Add sim tutorial, fix lekiwi motor config, add notebook links (#1275)

Co-authored-by: AdilZouitine <adilzouitinegm@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co> Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com> Co-authored-by: Michel Aractingi <michel.aractingi@gmail.com> Co-authored-by: Eugene Mironov <helper2424@gmail.com> Co-authored-by: imstevenpmwork <steven.palma@huggingface.co> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
2026-07-14 21:41:59 +00:00 · 2025-06-13 18:48:39 +02:00
parent 69e8946480
commit 438334d58e
9 changed files with 331 additions and 5 deletions
@@ -0,0 +1,74 @@
+# !/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+import logging
+
+from lerobot.common.cameras import opencv  # noqa: F401
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.common.policies.factory import make_policy
+from lerobot.common.robots import (  # noqa: F401
+    RobotConfig,
+    make_robot_from_config,
+    so100_follower,
+)
+from lerobot.common.teleoperators import (
+    gamepad,  # noqa: F401
+    so101_leader,  # noqa: F401
+)
+from lerobot.configs import parser
+from lerobot.configs.train import TrainRLServerPipelineConfig
+from lerobot.scripts.rl.gym_manipulator import make_robot_env
+
+logging.basicConfig(level=logging.INFO)
+
+
+def eval_policy(env, policy, n_episodes):
+    sum_reward_episode = []
+    for _ in range(n_episodes):
+        obs, _ = env.reset()
+        episode_reward = 0.0
+        while True:
+            action = policy.select_action(obs)
+            obs, reward, terminated, truncated, _ = env.step(action)
+            episode_reward += reward
+            if terminated or truncated:
+                break
+        sum_reward_episode.append(episode_reward)
+
+    logging.info(f"Success after 20 steps {sum_reward_episode}")
+    logging.info(f"success rate {sum(sum_reward_episode) / len(sum_reward_episode)}")
+
+
+@parser.wrap()
+def main(cfg: TrainRLServerPipelineConfig):
+    env_cfg = cfg.env
+    env = make_robot_env(env_cfg)
+    dataset_cfg = cfg.dataset
+    dataset = LeRobotDataset(repo_id=dataset_cfg.repo_id)
+    dataset_meta = dataset.meta
+
+    policy = make_policy(
+        cfg=cfg.policy,
+        # env_cfg=cfg.env,
+        ds_meta=dataset_meta,
+    )
+    policy.from_pretrained(env_cfg.pretrained_policy_name_or_path)
+    policy.eval()
+
+    eval_policy(env, policy=policy, n_episodes=10)
+
+
+if __name__ == "__main__":
+    main()