chore(doc): update todos + license

lerobot/common/robots/lekiwi/README.md

@@ -1,3 +1,5 @@
+# TODO(Steven): Update README
+
 # Using the [LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi) Robot with LeRobot
 
 ## Table of Contents

lerobot/common/robots/lekiwi/configuration_daemon_lekiwi.py

@@ -1,3 +1,17 @@
+# Copyright 2024 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.
+
 from dataclasses import dataclass, field
 
 from lerobot.common.robots.config import RobotConfig

lerobot/common/robots/lekiwi/configuration_lekiwi.py

@@ -1,3 +1,17 @@
+# Copyright 2024 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.
+
 from dataclasses import dataclass, field
 
 from lerobot.common.cameras.configs import CameraConfig

lerobot/common/robots/lekiwi/daemon_lekiwi.py

@@ -1,5 +1,3 @@
-#!/usr/bin/env python
-
 # Copyright 2024 The HuggingFace Inc. team. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -66,7 +64,7 @@ class DaemonLeKiwiRobot(Robot):
         self.last_frames = {}
         self.last_present_speed = [0, 0, 0]
 
-        # TODO(Steven): Consider 32 instead
+        # TODO(Steven): Move everything to 32 instead
         self.last_remote_arm_state = torch.zeros(6, dtype=torch.float64)
 
         # Define three speed levels and a current index
@@ -112,6 +110,7 @@ class DaemonLeKiwiRobot(Robot):
         # TODO(Steven): Get this from the data fetched?
         # TODO(Steven): Motor names are unknown for the Daemon
         # Or assume its size/metadata?
+        # TODO(Steven): Check consistency of image sizes
         cam_ft = {
             "front": {
                 "shape": (480, 640, 3),
@@ -384,7 +383,7 @@ class DaemonLeKiwiRobot(Robot):
                 frame = np.zeros((480, 640, 3), dtype=np.uint8)
             obs_dict[cam_name] = torch.from_numpy(frame)
 
-        # TODO(Steven): Refactor this ugly thing
+        # TODO(Steven): Refactor this ugly thing (needed for when there are not comms at init)
         if OBS_IMAGES + ".wrist" not in obs_dict:
             obs_dict[OBS_IMAGES + ".wrist"] = np.zeros(shape=(480, 640, 3))
         if OBS_IMAGES + ".front" not in obs_dict:
@@ -455,7 +454,7 @@ class DaemonLeKiwiRobot(Robot):
             # TODO(Steven): Not yet implemented. The policy outputs might need a different conversion
             raise Exception
 
-        # TODO(Steven): This assumes teleop mode is always used with keyboard
+        # TODO(Steven): This assumes teleop mode is always used with keyboard. Tomorrow we could teleop with another device ... ?
         if self.robot_mode is RobotMode.TELEOP:
             if action.size < 6:
                 logging.error("Action should include at least the 6 states of the leader arm")
@@ -481,7 +480,7 @@ class DaemonLeKiwiRobot(Robot):
             raise DeviceNotConnectedError(
                 "LeKiwi is not connected. You need to run `robot.connect()` before disconnecting."
             )
-        # TODO(Steven): Consider sending a stop to the remote mobile robot
+        # TODO(Steven): Consider sending a stop to the remote mobile robot. Although this would need a moore complex comms schema
         self.zmq_observation_socket.close()
         self.zmq_cmd_socket.close()
         self.zmq_context.term()

lerobot/common/robots/lekiwi/daemon_lekiwi_app.py

@@ -1,3 +1,17 @@
+# Copyright 2024 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
 
 import numpy as np

lerobot/common/robots/lekiwi/lekiwi_app.py

@@ -1,3 +1,19 @@
+#!/usr/bin/env python
+
+# Copyright 2024 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 json
 import logging
 import time

lerobot/common/robots/lekiwi/lekiwi_robot.py

@@ -37,6 +37,9 @@ from ..utils import ensure_safe_goal_position
 from .configuration_lekiwi import LeKiwiRobotConfig
 
 
+# TODO(Steven): Everything in here is pretty much single-threaded and synchronous. The assumption is that we can run the loop at a
+# high enough frequency to not need to worry about threading. This is a good assumption for now, but we should consider
+# making this more robust in the future.
 class LeKiwiRobot(Robot):
     """
     The robot includes a three omniwheel mobile base and a remote follower arm.
@@ -111,7 +114,7 @@ class LeKiwiRobot(Robot):
         # We assume that at connection time, arm is in a rest position,
         # and torque can be safely disabled to run calibration.
         self.actuators_bus.write("Torque_Enable", TorqueMode.DISABLED.value, self.arm_actuators)
-        self.calibrate()  # TODO(Steven): This should be only for the arm
+        self.calibrate()  # TODO(Steven): This should be only for the arm, but apparently it doesn't harm the base
 
         # Mode=0 for Position Control
         self.actuators_bus.write("Mode", 0, self.arm_actuators)