Hardware API redesign (#777)

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>

examples/lekiwi/evaluate.py

@@ -0,0 +1,38 @@
+import torch
+
+from lerobot.common.policies.act.modeling_act import ACTPolicy
+from lerobot.common.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
+from lerobot.common.robots.lekiwi.lekiwi_client import LeKiwiClient
+from lerobot.common.utils.control_utils import predict_action
+from lerobot.common.utils.utils import get_safe_torch_device
+
+NB_CYCLES_CLIENT_CONNECTION = 1000
+
+robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
+robot = LeKiwiClient(robot_config)
+
+robot.connect()
+
+policy = ACTPolicy.from_pretrained("pepijn223/act_lekiwi_circle")
+policy.reset()
+
+print("Running inference")
+i = 0
+while i < NB_CYCLES_CLIENT_CONNECTION:
+    obs = robot.get_observation()
+
+    for key, value in obs.items():
+        if isinstance(value, torch.Tensor):
+            obs[key] = value.numpy()
+
+    action_values = predict_action(
+        obs, policy, get_safe_torch_device(policy.config.device), policy.config.use_amp
+    )
+    action = {
+        key: action_values[i].item() if isinstance(action_values[i], torch.Tensor) else action_values[i]
+        for i, key in enumerate(robot.action_features)
+    }
+    robot.send_action(action)
+    i += 1
+
+robot.disconnect()