LeRobot Arena Examples

This directory contains example scripts demonstrating various aspects of the LeRobot Arena robotics system.

Prerequisites

Before running these examples, ensure you have:

Server running: Start the LeRobot Arena server

# From the server directory
uvicorn src.api.main:app --reload

Dependencies installed: Install the Python client

# From client/python directory
pip install -e .

Examples Overview

1. `basic_producer.py`

Basic Producer Usage

Demonstrates core producer functionality:

Creating a room
Connecting as a producer
Sending joint updates
Sending state synchronization
Basic error handling

python examples/basic_producer.py

2. `basic_consumer.py`

Basic Consumer Usage

Shows how to connect as a consumer and receive data:

Connecting to an existing room
Setting up event callbacks
Receiving joint updates and state sync
Getting current room state

python examples/basic_consumer.py
# You'll need to enter a room ID from a running producer

3. `room_management.py`

Room Management Operations

Demonstrates REST API operations:

Listing all rooms
Creating rooms (auto-generated and custom IDs)
Getting room information and state
Deleting rooms

python examples/room_management.py

4. `producer_consumer_demo.py`

Complete Producer-Consumer Demo

Comprehensive demonstration featuring:

Producer and multiple consumers working together
Realistic robot movement simulation
Emergency stop functionality
State synchronization
Connection management and cleanup

python examples/producer_consumer_demo.py

5. `context_manager_example.py`

Context Managers and Advanced Patterns

Shows advanced usage patterns:

Using clients as context managers for automatic cleanup
Exception handling with proper resource management
Factory functions for quick client setup
Managing multiple clients

python examples/context_manager_example.py

Running Examples

Quick Start (All-in-One Demo)

For a complete demonstration, run:

python examples/producer_consumer_demo.py

Step-by-Step Testing

Start with room management:
```
python examples/room_management.py
```
Run producer in one terminal:
```
python examples/basic_producer.py
```

Run consumer in another terminal:

python examples/basic_consumer.py
# Use the room ID from the producer

Advanced Examples

For more sophisticated patterns:

python examples/context_manager_example.py

Key Concepts Demonstrated

Producer Capabilities

Room Creation: Creating and managing robotics rooms
Joint Control: Sending individual joint position updates
State Synchronization: Sending complete robot state
Emergency Stop: Triggering safety stops
Error Handling: Managing connection and communication errors

Consumer Capabilities

Real-time Updates: Receiving joint position updates
State Monitoring: Getting current robot state
Event Callbacks: Responding to various message types
Multiple Consumers: Supporting multiple clients per room

Connection Management

WebSocket Communication: Real-time bidirectional communication
Auto-reconnection: Handling connection failures
Resource Cleanup: Proper disconnection and cleanup
Context Managers: Automatic resource management

Error Handling

Connection Failures: Graceful handling of network issues
Invalid Operations: Handling invalid commands or states
Emergency Scenarios: Safety system demonstrations
Resource Management: Proper cleanup in error conditions

Example Output

When running the examples, you'll see detailed logging output showing:

Connection status and events
Data being sent and received
Error conditions and handling
Resource cleanup operations

Example log output:

INFO:__main__:Created room: abc123-def456-ghi789
INFO:__main__:[Producer] Connected!
INFO:__main__:[visualizer] Joint update #1: 4 joints
INFO:__main__:[logger] Joint update #1: 4 joints
INFO:__main__:🚨 [Producer] Sending emergency stop!
INFO:__main__:[safety-monitor] ERROR: Emergency stop: Demo emergency stop

Troubleshooting

Common Issues

Connection Failed: Ensure the server is running on http://localhost:8000
Import Errors: Make sure you've installed the client package (pip install -e .)
Room Not Found: Check that the room ID exists (run room_management.py to see active rooms)
Permission Denied: Only one producer per room is allowed

Debug Mode

Enable debug logging for more detailed output:

logging.basicConfig(level=logging.DEBUG)

Next Steps

After running these examples, you can:

Integrate the client into your own robotics applications
Modify the examples for your specific robot hardware
Build custom visualizers or control interfaces
Implement safety monitoring systems
Create automated testing scenarios