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import time
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.datasets.utils import hw_to_dataset_features
from lerobot.common.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
from lerobot.common.robots.lekiwi.lekiwi_client import LeKiwiClient
from lerobot.common.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
from lerobot.common.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
NB_CYCLES_CLIENT_CONNECTION = 250
leader_arm_config = SO100LeaderConfig(port="/dev/tty.usbmodem58760431551")
leader_arm = SO100Leader(leader_arm_config)
keyboard_config = KeyboardTeleopConfig()
keyboard = KeyboardTeleop(keyboard_config)
robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
robot = LeKiwiClient(robot_config)
action_features = hw_to_dataset_features(robot.action_features, "action")
obs_features = hw_to_dataset_features(robot.observation_features, "observation")
dataset_features = {**action_features, **obs_features}
dataset = LeRobotDataset.create(
repo_id="pepijn223/lekiwi" + str(int(time.time())),
fps=10,
features=dataset_features,
robot_type=robot.name,
)
leader_arm.connect()
keyboard.connect()
robot.connect()
if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
exit()
print("Starting LeKiwi recording")
i = 0
while i < NB_CYCLES_CLIENT_CONNECTION:
arm_action = leader_arm.get_action()
arm_action = {f"arm_{k}": v for k, v in arm_action.items()}
keyboard_keys = keyboard.get_action()
base_action = robot._from_keyboard_to_base_action(keyboard_keys)
action = {**arm_action, **base_action} if len(base_action) > 0 else arm_action
action_sent = robot.send_action(action)
observation = robot.get_observation()
frame = {**action_sent, **observation}
task = "Dummy Example Task Dataset"
dataset.add_frame(frame, task)
i += 1
print("Disconnecting Teleop Devices and LeKiwi Client")
robot.disconnect()
leader_arm.disconnect()
keyboard.disconnect()
print("Uploading dataset to the hub")
dataset.save_episode()
dataset.push_to_hub()
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