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# 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.
import base64
import json
import threading
import time
from pathlib import Path
import cv2
import zmq
from lerobot.common.robot_devices.robots.mobile_manipulator import LeKiwi
def setup_zmq_sockets(config):
context = zmq.Context()
cmd_socket = context.socket(zmq.PULL)
cmd_socket.setsockopt(zmq.CONFLATE, 1)
cmd_socket.bind(f"tcp://*:{config.port}")
video_socket = context.socket(zmq.PUSH)
video_socket.setsockopt(zmq.CONFLATE, 1)
video_socket.bind(f"tcp://*:{config.video_port}")
return context, cmd_socket, video_socket
def run_camera_capture(cameras, images_lock, latest_images_dict, stop_event):
while not stop_event.is_set():
local_dict = {}
for name, cam in cameras.items():
frame = cam.async_read()
ret, buffer = cv2.imencode(".jpg", frame, [int(cv2.IMWRITE_JPEG_QUALITY), 90])
if ret:
local_dict[name] = base64.b64encode(buffer).decode("utf-8")
else:
local_dict[name] = ""
with images_lock:
latest_images_dict.update(local_dict)
time.sleep(0.01)
def calibrate_follower_arm(motors_bus, calib_dir_str):
"""
Calibrates the follower arm. Attempts to load an existing calibration file;
if not found, runs manual calibration and saves the result.
"""
calib_dir = Path(calib_dir_str)
calib_dir.mkdir(parents=True, exist_ok=True)
calib_file = calib_dir / "main_follower.json"
try:
from lerobot.common.robot_devices.robots.feetech_calibration import run_arm_manual_calibration
except ImportError:
print("[WARNING] Calibration function not available. Skipping calibration.")
return
if calib_file.exists():
with open(calib_file) as f:
calibration = json.load(f)
print(f"[INFO] Loaded calibration from {calib_file}")
else:
print("[INFO] Calibration file not found. Running manual calibration...")
calibration = run_arm_manual_calibration(motors_bus, "lekiwi", "follower_arm", "follower")
print(f"[INFO] Calibration complete. Saving to {calib_file}")
with open(calib_file, "w") as f:
json.dump(calibration, f)
try:
motors_bus.set_calibration(calibration)
print("[INFO] Applied calibration for follower arm.")
except Exception as e:
print(f"[WARNING] Could not apply calibration: {e}")
def run_lekiwi(robot_config):
"""
Runs the LeKiwi robot:
- Sets up cameras and connects them.
- Initializes the follower arm motors.
- Calibrates the follower arm if necessary.
- Creates ZeroMQ sockets for receiving commands and streaming observations.
- Processes incoming commands (arm and wheel commands) and sends back sensor and camera data.
"""
# Import helper functions and classes
from lerobot.common.robot_devices.cameras.utils import make_cameras_from_configs
from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus, TorqueMode
# Initialize cameras from the robot configuration.
cameras = make_cameras_from_configs(robot_config.cameras)
for cam in cameras.values():
cam.connect()
# Initialize the motors bus using the follower arm configuration.
motor_config = robot_config.follower_arms.get("main")
if motor_config is None:
print("[ERROR] Follower arm 'main' configuration not found.")
return
motors_bus = FeetechMotorsBus(motor_config)
motors_bus.connect()
# Calibrate the follower arm.
calibrate_follower_arm(motors_bus, robot_config.calibration_dir)
# Create the LeKiwi robot instance.
robot = LeKiwi(motors_bus)
# Define the expected arm motor IDs.
arm_motor_ids = ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]
# Disable torque for each arm motor.
for motor in arm_motor_ids:
motors_bus.write("Torque_Enable", TorqueMode.DISABLED.value, motor)
# Set up ZeroMQ sockets.
context, cmd_socket, video_socket = setup_zmq_sockets(robot_config)
# Start the camera capture thread.
latest_images_dict = {}
images_lock = threading.Lock()
stop_event = threading.Event()
cam_thread = threading.Thread(
target=run_camera_capture, args=(cameras, images_lock, latest_images_dict, stop_event), daemon=True
)
cam_thread.start()
last_cmd_time = time.time()
print("LeKiwi robot server started. Waiting for commands...")
try:
while True:
loop_start_time = time.time()
# Process incoming commands (non-blocking).
while True:
try:
msg = cmd_socket.recv_string(zmq.NOBLOCK)
except zmq.Again:
break
try:
data = json.loads(msg)
# Process arm position commands.
if "arm_positions" in data:
arm_positions = data["arm_positions"]
if not isinstance(arm_positions, list):
print(f"[ERROR] Invalid arm_positions: {arm_positions}")
elif len(arm_positions) < len(arm_motor_ids):
print(
f"[WARNING] Received {len(arm_positions)} arm positions, expected {len(arm_motor_ids)}"
)
else:
for motor, pos in zip(arm_motor_ids, arm_positions, strict=False):
motors_bus.write("Goal_Position", pos, motor)
# Process wheel (base) commands.
if "raw_velocity" in data:
raw_command = data["raw_velocity"]
# Expect keys: "left_wheel", "back_wheel", "right_wheel".
command_speeds = [
int(raw_command.get("left_wheel", 0)),
int(raw_command.get("back_wheel", 0)),
int(raw_command.get("right_wheel", 0)),
]
robot.set_velocity(command_speeds)
last_cmd_time = time.time()
except Exception as e:
print(f"[ERROR] Parsing message failed: {e}")
# Watchdog: stop the robot if no command is received for over 0.5 seconds.
now = time.time()
if now - last_cmd_time > 0.5:
robot.stop()
last_cmd_time = now
# Read current wheel speeds from the robot.
current_velocity = robot.read_velocity()
# Read the follower arm state from the motors bus.
follower_arm_state = []
for motor in arm_motor_ids:
try:
pos = motors_bus.read("Present_Position", motor)
# Convert the position to a float (or use as is if already numeric).
follower_arm_state.append(float(pos) if not isinstance(pos, (int, float)) else pos)
except Exception as e:
print(f"[ERROR] Reading motor {motor} failed: {e}")
# Get the latest camera images.
with images_lock:
images_dict_copy = dict(latest_images_dict)
# Build the observation dictionary.
observation = {
"images": images_dict_copy,
"present_speed": current_velocity,
"follower_arm_state": follower_arm_state,
}
# Send the observation over the video socket.
video_socket.send_string(json.dumps(observation))
# Ensure a short sleep to avoid overloading the CPU.
elapsed = time.time() - loop_start_time
time.sleep(
max(0.033 - elapsed, 0)
) # If robot jitters increase the sleep and monitor cpu load with `top` in cmd
except KeyboardInterrupt:
print("Shutting down LeKiwi server.")
finally:
stop_event.set()
cam_thread.join()
robot.stop()
motors_bus.disconnect()
cmd_socket.close()
video_socket.close()
context.term()
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