b418409b24
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
26 lines
866 B
Python
26 lines
866 B
Python
import time
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from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
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from lerobot.common.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
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from lerobot.common.robots.lekiwi.lekiwi_client import LeKiwiClient
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from lerobot.common.utils.robot_utils import busy_wait
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robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
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robot = LeKiwiClient(robot_config)
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dataset = LeRobotDataset("pepijn223/lekiwi1749025613", episodes=[0])
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robot.connect()
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print("Replaying episode…")
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for _, action_array in enumerate(dataset.hf_dataset["action"]):
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t0 = time.perf_counter()
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action = {name: float(action_array[i]) for i, name in enumerate(dataset.features["action"]["names"])}
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robot.send_action(action)
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busy_wait(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
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print("Disconnecting LeKiwi Client")
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robot.disconnect()
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