Rename Lekiwi files & classes

lerobot/common/robots/lekiwi/README.md

@@ -196,11 +196,11 @@ sudo chmod 666 /dev/ttyACM1
 
 #### d. Update config file
 
-IMPORTANTLY: Now that you have your ports of leader and follower arm and ip address of the mobile-so100, update the **ip** in Network configuration, **port** in leader_arms and **port** in lekiwi. In the [`LeKiwiRobotConfig`](../lerobot/common/robot_devices/robots/configs.py) file. Where you will find something like:
+IMPORTANTLY: Now that you have your ports of leader and follower arm and ip address of the mobile-so100, update the **ip** in Network configuration, **port** in leader_arms and **port** in lekiwi. In the [`LeKiwiConfig`](../lerobot/common/robot_devices/robots/configs.py) file. Where you will find something like:
 ```python
 @RobotConfig.register_subclass("lekiwi")
 @dataclass
-class LeKiwiRobotConfig(RobotConfig):
+class LeKiwiConfig(RobotConfig):
     # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
     # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
     # the number of motors in your follower arms.
@@ -283,7 +283,7 @@ For the wired LeKiwi version your configured IP address should refer to your own
 ```python
 @RobotConfig.register_subclass("lekiwi")
 @dataclass
-class LeKiwiRobotConfig(RobotConfig):
+class LeKiwiConfig(RobotConfig):
     # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
     # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
     # the number of motors in your follower arms.
@@ -448,7 +448,7 @@ You should see on your laptop something like this: ```[INFO] Connected to remote
 | F   | Decrease speed |
 
 > [!TIP]
->  If you use a different keyboard you can change the keys for each command in the [`LeKiwiRobotConfig`](../lerobot/common/robot_devices/robots/configs.py).
+>  If you use a different keyboard you can change the keys for each command in the [`LeKiwiConfig`](../lerobot/common/robot_devices/robots/configs.py).
 
 ### Wired version
 If you have the **wired** LeKiwi version please run all commands including both these teleoperation commands on your laptop.

lerobot/common/robots/lekiwi/config_lekiwi.py

@@ -21,7 +21,7 @@ from lerobot.common.robots.config import RobotConfig
 
 @RobotConfig.register_subclass("lekiwi")
 @dataclass
-class LeKiwiRobotConfig(RobotConfig):
+class LeKiwiConfig(RobotConfig):
     port = "/dev/ttyACM0"  # port to connect to the bus
 
     disable_torque_on_disconnect: bool = True

lerobot/common/robots/lekiwi/configuration_daemon_lekiwi.py

@@ -17,9 +17,9 @@ from dataclasses import dataclass, field
 from lerobot.common.robots.config import RobotConfig
 
 
-@RobotConfig.register_subclass("daemon_lekiwi")
+@RobotConfig.register_subclass("lekiwi_client")
 @dataclass
-class DaemonLeKiwiRobotConfig(RobotConfig):
+class LeKiwiClientConfig(RobotConfig):
     # Network Configuration
     remote_ip: str = "172.18.133.90"
     port_zmq_cmd: int = 5555

lerobot/common/robots/lekiwi/lekiwi.py

@@ -32,12 +32,12 @@ from lerobot.common.motors.feetech import (
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position
-from .configuration_lekiwi import LeKiwiRobotConfig
+from .config_lekiwi import LeKiwiConfig
 
 logger = logging.getLogger(__name__)
 
 
-class LeKiwiRobot(Robot):
+class LeKiwi(Robot):
     """
     The robot includes a three omniwheel mobile base and a remote follower arm.
     The leader arm is connected locally (on the laptop) and its joint positions are recorded and then
@@ -45,10 +45,10 @@ class LeKiwiRobot(Robot):
     In parallel, keyboard teleoperation is used to generate raw velocity commands for the wheels.
     """
 
-    config_class = LeKiwiRobotConfig
+    config_class = LeKiwiConfig
     name = "lekiwi"
 
-    def __init__(self, config: LeKiwiRobotConfig):
+    def __init__(self, config: LeKiwiConfig):
         super().__init__(config)
         self.config = config
         self.id = config.id

lerobot/common/robots/lekiwi/lekiwi_client.py

@@ -26,7 +26,7 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte
 from lerobot.common.robots.config import RobotMode
 
 from ..robot import Robot
-from .configuration_daemon_lekiwi import DaemonLeKiwiRobotConfig
+from .configuration_daemon_lekiwi import LeKiwiClientConfig
 
 
 # TODO(Steven): This doesn't need to inherit from Robot
@@ -40,11 +40,11 @@ from .configuration_daemon_lekiwi import DaemonLeKiwiRobotConfig
 # 2. Adding it into the robot implementation
 # (meaning the policy might be needed to be train
 # over the teleop action space)
-class DaemonLeKiwiRobot(Robot):
+class LeKiwiClient(Robot):
-    config_class = DaemonLeKiwiRobotConfig
+    config_class = LeKiwiClientConfig
-    name = "daemonlekiwi"
+    name = "lekiwi_client"
 
-    def __init__(self, config: DaemonLeKiwiRobotConfig):
+    def __init__(self, config: LeKiwiClientConfig):
         super().__init__(config)
         self.config = config
         self.id = config.id
@@ -150,7 +150,7 @@ class DaemonLeKiwiRobot(Robot):
         # TODO(Steven): Nothing to calibrate.
         # Consider triggering calibrate() on the remote mobile robot?
         # Although this would require a more complex comms schema
-        logging.warning("DaemonLeKiwiRobot has nothing to calibrate.")
+        logging.warning("LeKiwiClient has nothing to calibrate.")
         return
 
     # Consider moving these static functions out of the class
@@ -235,7 +235,7 @@ class DaemonLeKiwiRobot(Robot):
             wheel_degps = wheel_degps * scale
 
         # Convert each wheel’s angular speed (deg/s) to a raw integer.
-        wheel_raw = [DaemonLeKiwiRobot._degps_to_raw(deg) for deg in wheel_degps]
+        wheel_raw = [LeKiwiClient._degps_to_raw(deg) for deg in wheel_degps]
 
         return {"left_wheel": wheel_raw[0], "back_wheel": wheel_raw[1], "right_wheel": wheel_raw[2]}
 
@@ -259,7 +259,7 @@ class DaemonLeKiwiRobot(Robot):
         """
 
         # Convert each raw command back to an angular speed in deg/s.
-        wheel_degps = np.array([DaemonLeKiwiRobot._raw_to_degps(int(r)) for r in wheel_raw])
+        wheel_degps = np.array([LeKiwiClient._raw_to_degps(int(r)) for r in wheel_raw])
         # Convert from deg/s to rad/s.
         wheel_radps = wheel_degps * (np.pi / 180.0)
         # Compute each wheel’s linear speed (m/s) from its angular speed.
@@ -352,7 +352,7 @@ class DaemonLeKiwiRobot(Robot):
             return (self.last_frames, self.last_present_speed, self.last_remote_arm_state)
         return frames, present_speed, remote_arm_state_tensor
 
-    # TODO(Steven): The returned space is different from the get_observation of LeKiwiRobot
+    # TODO(Steven): The returned space is different from the get_observation of LeKiwi
     # This returns body-frames velocities instead of wheel pos/speeds
     def get_observation(self) -> dict[str, np.ndarray]:
         """
@@ -361,9 +361,7 @@ class DaemonLeKiwiRobot(Robot):
         and a camera frame. Receives over ZMQ, translate to body-frame vel
         """
         if not self.is_connected:
-            raise DeviceNotConnectedError(
+            raise DeviceNotConnectedError("LeKiwiClient is not connected. You need to run `robot.connect()`.")
-                "DaemonLeKiwiRobot is not connected. You need to run `robot.connect()`."
-            )
 
         obs_dict = {}
 

lerobot/common/robots/lekiwi/lekiwi_client_app.py

@@ -18,8 +18,8 @@ import numpy as np
 
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.common.robots.config import RobotMode
-from lerobot.common.robots.lekiwi.configuration_daemon_lekiwi import DaemonLeKiwiRobotConfig
+from lerobot.common.robots.lekiwi.configuration_daemon_lekiwi import LeKiwiClientConfig
-from lerobot.common.robots.lekiwi.daemon_lekiwi import DaemonLeKiwiRobot
+from lerobot.common.robots.lekiwi.lekiwi_client import LeKiwiClient
 from lerobot.common.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
 from lerobot.common.teleoperators.so100 import SO100Teleop, SO100TeleopConfig
 
@@ -87,11 +87,11 @@ def main():
     keyboard_config = KeyboardTeleopConfig()
     keyboard = KeyboardTeleop(keyboard_config)
 
-    logging.info("Configuring LeKiwiRobot Daemon")
+    logging.info("Configuring LeKiwi Client")
-    robot_config = DaemonLeKiwiRobotConfig(
+    robot_config = LeKiwiClientConfig(
         id="daemonlekiwi", calibration_dir=".cache/calibration/lekiwi", robot_mode=RobotMode.TELEOP
     )
-    robot = DaemonLeKiwiRobot(robot_config)
+    robot = LeKiwiClient(robot_config)
 
     logging.info("Creating LeRobot Dataset")
 
@@ -106,10 +106,10 @@ def main():
     leader_arm.connect()
     keyboard.connect()
 
-    logging.info("Connecting remote LeKiwiRobot")
+    logging.info("Connecting remote LeKiwi")
     robot.connect()
 
-    logging.info("Starting LeKiwiRobot teleoperation")
+    logging.info("Starting LeKiwi teleoperation")
     i = 0
     while i < 1000:
         arm_action = leader_arm.get_action()
@@ -135,11 +135,11 @@ def main():
     dataset.save_episode()
     # dataset.push_to_hub()
 
-    logging.info("Disconnecting Teleop Devices and LeKiwiRobot Daemon")
+    logging.info("Disconnecting Teleop Devices and LeKiwi Client")
     robot.disconnect()
     leader_arm.disconnect()
     keyboard.disconnect()
-    logging.info("Finished LeKiwiRobot cleanly")
+    logging.info("Finished LeKiwi cleanly")
 
 
 if __name__ == "__main__":

lerobot/common/robots/lekiwi/lekiwi_host.py

@@ -22,15 +22,15 @@ import numpy as np
 import zmq
 
 from lerobot.common.constants import OBS_STATE
-from lerobot.common.robots.lekiwi.configuration_lekiwi import LeKiwiRobotConfig
+from lerobot.common.robots.lekiwi.config_lekiwi import LeKiwiConfig
-from lerobot.common.robots.lekiwi.lekiwi_robot import LeKiwiRobot
+from lerobot.common.robots.lekiwi.lekiwi import LeKiwi
 
 # Network Configuration
 PORT_ZMQ_CMD: int = 5555
 PORT_ZMQ_OBSERVATIONS: int = 5556
 
 
-class RemoteAgent:
+class HostAgent:
     def __init__(self):
         self.zmq_context = zmq.Context()
         self.zmq_cmd_socket = self.zmq_context.socket(zmq.PULL)
@@ -48,15 +48,15 @@ class RemoteAgent:
 
 
 def main():
-    logging.info("Configuring LeKiwiRobot")
+    logging.info("Configuring LeKiwi")
-    robot_config = LeKiwiRobotConfig()
+    robot_config = LeKiwiConfig()
-    robot = LeKiwiRobot(robot_config)
+    robot = LeKiwi(robot_config)
 
-    logging.info("Connecting LeKiwiRobot")
+    logging.info("Connecting LeKiwi")
     robot.connect()
 
-    logging.info("Starting RemoteAgent")
+    logging.info("Starting HostAgent")
-    remote_agent = RemoteAgent()
+    remote_agent = HostAgent()
 
     last_cmd_time = time.time()
     logging.info("Waiting for commands...")
@@ -101,7 +101,7 @@ def main():
         robot.disconnect()
         remote_agent.disconnect()
 
-    logging.info("Finished LeKiwiRobot cleanly")
+    logging.info("Finished LeKiwi cleanly")
 
 
 if __name__ == "__main__":

lerobot/common/robots/utils.py

@@ -49,22 +49,22 @@ def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
 
         return Stretch3RobotConfig(**kwargs)
     elif robot_type == "lekiwi":
-        from .lekiwi.configuration_lekiwi import LeKiwiRobotConfig
+        from .lekiwi.config_lekiwi import LeKiwiConfig
 
-        return LeKiwiRobotConfig(**kwargs)
+        return LeKiwiConfig(**kwargs)
     else:
         raise ValueError(f"Robot type '{robot_type}' is not available.")
 
 
 def make_robot_from_config(config: RobotConfig):
-    from .lekiwi.configuration_lekiwi import LeKiwiRobotConfig
+    from .lekiwi.config_lekiwi import LeKiwiConfig
     from .manipulator import ManipulatorRobotConfig
 
     if isinstance(config, ManipulatorRobotConfig):
         from lerobot.common.robots.manipulator import ManipulatorRobot
 
         return ManipulatorRobot(config)
-    elif isinstance(config, LeKiwiRobotConfig):
+    elif isinstance(config, LeKiwiConfig):
         from lerobot.common.robots.mobile_manipulator import MobileManipulator
 
         return MobileManipulator(config)

lerobot/common/teleoperators/keyboard/teleop_keyboard_app.py

@@ -21,7 +21,7 @@ def main():
         i += 1
 
     keyboard.disconnect()
-    logging.info("Finished LeKiwiRobot cleanly")
+    logging.info("Finished LeKiwi cleanly")
 
 
 if __name__ == "__main__":