LeKiwi TUI

One terminal for my whole LeKiwi workflow: start the host, teleoperate, record, train, evaluate, keep the Pi in sync. Runs real lerobot commands through the scripts/*.sh launchers, rendered with pyratatui.

Features

• Live status everywhere. The robot chip shows host up/down and remaining session time on every screen.
• One-terminal flow. Start the host, hit q, it keeps running while you record or teleoperate. Come back and the live log re-attaches.
• Record HUD. Episode progress, loop-rate gauge, and a dataset panel (episodes, length, size, resume plan) before you commit.
• Smart sync. Mirrors the laptop checkouts to the Pi, re-installs only when dependencies changed, and prints exactly which version/branch ships.
• Panic stop. K twice from any screen kills the remote host.
• Preview mode. d flips every action to printing its argv instead of touching hardware.
• Teleoperate, record, replay, view, train, and run SmolVLA policies.

Requirements

• Linux, Python 3.10+
• LeRobot in the active Python/conda environment
• The default robot type lekiwi_pincopen needs the lerobot_robot_lekiwi_pincopen plugin on the Pi. Set up Pi / Sync to Pi install and ship it automatically. Driving an original (unmodified) LeKiwi instead: set ROBOT_TYPE to lekiwi in Settings.
• Optional: input group membership enables base wasd keys in the record HUD view. The terminal view needs no system changes.

Install

cp lekiwi.example.yaml lekiwi.yaml    # private local config, git-ignored
$EDITOR lekiwi.yaml
python -m pip install -e .            # in the env that has lerobot

Editable install is the supported model. If the checkout moves, reinstall or set LEKIWI_ROOT=/path/to/lekiwi-tui.

Run

lekiwi                 # menu
lekiwi teleop          # direct action
lekiwi --dry-run       # preview commands

./lekiwi.sh still works and self-activates the configured conda env.

Keys

Key	Action
arrows / j k	move
1-8	jump and run a menu action (setup rows have no shortcut)
left/right / h l	adjust fields
Enter	edit / pick / start
q	back (a running host stays up)
d	toggle preview mode (menu)
K K	emergency host stop, from any screen
?	help

Config

lekiwi.yaml (private, git-ignored) holds robot host/IP, serial ports, dataset and policy paths, cameras, and the shared task text. Launch env vars override it.

Safety

Default mode is real execution; preview it first with --dry-run or d. Remote values are validated and quoted before they reach ssh. Host launches abort rather than run with wrong cameras when the config ship fails.

How It Works

flowchart TD
    user[Operator] --> cli[lekiwi CLI / TUI]
    cli --> cfg[lekiwi.yaml<br/>private local config]
    cli --> screen[ScreenState<br/>forms, pickers, modals]
    screen --> runner[runner<br/>stream or suspend]
    runner --> scripts[scripts/*.sh<br/>single argv source]
    scripts --> mode{preview mode?}
    mode -->|yes| preview[print final argv]
    mode -->|no| command[lerobot / ssh / rsync]
    command --> robot[LeKiwi robot / Pi / local GPU]

Loading

Python owns interaction; the launcher scripts own the final lerobot/ssh/rsync argv, so every action is inspectable from the shell with --dry-run. See scripts/README.md for the launcher contract.

Development

python -m pip install -e .[dev]
python -m ruff check .
python -m pytest lekiwi_tui/tests

CI runs the same gate.

Related

• lerobot_robot_lekiwi_pincopen: the robot plugin this TUI drives by default
• Mobile Manipulation with LeKiwi + PincOpen: the hardware story behind that robot

Acknowledgements

Built on LeRobot, rendered with pyratatui.