1522e60f83
* 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 --------- Co-authored-by: Steven Palma <steven.palma@huggingface.co>
34 lines
1015 B
Python
34 lines
1015 B
Python
import time
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from lerobot.datasets.lerobot_dataset import LeRobotDataset
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from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
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from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
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from lerobot.utils.robot_utils import busy_wait
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from lerobot.utils.utils import log_say
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EPISODE_IDX = 0
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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("<hf_username>/<dataset_repo_id>", episodes=[EPISODE_IDX])
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actions = dataset.hf_dataset.select_columns("action")
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robot.connect()
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if not robot.is_connected:
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raise ValueError("Robot is not connected!")
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log_say(f"Replaying episode {EPISODE_IDX}")
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for idx in range(dataset.num_frames):
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t0 = time.perf_counter()
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action = {
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name: float(actions[idx]["action"][i]) for i, name in enumerate(dataset.features["action"]["names"])
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}
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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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robot.disconnect()
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