Package folder structure (#1417)

* Move files * Replace imports & paths * Update relative paths * Update doc symlinks * Update instructions paths * Fix imports * Update grpc files * Update more instructions * Downgrade grpc-tools * Update manifest * Update more paths * Update config paths * Update CI paths * Update bandit exclusions * Remove walkthrough section
2026-05-23 20:50:02 +00:00 · 2025-07-01 16:34:46 +02:00
parent 483be9aac2
commit d4ee470b00
268 changed files with 862 additions and 890 deletions
@@ -0,0 +1,96 @@
+# 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.cameras.configs import CameraConfig, Cv2Rotation
+from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+
+from ..config import RobotConfig
+
+
+def lekiwi_cameras_config() -> dict[str, CameraConfig]:
+    return {
+        "front": OpenCVCameraConfig(
+            index_or_path="/dev/video0", fps=30, width=640, height=480, rotation=Cv2Rotation.ROTATE_180
+        ),
+        "wrist": OpenCVCameraConfig(
+            index_or_path="/dev/video2", fps=30, width=480, height=640, rotation=Cv2Rotation.ROTATE_90
+        ),
+    }
+
+
+@RobotConfig.register_subclass("lekiwi")
+@dataclass
+class LeKiwiConfig(RobotConfig):
+    port: str = "/dev/ttyACM0"  # port to connect to the bus
+
+    disable_torque_on_disconnect: bool = True
+
+    # `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.
+    max_relative_target: int | None = None
+
+    cameras: dict[str, CameraConfig] = field(default_factory=lekiwi_cameras_config)
+
+    # Set to `True` for backward compatibility with previous policies/dataset
+    use_degrees: bool = False
+
+
+@dataclass
+class LeKiwiHostConfig:
+    # Network Configuration
+    port_zmq_cmd: int = 5555
+    port_zmq_observations: int = 5556
+
+    # Duration of the application
+    connection_time_s: int = 30
+
+    # Watchdog: stop the robot if no command is received for over 0.5 seconds.
+    watchdog_timeout_ms: int = 500
+
+    # If robot jitters decrease the frequency and monitor cpu load with `top` in cmd
+    max_loop_freq_hz: int = 30
+
+
+@RobotConfig.register_subclass("lekiwi_client")
+@dataclass
+class LeKiwiClientConfig(RobotConfig):
+    # Network Configuration
+    remote_ip: str
+    port_zmq_cmd: int = 5555
+    port_zmq_observations: int = 5556
+
+    teleop_keys: dict[str, str] = field(
+        default_factory=lambda: {
+            # Movement
+            "forward": "w",
+            "backward": "s",
+            "left": "a",
+            "right": "d",
+            "rotate_left": "z",
+            "rotate_right": "x",
+            # Speed control
+            "speed_up": "r",
+            "speed_down": "f",
+            # quit teleop
+            "quit": "q",
+        }
+    )
+
+    cameras: dict[str, CameraConfig] = field(default_factory=lekiwi_cameras_config)
+
+    polling_timeout_ms: int = 15
+    connect_timeout_s: int = 5