...Disconnect corresponding leader or follower arm and press Enter...]
+
+The port of this MotorsBus is /dev/tty.usbmodem575E0032081
+Reconnect the USB cable.
+```
+
+Where the found port is: `/dev/tty.usbmodem575E0032081` corresponding to your board.
+
+</hfoption>
+<hfoption id="Linux">
+
+On Linux, you might need to give access to the USB ports by running:
+```bash
+sudo chmod 666 /dev/ttyACM0
+sudo chmod 666 /dev/ttyACM1
+```
+
+Example output:
+
+```
+Finding all available ports for the MotorBus.
+['/dev/ttyACM0']
+Remove the usb cable from your MotorsBus and press Enter when done.
+
+[...Disconnect corresponding leader or follower arm and press Enter...]
+
+The port of this MotorsBus is /dev/ttyACM0
+Reconnect the USB cable.
+```
+
+Where the found port is: `/dev/ttyACM0` corresponding to your board.
+
+</hfoption>
+</hfoptions>
+
 ### Configure motors
 The instructions for configuring the motors can be found in the SO101 [docs](./so101#configure-the-motors). Besides the ids for the arm motors, we also need to set the motor ids for the mobile base. These need to be in a specific order to work. Below an image of the motor ids and motor mounting positions for the mobile base. Note that we only use one Motor Control board on LeKiwi. This means the motor ids for the wheels are 7, 8 and 9.
 
+You can run this command to setup motors for LeKiwi. It will first setup the motors for arm (id 6..1) and then setup motors for wheels (9,8,7)
+
+```bash
+python -m lerobot.setup_motors \
+    --robot.type=lekiwi \
+    --robot.port=/dev/tty.usbmodem58760431551 # <- paste here the port found at previous step
+```
+
 <img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/motor_ids.webp" alt="Motor ID's for mobile robot" title="Motor ID's for mobile robot" width="60%">
 
 ### Troubleshoot communication

lerobot/scripts/rl/eval_policy.py

@@ -0,0 +1,74 @@
+# !/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+import logging
+
+from lerobot.common.cameras import opencv  # noqa: F401
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.common.policies.factory import make_policy
+from lerobot.common.robots import (  # noqa: F401
+    RobotConfig,
+    make_robot_from_config,
+    so100_follower,
+)
+from lerobot.common.teleoperators import (
+    gamepad,  # noqa: F401
+    so101_leader,  # noqa: F401
+)
+from lerobot.configs import parser
+from lerobot.configs.train import TrainRLServerPipelineConfig
+from lerobot.scripts.rl.gym_manipulator import make_robot_env
+
+logging.basicConfig(level=logging.INFO)
+
+
+def eval_policy(env, policy, n_episodes):
+    sum_reward_episode = []
+    for _ in range(n_episodes):
+        obs, _ = env.reset()
+        episode_reward = 0.0
+        while True:
+            action = policy.select_action(obs)
+            obs, reward, terminated, truncated, _ = env.step(action)
+            episode_reward += reward
+            if terminated or truncated:
+                break
+        sum_reward_episode.append(episode_reward)
+
+    logging.info(f"Success after 20 steps {sum_reward_episode}")
+    logging.info(f"success rate {sum(sum_reward_episode) / len(sum_reward_episode)}")
+
+
+@parser.wrap()
+def main(cfg: TrainRLServerPipelineConfig):
+    env_cfg = cfg.env
+    env = make_robot_env(env_cfg)
+    dataset_cfg = cfg.dataset
+    dataset = LeRobotDataset(repo_id=dataset_cfg.repo_id)
+    dataset_meta = dataset.meta
+
+    policy = make_policy(
+        cfg=cfg.policy,
+        # env_cfg=cfg.env,
+        ds_meta=dataset_meta,
+    )
+    policy.from_pretrained(env_cfg.pretrained_policy_name_or_path)
+    policy.eval()
+
+    eval_policy(env, policy=policy, n_episodes=10)
+
+
+if __name__ == "__main__":
+    main()