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feat: Add fixes and refactor lekiwi example (#1396)

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* feat: Add fixes and refactor lekiwi example

* fix: replace repo_id with placeholders

* feat: use record_loop for lekiwi, use same control strucutre as record.py

* feat: make rerun log more general for lekiwi

* fix: add comments record_loop and fix params evaluate.py

* fix: add events in evaluate.py

* fix: add events 2

* change record to display data

* Integrate feedback steven

* Add docs merging

* fix: add lekiwi name check

* fix: integrate feedback steven

* fix: list for type

* fix: check type list

* remove second robot connect

* fix: added file when merging

* fix(record): account for edge cases when teleop is a list

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Co-authored-by: Steven Palma <steven.palma@huggingface.co>
This commit is contained in:
Pepijn
2025-07-02 11:41:20 +02:00
committed by GitHub
parent d4ee470b00
commit 1522e60f83
8 changed files with 255 additions and 110 deletions
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18
examples/lekiwi/replay.py
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@@ -4,22 +4,30 @@ from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.utils import log_say
EPISODE_IDX = 0
robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
robot = LeKiwiClient(robot_config)
dataset = LeRobotDataset("pepijn223/lekiwi1749025613", episodes=[0])
dataset = LeRobotDataset("<hf_username>/<dataset_repo_id>", episodes=[EPISODE_IDX])
actions = dataset.hf_dataset.select_columns("action")
robot.connect()
print("Replaying episode…")
for _, action_array in enumerate(dataset.hf_dataset["action"]):
if not robot.is_connected:
raise ValueError("Robot is not connected!")
log_say(f"Replaying episode {EPISODE_IDX}")
for idx in range(dataset.num_frames):
t0 = time.perf_counter()
action = {name: float(action_array[i]) for i, name in enumerate(dataset.features["action"]["names"])}
action = {
name: float(actions[idx]["action"][i]) for i, name in enumerate(dataset.features["action"]["names"])
}
robot.send_action(action)
busy_wait(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
print("Disconnecting LeKiwi Client")
robot.disconnect()