README.md

Lekiwi Teleoperate

Provides keyboard teleoperation for both the base and the arm of the lekiwi. It works with

Getting Started

Build

• Install the package: uv pip install -e . Note: If you don't have a venv already in the root workspace then create environment first: uv venv -p 3.11 --seed

Teleoperate the Lekiwi

• Run lekiwi simulation OR real robot
  • Sim (see lekiwi_sim):
    • uv run lekiwi_sim_host
  • Real (see https://huggingface.co/docs/lerobot/en/lekiwi)
    • Summary: SSH into the Lekiwi's Raspberry:
      • python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi
• Run teleoperation
  • uv run lekiwi_teleoperate
    • Use --ip flag if running the host in a different machine.