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feat: Add fixes and refactor lekiwi example (#1396)

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* feat: Add fixes and refactor lekiwi example

* fix: replace repo_id with placeholders

* feat: use record_loop for lekiwi, use same control strucutre as record.py

* feat: make rerun log more general for lekiwi

* fix: add comments record_loop and fix params evaluate.py

* fix: add events in evaluate.py

* fix: add events 2

* change record to display data

* Integrate feedback steven

* Add docs merging

* fix: add lekiwi name check

* fix: integrate feedback steven

* fix: list for type

* fix: check type list

* remove second robot connect

* fix: added file when merging

* fix(record): account for edge cases when teleop is a list

---------

Co-authored-by: Steven Palma <steven.palma@huggingface.co>
This commit is contained in:
Pepijn
2025-07-02 11:41:20 +02:00
committed by GitHub
parent d4ee470b00
commit 1522e60f83
8 changed files with 255 additions and 110 deletions
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47
examples/lekiwi/teleoperate.py
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@@ -1,32 +1,47 @@
import time
from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
from lerobot.teleoperators.keyboard.teleop_keyboard import KeyboardTeleop, KeyboardTeleopConfig
from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.visualization_utils import _init_rerun, log_rerun_data
FPS = 30
# Create the robot and teleoperator configurations
robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="my_lekiwi")
teleop__arm_config = SO100LeaderConfig(
port="/dev/tty.usbmodem58760431551",
id="my_awesome_leader_arm",
)
teleop_keyboard_config = KeyboardTeleopConfig(
id="my_laptop_keyboard",
)
teleop_arm_config = SO100LeaderConfig(port="/dev/tty.usbmodem585A0077581", id="my_awesome_leader_arm")
keyboard_config = KeyboardTeleopConfig(id="my_laptop_keyboard")
robot = LeKiwiClient(robot_config)
teleop_arm = SO100Leader(teleop__arm_config)
telep_keyboard = KeyboardTeleop(teleop_keyboard_config)
leader_arm = SO100Leader(teleop_arm_config)
keyboard = KeyboardTeleop(keyboard_config)
# To connect you already should have this script running on LeKiwi: `python -m lerobot.common.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
robot.connect()
teleop_arm.connect()
telep_keyboard.connect()
leader_arm.connect()
keyboard.connect()
_init_rerun(session_name="lekiwi_teleop")
if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
raise ValueError("Robot, leader arm of keyboard is not connected!")
while True:
t0 = time.perf_counter()
observation = robot.get_observation()
arm_action = teleop_arm.get_action()
arm_action = leader_arm.get_action()
arm_action = {f"arm_{k}": v for k, v in arm_action.items()}
keyboard_keys = telep_keyboard.get_action()
keyboard_keys = keyboard.get_action()
base_action = robot._from_keyboard_to_base_action(keyboard_keys)
robot.send_action(arm_action | base_action)
log_rerun_data(observation, {**arm_action, **base_action})
action = {**arm_action, **base_action} if len(base_action) > 0 else arm_action
robot.send_action(action)
busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))