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lerobot
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Cleanup imports

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Simon Alibert 2025-04-04 11:48:41 +02:00 committed by Steven Palma
parent ded92d860d
commit 0e133c1de4
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5 changed files with 16 additions and 9 deletions
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4
lerobot/common/robots/lekiwi/__init__.py Normal file
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@ -0,0 +1,4 @@
from .config_lekiwi import LeKiwiConfig
from .configuration_daemon_lekiwi import LeKiwiClientConfig
from .lekiwi import LeKiwi
from .lekiwi_client import LeKiwiClient

3
lerobot/common/robots/lekiwi/config_lekiwi.py
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@ -16,7 +16,8 @@ from dataclasses import dataclass, field
from lerobot.common.cameras.configs import CameraConfig from lerobot.common.cameras.configs import CameraConfig
from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.common.robots.config import RobotConfig
from ..config import RobotConfig
@RobotConfig.register_subclass("lekiwi") @RobotConfig.register_subclass("lekiwi")

2
lerobot/common/robots/lekiwi/configuration_daemon_lekiwi.py
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@ -14,7 +14,7 @@
from dataclasses import dataclass, field from dataclasses import dataclass, field
from lerobot.common.robots.config import RobotConfig from ..config import RobotConfig
@RobotConfig.register_subclass("lekiwi_client") @RobotConfig.register_subclass("lekiwi_client")

11
lerobot/common/robots/lekiwi/lekiwi_client_app.py
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@ -18,10 +18,11 @@ import numpy as np
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.robots.config import RobotMode from lerobot.common.robots.config import RobotMode
from lerobot.common.robots.lekiwi.configuration_daemon_lekiwi import LeKiwiClientConfig
from lerobot.common.robots.lekiwi.lekiwi_client import LeKiwiClient
from lerobot.common.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig from lerobot.common.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
from lerobot.common.teleoperators.so100 import SO100Teleop, SO100TeleopConfig from lerobot.common.teleoperators.so100 import SO100Leader, SO100LeaderConfig
from .configuration_daemon_lekiwi import LeKiwiClientConfig
from .lekiwi_client import LeKiwiClient
DUMMY_FEATURES = { DUMMY_FEATURES = {
"observation.state": { "observation.state": {
@ -81,8 +82,8 @@ DUMMY_FEATURES = {
def main(): def main():
logging.info("Configuring Teleop Devices") logging.info("Configuring Teleop Devices")
leader_arm_config = SO100TeleopConfig(port="/dev/tty.usbmodem58760429271") leader_arm_config = SO100LeaderConfig(port="/dev/tty.usbmodem58760429271")
leader_arm = SO100Teleop(leader_arm_config) leader_arm = SO100Leader(leader_arm_config)
keyboard_config = KeyboardTeleopConfig() keyboard_config = KeyboardTeleopConfig()
keyboard = KeyboardTeleop(keyboard_config) keyboard = KeyboardTeleop(keyboard_config)

5
lerobot/common/robots/lekiwi/lekiwi_host.py
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@ -22,8 +22,9 @@ import numpy as np
import zmq import zmq
from lerobot.common.constants import OBS_STATE from lerobot.common.constants import OBS_STATE
from lerobot.common.robots.lekiwi.config_lekiwi import LeKiwiConfig
from lerobot.common.robots.lekiwi.lekiwi import LeKiwi from .config_lekiwi import LeKiwiConfig
from .lekiwi import LeKiwi
# Network Configuration # Network Configuration
PORT_ZMQ_CMD: int = 5555 PORT_ZMQ_CMD: int = 5555