pylekiwi 0.12.0

Python package for controlling the LeKiwi robot

pylekiwi

Python package for controlling the LeKiwi robot.

Quick Start

Web UI

Log into the robot and run the following command:

ssh <your robot ip>
sudo chmod 666 <your_follower_robot_serial_port>
uvx pylekiwi webui --serial-port <your_follower_robot_serial_port>

Then, open a web browser and navigate to http://<your robot ip>:8080 to see the web UI.

Leader and Follower/Client Nodes

Run the following command to start the follower node (host) on the robot (Respberry Pi):

ssh <your robot ip>
sudo chmod 666 <your_follower_robot_serial_port>
uvx pylekiwi host --serial-port <your_follower_robot_serial_port>

Run the following command to start the leader node (client) on the remote machine:

sudo chmod 666 <your_leader_robot_serial_port>
uvx --from 'pylekiwi[client]' pylekiwi leader --serial-port <your_leader_robot_serial_port>
# Use rerun to view the camera frames
uvx --from 'pylekiwi[client]' pylekiwi leader --serial-port <your_leader_robot_serial_port>

Or use the following command to start the leader node (client) on the remote machine:

uvx pylekiwi client capture --camera base --output photo.jpg
uvx pylekiwi client pose go <name_or_angles>     # preset pose name or "10,20,30,40,50"
uvx pylekiwi client pose save <name>             # save current pose
uvx pylekiwi client pose list                    # list preset poses
uvx pylekiwi client pose delete <name>           # delete preset pose
uvx pylekiwi client position --x-mm 180 --y-mm 0 --z-mm 120  # move EE to absolute position in base frame
uvx pylekiwi client inching --x-mm 10 --z-mm -5  # move EE delta in base frame
uvx pylekiwi client arm links actual --frame lekiwi_chassis  # inspect the modeled chassis frame
uvx pylekiwi client arm links actual --frame lekiwi_base_camera_mount  # inspect the CAD camera-body frame
uvx pylekiwi client arm links actual --frame lekiwi_base_camera_optical  # inspect the approximate camera optical-center frame
uvx pylekiwi client arm links actual --frame wrist_camera_mount  # inspect the wrist camera mount and optical frame
uvx pylekiwi client grasp                        # grasp object
uvx pylekiwi client release                      # release object

The lekiwi_chassis and lekiwi_base_camera_mount frames are now seeded from the public LeKiwi CAD/URDF rather than placeholders. lekiwi_base_camera_mount tracks the upstream CAD camera-body link, and lekiwi_base_camera_optical adds an approximate lens-center frame derived from the CAD mesh.

Referenced LeKiwi CAD sources:

• Public Fusion 360 CAD: https://a360.co/4k1P8yO
• Upstream LeKiwi URDF exported from CAD: https://github.com/SIGRobotics-UIUC/LeKiwi/blob/main/URDF/LeKiwi.urdf

If automatic discovery does not work across machines, you can connect explicitly to the robot:

# On the robot (Raspberry Pi)
uvx pylekiwi host --serial-port <your_follower_robot_serial_port> --listen-host 0.0.0.0 --listen-port 7447

# On the remote machine
uvx --from 'pylekiwi[client]' pylekiwi leader --serial-port <your_leader_robot_serial_port> --host <your robot ip> --port 7447
uvx pylekiwi client --host <your robot ip> --port 7447 capture --camera base --output photo.jpg
uvx pylekiwi client --host <your robot ip> --port 7447 pose go <name_or_angles>
uvx pylekiwi client --host <your robot ip> --port 7447 position --x-mm 180 --y-mm 0 --z-mm 120