d4ee470b00
* Move files * Replace imports & paths * Update relative paths * Update doc symlinks * Update instructions paths * Fix imports * Update grpc files * Update more instructions * Downgrade grpc-tools * Update manifest * Update more paths * Update config paths * Update CI paths * Update bandit exclusions * Remove walkthrough section
33 lines
1.0 KiB
Python
33 lines
1.0 KiB
Python
from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
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from lerobot.teleoperators.keyboard.teleop_keyboard import KeyboardTeleop, KeyboardTeleopConfig
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from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
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robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="my_lekiwi")
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teleop__arm_config = SO100LeaderConfig(
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port="/dev/tty.usbmodem58760431551",
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id="my_awesome_leader_arm",
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)
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teleop_keyboard_config = KeyboardTeleopConfig(
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id="my_laptop_keyboard",
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)
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robot = LeKiwiClient(robot_config)
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teleop_arm = SO100Leader(teleop__arm_config)
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telep_keyboard = KeyboardTeleop(teleop_keyboard_config)
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robot.connect()
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teleop_arm.connect()
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telep_keyboard.connect()
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while True:
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observation = robot.get_observation()
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arm_action = teleop_arm.get_action()
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arm_action = {f"arm_{k}": v for k, v in arm_action.items()}
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keyboard_keys = telep_keyboard.get_action()
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base_action = robot._from_keyboard_to_base_action(keyboard_keys)
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robot.send_action(arm_action | base_action)
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