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Refactor LeKiwi (#1136)

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Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
This commit is contained in:
Pepijn
2025-06-02 19:40:48 +02:00
committed by GitHub
parent ac5a9b90c7
commit 67e3383ffc
4 changed files with 261 additions and 252 deletions
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28
examples/robots/lekiwi_client_app.py
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@@ -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")