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fix(examples): wrap all of them into a main function (#2524)

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This commit is contained in:
Steven Palma
2025-11-26 14:28:04 +01:00
committed by GitHub
parent 87bee86640
commit 17581a9449
24 changed files with 1672 additions and 1532 deletions
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examples/lekiwi/replay.py
+31 -25
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@@ -25,37 +25,43 @@ from lerobot.utils.utils import log_say
EPISODE_IDX = 0
# Initialize the robot config
robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
# Initialize the robot
robot = LeKiwiClient(robot_config)
def main():
# Initialize the robot config
robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
# Fetch the dataset to replay
dataset = LeRobotDataset("<hf_username>/<dataset_repo_id>", episodes=[EPISODE_IDX])
# Filter dataset to only include frames from the specified episode since episodes are chunked in dataset V3.0
episode_frames = dataset.hf_dataset.filter(lambda x: x["episode_index"] == EPISODE_IDX)
actions = episode_frames.select_columns(ACTION)
# Initialize the robot
robot = LeKiwiClient(robot_config)
# Connect to the robot
robot.connect()
# Fetch the dataset to replay
dataset = LeRobotDataset("<hf_username>/<dataset_repo_id>", episodes=[EPISODE_IDX])
# Filter dataset to only include frames from the specified episode since episodes are chunked in dataset V3.0
episode_frames = dataset.hf_dataset.filter(lambda x: x["episode_index"] == EPISODE_IDX)
actions = episode_frames.select_columns(ACTION)
if not robot.is_connected:
raise ValueError("Robot is not connected!")
# Connect to the robot
robot.connect()
print("Starting replay loop...")
log_say(f"Replaying episode {EPISODE_IDX}")
for idx in range(len(episode_frames)):
t0 = time.perf_counter()
if not robot.is_connected:
raise ValueError("Robot is not connected!")
# Get recorded action from dataset
action = {
name: float(actions[idx][ACTION][i]) for i, name in enumerate(dataset.features[ACTION]["names"])
}
print("Starting replay loop...")
log_say(f"Replaying episode {EPISODE_IDX}")
for idx in range(len(episode_frames)):
t0 = time.perf_counter()
# Send action to robot
_ = robot.send_action(action)
# Get recorded action from dataset
action = {
name: float(actions[idx][ACTION][i]) for i, name in enumerate(dataset.features[ACTION]["names"])
}
busy_wait(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
# Send action to robot
_ = robot.send_action(action)
robot.disconnect()
busy_wait(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
robot.disconnect()
if __name__ == "__main__":
main()