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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
class DaemonLeKiwiRobotConfig(RobotConfig):
# Network Configuration
remote_ip: str = "192.168.0.193"
remote_ip: str = "172.18.133.90"
port_zmq_cmd: int = 5555
port_zmq_observations: int = 5556
id = "daemonlekiwi"
teleop_keys: dict[str, str] = field(
default_factory=lambda: {
# 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_observations: int = 5556
id = "lekiwi"
cameras: dict[str, CameraConfig] = field(
default_factory=lambda: {
"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
from ...teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
from ...teleoperators.so100 import SO100Teleop, SO100TeleopConfig
from .configuration_daemon_lekiwi import DaemonLeKiwiRobotConfig
from .daemon_lekiwi import DaemonLeKiwiRobot, RobotMode
from lerobot.common.robots.lekiwi.configuration_daemon_lekiwi import DaemonLeKiwiRobotConfig
from lerobot.common.robots.lekiwi.daemon_lekiwi import DaemonLeKiwiRobot, RobotMode
from lerobot.common.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
from lerobot.common.teleoperators.so100 import SO100Teleop, SO100TeleopConfig
def main():
@ -45,7 +45,6 @@ def main():
# robot.set_mode(RobotMode.AUTO)
# policy_action = policy.get_action() # This might be in body frame, key space or smt else
# robot.send_action(policy_action)
duration = time.perf_counter() - start
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
from .configuration_lekiwi import LeKiwiRobotConfig
from .lekiwi_robot import LeKiwiRobot
from lerobot.common.robots.lekiwi.configuration_lekiwi import LeKiwiRobotConfig
from lerobot.common.robots.lekiwi.lekiwi_robot import LeKiwiRobot
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,
# 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
# Mode=0 for Position Control
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"
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)
else:
logging.info("Missing calibration file '%s'",actuators_calib_path)
calibration = run_full_arm_calibration(
self.actuators_bus, self.robot_type, self.name, "follower"
)
logging.info("Missing calibration file '%s'", actuators_calib_path)
calibration = run_full_arm_calibration(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)
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)
self.actuators_bus.set_calibration(calibration)
@ -214,9 +212,12 @@ class LeKiwiRobot(Robot):
# Read actuators position for arm and vel for base
before_read_t = time.perf_counter()
obs_dict[OBS_STATE] = self.actuators_bus.read(
"Present_Position", self.arm_actuators
) + self.actuators_bus.read("Present_Speed", self.base_actuators)
obs_dict[OBS_STATE] = np.concatenate(
(
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
# Capture images from cameras
@ -290,7 +291,7 @@ class LeKiwiRobot(Robot):
stop_event = threading.Event()
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()
@ -302,14 +303,14 @@ class LeKiwiRobot(Robot):
loop_start_time = time.time()
try:
msg = self.cmd_socket.recv_string(zmq.NOBLOCK)
msg = self.zmq_cmd_socket.recv_string(zmq.NOBLOCK)
data = json.loads(msg)
self.send_action(data)
last_cmd_time = time.time()
# except zmq.Again:
# logging.warning("ZMQ again")
except zmq.Again:
logging.warning("ZMQ again")
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.
now = time.time()
@ -317,6 +318,7 @@ class LeKiwiRobot(Robot):
self.stop()
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))
# Ensure a short sleep to avoid overloading the CPU.
@ -346,7 +348,7 @@ class LeKiwiRobot(Robot):
for cam in self.cameras.values():
cam.disconnect()
self.observation_socket.close()
self.cmd_socket.close()
self.zmq_cmd_socket.close()
self.context.term()
self.is_connected = False

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