| from lerobot.common.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig | |
| from lerobot.common.teleoperators.keyboard.teleop_keyboard import KeyboardTeleop, KeyboardTeleopConfig | |
| from lerobot.common.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig | |
| robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="my_lekiwi") | |
| teleop__arm_config = SO100LeaderConfig( | |
| port="/dev/tty.usbmodem58760431551", | |
| id="my_awesome_leader_arm", | |
| ) | |
| teleop_keyboard_config = KeyboardTeleopConfig( | |
| id="my_laptop_keyboard", | |
| ) | |
| robot = LeKiwiClient(robot_config) | |
| teleop_arm = SO100Leader(teleop__arm_config) | |
| telep_keyboard = KeyboardTeleop(teleop_keyboard_config) | |
| robot.connect() | |
| teleop_arm.connect() | |
| telep_keyboard.connect() | |
| while True: | |
| observation = robot.get_observation() | |
| arm_action = teleop_arm.get_action() | |
| arm_action = {f"arm_{k}": v for k, v in arm_action.items()} | |
| keyboard_keys = telep_keyboard.get_action() | |
| base_action = robot._from_keyboard_to_base_action(keyboard_keys) | |
| robot.send_action(arm_action | base_action) | |