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https://github.com/huggingface/lerobot.git
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move test items to .dev
This commit is contained in:
Martino Russi
@@ -1,90 +0,0 @@
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"""'
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Refer to: lerobot/lerobot/scripts/eval.py
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lerobot/lerobot/scripts/econtrol_robot.py
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lerobot/robot_devices/control_utils.py
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"""
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import time
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import numpy as np
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import cv2
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from multiprocessing.sharedctypes import SynchronizedArray
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from lerobot.configs import parser
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from lerobot.datasets.lerobot_dataset import LeRobotDataset
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from lerobot.robots.unitree_g1.eval_robot.make_robot import (
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setup_image_client,
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setup_robot_interface,
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process_images_and_observations,
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)
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from lerobot.robots.unitree_g1.eval_robot.utils.utils import cleanup_resources, EvalRealConfig
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from lerobot.robots.unitree_g1.eval_robot.utils.rerun_visualizer import RerunLogger, visualization_data
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from lerobot.robots.unitree_g1.eval_robot.utils.utils import to_list, to_scalar
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from lerobot.robots.unitree_g1.eval_robot.robot_control.robot_arm_test import (
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G1_29_ArmController, G1_29_JointIndex
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)
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import logging_mp
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from lerobot.robots.unitree_g1.eval_robot.robot_control.robot_arm_ik import G1_29_ArmIK
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logging_mp.basic_config(level=logging_mp.INFO)
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logger_mp = logging_mp.get_logger(__name__)
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def replay_main():
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#damp needs to be on? do i start the robot as well
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arm_ik = G1_29_ArmIK()
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arm_ctrl = G1_29_ArmController(motion_mode=False, simulation_mode=False)#motors move here upon init. there's a bug where when closing python the motors die
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#arm_ctrl.ctrl_dual_arm_go_home()
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dataset = LeRobotDataset(repo_id='nepyope/unitree_box_push_30fps_actions_fix', root="", episodes=[0])
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actions = dataset.hf_dataset.select_columns("action")
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print(actions)
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episode_idx = 0
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episode_info = dataset.meta.episodes[episode_idx]
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from_idx = episode_info["dataset_from_index"]
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to_idx = episode_info["dataset_to_index"]
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step = dataset[from_idx]
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init_left_arm_pose = step["observation.state"][:14].cpu().numpy()
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print(init_left_arm_pose)
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exit()
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tau = arm_ik.solve_tau(init_left_arm_pose)
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#arm_ctrl.ctrl_dual_arm(init_left_arm_pose, tau)
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print('ok')
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# Create config object for image client
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import argparse
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cfg = argparse.Namespace(
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sim=False, # Real robot (not simulation)
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arm="G1_29",
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ee="dex3",
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motion=False
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)
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#replay actions from the dataset
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for idx in range(dataset.num_frames):
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arm_joint_indices = set(range(15, 29)) # 15–28 are arms
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for jid in G1_29_JointIndex:
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if jid.value not in arm_joint_indices:
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arm_ctrl.msg.motor_cmd[jid].mode = 1
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arm_ctrl.msg.motor_cmd[jid].q = 0.0
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arm_ctrl.msg.motor_cmd[jid].dq = 0.0
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arm_ctrl.msg.motor_cmd[jid].tau = 0.0
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loop_start_time = time.perf_counter()
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action_np = actions[idx]["action"].numpy()
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# exec action
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arm_action = action_np[:14]
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tau = arm_ik.solve_tau(arm_action)
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arm_ctrl.ctrl_dual_arm(arm_action, tau)
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logger_mp.info(f"arm_action {arm_action}, tau {tau}")
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# Maintain frequency
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time.sleep(max(0, (1.0 / 30) - (time.perf_counter() - loop_start_time)))
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#some thread issue idk motion_mode true gets rid of the shakes motion mode
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if __name__ == "__main__":
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replay_main()
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@@ -1,71 +0,0 @@
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{
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"glove": {
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"base_class": "lerobot.teleoperators.homunculus.homunculus_glove.HomunculusGlove",
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"port": "/dev/ttyACM0",
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"id": "unitree_glove_test",
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"side": "right",
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"baud_rate": 115200,
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"robot_actions": {
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"kRightShoulderPitch.pos": {
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"source": "teleop",
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"joint": "index_mcp_flexion"
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},
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"kRightShoulderRoll.pos": {
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"source": "neutral",
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"value": 0.5
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},
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"kRightShoulderYaw.pos": {
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"source": "teleop",
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"joint": "thumb_cmc"
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},
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"kRightElbow.pos": {
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"source": "teleop",
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"joint": "middle_mcp_flexion",
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"invert": true
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},
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"kRightWristRoll.pos": {
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"source": "teleop",
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"joint": "middle_dip"
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},
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"kRightWristPitch.pos": {
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"source": "neutral",
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"value": 0.5
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},
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"kRightWristYaw.pos": {
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"source": "neutral",
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"value": 0.5
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},
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"kLeftShoulderPitch.pos": {
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"source": "teleop",
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"joint": "pinky_mcp_flexion"
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},
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"kLeftShoulderRoll.pos": {
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"source": "neutral",
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"value": 0.5
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},
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"kLeftShoulderYaw.pos": {
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"source": "teleop",
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"joint": "thumb_cmc",
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"invert": true
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},
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"kLeftElbow.pos": {
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"source": "teleop",
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"joint": "ring_mcp_flexion",
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"invert": true
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},
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"kLeftWristRoll.pos": {
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"source": "teleop",
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"joint": "ring_dip"
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},
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"kLeftWristPitch.pos": {
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"source": "neutral",
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"value": 0.5
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},
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"kLeftWristyaw.pos": {
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"source": "neutral",
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"value": 0.5
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}
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}
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}
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}
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@@ -1,38 +0,0 @@
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#!/usr/bin/env python
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"""Minimal test script for dance_102 motion imitation."""
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import sys
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from pathlib import Path
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import time
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sys.path.insert(0, str(Path(__file__).parent / "src"))
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from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
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from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
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config = UnitreeG1Config(
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motion_imitation_control=True, # Enable motion imitation (dance)
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simulation_mode=False
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)
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robot = UnitreeG1(config)
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# Keep alive
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try:
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print("\n" + "="*60)
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print("Dance_102 Motion Imitation Running!")
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print(f"Motion duration: {robot.motion_loader.duration:.2f}s")
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print("The robot will loop the dance motion")
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print("Press Ctrl+C to stop")
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print("="*60 + "\n")
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while True:
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time.sleep(1.0)
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# Print progress every second
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if robot.motion_loader:
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progress = (robot.motion_loader.current_time / robot.motion_loader.duration) * 100
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print(f"Progress: {progress:.1f}% - Time: {robot.motion_loader.current_time:.2f}s / {robot.motion_loader.duration:.2f}s")
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except KeyboardInterrupt:
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print("\nStopping dance...")
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robot.stop_motion_imitation_thread()
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print("Dance stopped!")
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@@ -1,24 +0,0 @@
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#!/usr/bin/env python
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"""Minimal test script - just initialize robot with locomotion."""
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import sys
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from pathlib import Path
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import time
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sys.path.insert(0, str(Path(__file__).parent / "src"))
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from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
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from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
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config = UnitreeG1Config(locomotion_control=True, simulation_mode=True
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, policy_path="src/lerobot/robots/unitree_g1/assets/g1/locomotion/GR00T-WholeBodyControl-Walk-converted.onnx")
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#, policy_path="src/lerobot/robots/unitree_g1/assets/g1/locomotion/motion.pt")
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# dance 102
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robot = UnitreeG1(config)
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# Keep alive
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try:
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while True:
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time.sleep(1.0)
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except KeyboardInterrupt:
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robot.stop_locomotion_thread()
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@@ -1,13 +0,0 @@
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[
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{
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"name": "unitree_g1_head",
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"address": "192.168.123.164",
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"port": 5554
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},
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{
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"name": "lab_camera_1",
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"address": "10.0.0.100",
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"port": 5555
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}
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]
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