43 lines
1.1 KiB
Python
43 lines
1.1 KiB
Python
import dataclasses
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import logging
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from openpi_client import action_chunk_broker
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from openpi_client import websocket_client_policy as _websocket_client_policy
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from openpi_client.runtime import runtime as _runtime
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from openpi_client.runtime.agents import policy_agent as _policy_agent
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import tyro
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from examples.aloha_real import env as _env
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@dataclasses.dataclass
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class Args:
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host: str = "0.0.0.0"
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port: int = 8000
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action_horizon: int = 25
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def main(args: Args) -> None:
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runtime = _runtime.Runtime(
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environment=_env.AlohaRealEnvironment(),
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agent=_policy_agent.PolicyAgent(
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policy=action_chunk_broker.ActionChunkBroker(
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policy=_websocket_client_policy.WebsocketClientPolicy(
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host=args.host,
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port=args.port,
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),
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action_horizon=args.action_horizon,
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)
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),
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subscribers=[],
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max_hz=50,
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)
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runtime.run()
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if __name__ == "__main__":
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logging.basicConfig(level=logging.INFO, force=True)
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tyro.cli(main)
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