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lerobot
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fix(lekiwi): HW fixes v0.1

This commit is contained in:
pre-commit-ci[bot] 2025-03-14 14:01:07 +00:00 committed by Steven Palma
parent cb27f14f7b
commit 5130cba57a
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6 changed files with 34 additions and 26 deletions
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4
lerobot/common/robots/lekiwi/configuration_daemon_lekiwi.py
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@ -7,10 +7,12 @@ from lerobot.common.robots.config import RobotConfig
@dataclass @dataclass
class DaemonLeKiwiRobotConfig(RobotConfig): class DaemonLeKiwiRobotConfig(RobotConfig):
# Network Configuration # Network Configuration
remote_ip: str = "192.168.0.193" remote_ip: str = "172.18.133.90"
port_zmq_cmd: int = 5555 port_zmq_cmd: int = 5555
port_zmq_observations: int = 5556 port_zmq_observations: int = 5556
id = "daemonlekiwi"
teleop_keys: dict[str, str] = field( teleop_keys: dict[str, str] = field(
default_factory=lambda: { default_factory=lambda: {
# Movement # Movement

2
lerobot/common/robots/lekiwi/configuration_lekiwi.py
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@ -11,6 +11,8 @@ class LeKiwiRobotConfig(RobotConfig):
port_zmq_cmd: int = 5555 port_zmq_cmd: int = 5555
port_zmq_observations: int = 5556 port_zmq_observations: int = 5556
id = "lekiwi"
cameras: dict[str, CameraConfig] = field( cameras: dict[str, CameraConfig] = field(
default_factory=lambda: { default_factory=lambda: {
"front": OpenCVCameraConfig( "front": OpenCVCameraConfig(

9
lerobot/common/robots/lekiwi/daemon_lekiwi_app.py
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@ -3,10 +3,10 @@ import time
import numpy as np import numpy as np
from ...teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig from lerobot.common.robots.lekiwi.configuration_daemon_lekiwi import DaemonLeKiwiRobotConfig
from ...teleoperators.so100 import SO100Teleop, SO100TeleopConfig from lerobot.common.robots.lekiwi.daemon_lekiwi import DaemonLeKiwiRobot, RobotMode
from .configuration_daemon_lekiwi import DaemonLeKiwiRobotConfig from lerobot.common.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
from .daemon_lekiwi import DaemonLeKiwiRobot, RobotMode from lerobot.common.teleoperators.so100 import SO100Teleop, SO100TeleopConfig
def main(): def main():
@ -45,7 +45,6 @@ def main():
# robot.set_mode(RobotMode.AUTO) # robot.set_mode(RobotMode.AUTO)
# policy_action = policy.get_action() # This might be in body frame, key space or smt else # policy_action = policy.get_action() # This might be in body frame, key space or smt else
# robot.send_action(policy_action) # robot.send_action(policy_action)
duration = time.perf_counter() - start duration = time.perf_counter() - start
logging.info("Disconnecting Teleop Devices and LeKiwiRobot Daemon") logging.info("Disconnecting Teleop Devices and LeKiwiRobot Daemon")

4
lerobot/common/robots/lekiwi/lekiwi_app.py
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@ -1,7 +1,7 @@
import logging import logging
from .configuration_lekiwi import LeKiwiRobotConfig from lerobot.common.robots.lekiwi.configuration_lekiwi import LeKiwiRobotConfig
from .lekiwi_robot import LeKiwiRobot from lerobot.common.robots.lekiwi.lekiwi_robot import LeKiwiRobot
def main(): def main():

36
lerobot/common/robots/lekiwi/lekiwi_robot.py
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@ -134,7 +134,7 @@ class LeKiwiRobot(Robot):
# We assume that at connection time, arm is in a rest position, # We assume that at connection time, arm is in a rest position,
# and torque can be safely disabled to run calibration. # and torque can be safely disabled to run calibration.
self.actuators_bus.write("Torque_Enable", TorqueMode.DISABLED.value, self.arm_actuators) 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
# Mode=0 for Position Control # Mode=0 for Position Control
self.actuators_bus.write("Mode", 0, self.arm_actuators) self.actuators_bus.write("Mode", 0, self.arm_actuators)
@ -190,17 +190,15 @@ class LeKiwiRobot(Robot):
actuators_calib_path = self.calibration_dir / f"{self.config.id}.json" actuators_calib_path = self.calibration_dir / f"{self.config.id}.json"
if actuators_calib_path.exists(): if actuators_calib_path.exists():
with open(actuators_calib_path,encoding="utf-8") as f: with open(actuators_calib_path, encoding="utf-8") as f:
calibration = json.load(f) calibration = json.load(f)
else: else:
logging.info("Missing calibration file '%s'",actuators_calib_path) logging.info("Missing calibration file '%s'", actuators_calib_path)
calibration = run_full_arm_calibration( calibration = run_full_arm_calibration(self.actuators_bus, self.robot_type, self.name, "follower")
self.actuators_bus, self.robot_type, self.name, "follower"
)
logging.info("Calibration is done! Saving calibration file '%s'",actuators_calib_path) logging.info("Calibration is done! Saving calibration file '%s'", actuators_calib_path)
actuators_calib_path.parent.mkdir(parents=True, exist_ok=True) actuators_calib_path.parent.mkdir(parents=True, exist_ok=True)
with open(actuators_calib_path, "w",encoding="utf-8") as f: with open(actuators_calib_path, "w", encoding="utf-8") as f:
json.dump(calibration, f) json.dump(calibration, f)
self.actuators_bus.set_calibration(calibration) self.actuators_bus.set_calibration(calibration)
@ -214,9 +212,12 @@ class LeKiwiRobot(Robot):
# Read actuators position for arm and vel for base # Read actuators position for arm and vel for base
before_read_t = time.perf_counter() before_read_t = time.perf_counter()
obs_dict[OBS_STATE] = self.actuators_bus.read( obs_dict[OBS_STATE] = np.concatenate(
"Present_Position", self.arm_actuators (
) + self.actuators_bus.read("Present_Speed", self.base_actuators) self.actuators_bus.read("Present_Position", self.arm_actuators),
self.actuators_bus.read("Present_Speed", self.base_actuators),
)
)
self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
# Capture images from cameras # Capture images from cameras
@ -290,7 +291,7 @@ class LeKiwiRobot(Robot):
stop_event = threading.Event() stop_event = threading.Event()
observation_thread = threading.Thread( observation_thread = threading.Thread(
target=self.update_last_observation, args=(stop_event), daemon=True target=self.update_last_observation, args=[stop_event], daemon=True
) )
observation_thread.start() observation_thread.start()
@ -302,14 +303,14 @@ class LeKiwiRobot(Robot):
loop_start_time = time.time() loop_start_time = time.time()
try: try:
msg = self.cmd_socket.recv_string(zmq.NOBLOCK) msg = self.zmq_cmd_socket.recv_string(zmq.NOBLOCK)
data = json.loads(msg) data = json.loads(msg)
self.send_action(data) self.send_action(data)
last_cmd_time = time.time() last_cmd_time = time.time()
# except zmq.Again: except zmq.Again:
# logging.warning("ZMQ again") logging.warning("ZMQ again")
except Exception as e: except Exception as e:
logging.error("Message fetching failed: %s",e) logging.error("Message fetching failed: %s", e)
# Watchdog: stop the robot if no command is received for over 0.5 seconds. # Watchdog: stop the robot if no command is received for over 0.5 seconds.
now = time.time() now = time.time()
@ -317,6 +318,7 @@ class LeKiwiRobot(Robot):
self.stop() self.stop()
with self.observation_lock: with self.observation_lock:
# TODO(Steven): This operation is blocking if no listener is available
self.zmq_observation_socket.send_string(json.dumps(self.last_observation)) self.zmq_observation_socket.send_string(json.dumps(self.last_observation))
# Ensure a short sleep to avoid overloading the CPU. # Ensure a short sleep to avoid overloading the CPU.
@ -346,7 +348,7 @@ class LeKiwiRobot(Robot):
for cam in self.cameras.values(): for cam in self.cameras.values():
cam.disconnect() cam.disconnect()
self.observation_socket.close() self.observation_socket.close()
self.cmd_socket.close() self.zmq_cmd_socket.close()
self.context.term() self.context.term()
self.is_connected = False self.is_connected = False

5
lerobot/common/robots/robot.py
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@ -1,6 +1,7 @@
import abc import abc
from pathlib import Path from pathlib import Path
import enum import enum
from pathlib import Path
from typing import Any from typing import Any
import draccus import draccus
@ -30,7 +31,9 @@ class Robot(abc.ABC):
self.robot_mode: RobotMode | None = None self.robot_mode: RobotMode | None = None
self.id = config.id self.id = config.id
self.calibration_dir = ( self.calibration_dir = (
config.calibration_dir if config.calibration_dir else HF_LEROBOT_CALIBRATION / ROBOTS / self.name Path(config.calibration_dir)
if config.calibration_dir
else HF_LEROBOT_CALIBRATION / ROBOTS / self.name
) )
self.calibration_dir.mkdir(parents=True, exist_ok=True) self.calibration_dir.mkdir(parents=True, exist_ok=True)
self.calibration_fpath = self.calibration_dir / f"{self.id}.json" self.calibration_fpath = self.calibration_dir / f"{self.id}.json"