[pull] main from huggingface:main

[pull]

See Commits and Changes for more details.

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Created by pull[bot] (v2.0.0-alpha.1)

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Summary by Sourcery

This pull request introduces support for the LeKiwi robot, a mobile manipulator platform, including configuration files, control scripts, and documentation. It adds a new robot type, lekiwi, with configurations for the leader and follower arms, cameras, and teleoperation keys. The changes also include a remote control mode that allows controlling the robot's follower arm and mobile base via ZeroMQ sockets, and a new tutorial for using the LeKiwi robot with LeRobot.

New Features:

• Introduces the LeKiwi robot configuration, a mobile manipulator with a leader arm for teleoperation and a follower arm on a mobile base.
• Adds a remote control mode for the LeKiwi robot, enabling control of the follower arm and mobile base via ZeroMQ sockets.

Enhancements:

• Adds keyboard teleoperation support for the LeKiwi robot's mobile base, allowing users to control the robot's movement using keyboard inputs.
• Improves the calibration process for Feetech motors by adding manual calibration routines.
• Adds support for reading and sending camera frames and motor states over ZeroMQ sockets.

Build:

• Adds pynput and pyzmq as dependencies to the project.

Documentation:

• Adds a tutorial for using the LeKiwi robot with LeRobot, including instructions for sourcing parts, installing software, assembling the robot, calibrating the arms, teleoperating the robot, recording datasets, visualizing datasets, replaying episodes, training a policy, and evaluating the policy.

Tests:

• Adds a test to ensure that the LeKiwi robot configuration is correctly loaded.

[sourcery-ai]

Reviewer's Guide by Sourcery

This pull request introduces support for the LeKiwi mobile manipulator robot, including new robot configurations, control scripts, and a comprehensive example. It also adds dependencies and updates the SO100 example.

Sequence diagram for LeKiwi teleoperation

sequenceDiagram
    participant User
    participant Laptop
    participant LeKiwiServer
    participant Motors

    User->>Laptop: Presses keys (w, a, s, d, z, x, r, f)
    Laptop->>LeKiwiServer: Sends wheel commands and leader arm positions
    LeKiwiServer->>Motors: Sets motor speeds and arm positions
    LeKiwiServer->>Laptop: Sends camera feed and robot state
    Laptop->>User: Displays camera feed and robot state

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Updated class diagram for RobotConfig and subclasses

classDiagram
    class RobotConfig {
        +type: str
        +register_subclass(cls: type) : type
    }
    class StretchRobotConfig {
        +mock: bool
    }
    class LeKiwiRobotConfig {
        +max_relative_target: int | None
        +ip: str
        +port: int
        +video_port: int
        +cameras: dict[str, CameraConfig]
        +calibration_dir: str
        +leader_arms: dict[str, MotorsBusConfig]
        +follower_arms: dict[str, MotorsBusConfig]
        +teleop_keys: dict[str, str]
        +mock: bool
    }
    RobotConfig <|-- StretchRobotConfig : inherits
    RobotConfig <|-- LeKiwiRobotConfig : inherits
    class CameraConfig {
        <<Abstract>>
    }
    class MotorsBusConfig {
        <<Abstract>>
    }
    LeKiwiRobotConfig *-- CameraConfig : cameras
    LeKiwiRobotConfig *-- MotorsBusConfig : leader_arms
    LeKiwiRobotConfig *-- MotorsBusConfig : follower_arms
    note for LeKiwiRobotConfig "New class for LeKiwi robot configuration"

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Updated class diagram for ControlConfig and subclasses

classDiagram
    class ControlConfig {
        +type: str
        +register_subclass(cls: type) : type
    }
    class ReplayControlConfig {
        +local_files_only: bool
    }
    class RemoteRobotConfig {
        +log_interval: int
    }
    ControlConfig <|-- ReplayControlConfig : inherits
    ControlConfig <|-- RemoteRobotConfig : inherits
    note for RemoteRobotConfig "New class for remote robot control configuration"

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File-Level Changes

Change	Details	Files
Introduces a new robot configuration for the LeKiwi mobile manipulator, including network settings, camera configurations, and motor bus configurations for both leader and follower arms.	Adds LeKiwiRobotConfig class with fields for network IP and ports, camera settings, calibration directory, leader/follower arm configurations, and teleoperation keys. Defines default configurations for cameras (front and wrist) using OpenCVCameraConfig. Specifies motor bus configurations for leader and follower arms using FeetechMotorsBusConfig, including motor mappings (name to index and model). Introduces default teleoperation key mappings for movement and speed control.	lerobot/common/robot_devices/robots/configs.py
Adds support for controlling the LeKiwi robot via a remote robot control type, including calibration and teleoperation functionalities.	Adds a RemoteRobotConfig class for remote robot control settings. Modifies control_robot function to include a case for RemoteRobotConfig, which calls run_lekiwi to start the remote control process. Adds conditional calibration logic for LeKiwi robots, allowing calibration of either the leader or follower arm independently. Adds example usage for remote controlled robots like LeKiwi.	lerobot/scripts/control_robot.py
Adds the LeKiwi robot type to the robot factory function.	Adds a case to make_robot_config to return a LeKiwiRobotConfig instance when robot_type is 'lekiwi'. Adds a case to make_robot_from_config to return a MobileManipulator instance when the config is a LeKiwiRobotConfig.	lerobot/common/robot_devices/robots/utils.py
Adds a new class for controlling the LeKiwi mobile manipulator robot.	Introduces MobileManipulator class for connecting to and controlling a remote mobile manipulator robot. Implements methods for connecting to the robot, calibrating the leader and follower arms, capturing observations, sending actions, and disconnecting. Includes logic for keyboard teleoperation of the mobile base, with adjustable speed levels. Uses ZeroMQ sockets for communication with the remote robot. Implements helper functions for converting between body-frame velocities and wheel raw commands. Adds LeKiwi class for controlling the mobile base wheels.	lerobot/common/robot_devices/robots/mobile_manipulator.py
Adds a new script for running the LeKiwi robot in remote mode.	Introduces run_lekiwi function to set up cameras, motors, and ZeroMQ sockets for remote control. Includes logic for calibrating the follower arm, processing incoming commands, and sending back sensor and camera data. Uses threading for asynchronous camera capture.	lerobot/common/robot_devices/robots/lekiwi_remote.py
Adds a new example for using the LeKiwi robot with LeRobot.	Introduces a new markdown file with instructions for sourcing parts, installing software, assembling the robot, calibrating, teleoperating, recording datasets, visualizing datasets, replaying episodes, training policies, and evaluating policies.	examples/11_use_lekiwi.md
Adds dependencies to the project.	Adds pynput and pyzmq as dependencies.	pyproject.toml
Updates the SO100 example.	Updates the SO100 example to include a Discord link.	examples/10_use_so100.md
Adds support for LeKiwi to torque enable.	Adds lekiwi to the list of robots that use TorqueMode.	lerobot/common/robot_devices/robots/manipulator.py

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