hangX/lerobot
1
0
Fork 0
forked from tangger/lerobot
Code Pull Requests Activity

Merge branch 'user/aliberts/2025_02_25_refactor_robots' into user/aliberts/2025_04_03_add_hope_jr

Browse Source
This commit is contained in:
Simon Alibert
2025-06-02 20:04:30 +02:00
committed by GitHub
parent e0d3179b72 adcb07bf62
commit e578e0c2bb
133 changed files with 2125 additions and 3345 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
examples/robots/lekiwi_client_app.py
View File

@@ -16,42 +16,38 @@ import logging
import time
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.datasets.utils import hw_to_dataset_features
from lerobot.common.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
from lerobot.common.robots.lekiwi.lekiwi_client import OBS_STATE, LeKiwiClient
from lerobot.common.robots.lekiwi.lekiwi_client import LeKiwiClient
from lerobot.common.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
from lerobot.common.teleoperators.so100 import SO100Leader, SO100LeaderConfig
from lerobot.common.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
NB_CYCLES_CLIENT_CONNECTION = 250
def main():
logging.info("Configuring Teleop Devices")
leader_arm_config = SO100LeaderConfig(port="/dev/tty.usbmodem58760434171")
leader_arm_config = SO100LeaderConfig(port="/dev/tty.usbmodem58760433331")
leader_arm = SO100Leader(leader_arm_config)
keyboard_config = KeyboardTeleopConfig()
keyboard = KeyboardTeleop(keyboard_config)
logging.info("Configuring LeKiwi Client")
robot_config = LeKiwiClientConfig(remote_ip="192.0.2.42", id="lekiwi")
robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
robot = LeKiwiClient(robot_config)
logging.info("Creating LeRobot Dataset")
# The observations that we get are expected to be in body frame (x,y,theta)
obs_dict = {f"{OBS_STATE}." + key: value for key, value in robot.state_feature.items()}
# The actions that we send are expected to be in wheel frame (motor encoders)
act_dict = {"action." + key: value for key, value in robot.action_feature.items()}
action_features = hw_to_dataset_features(robot.action_features, "action")
obs_features = hw_to_dataset_features(robot.observation_features, "observation")
dataset_features = {**action_features, **obs_features}
features_dict = {
**act_dict,
**obs_dict,
**robot.camera_features,
}
dataset = LeRobotDataset.create(
repo_id="user/lekiwi" + str(int(time.time())),
fps=10,
features=features_dict,
features=dataset_features,
robot_type=robot.name,
)
logging.info("Connecting Teleop Devices")
@@ -76,10 +72,10 @@ def main():
observation = robot.get_observation()
frame = {**action_sent, **observation}
frame.update({"task": "Dummy Example Task Dataset"})
task = "Dummy Example Task Dataset"
logging.info("Saved a frame into the dataset")
dataset.add_frame(frame)
dataset.add_frame(frame, task)
i += 1
logging.info("Disconnecting Teleop Devices and LeKiwi Client")