move test items to .dev

replay_working.py

@@ -1,90 +0,0 @@
-"""'
-Refer to:   lerobot/lerobot/scripts/eval.py
-            lerobot/lerobot/scripts/econtrol_robot.py
-            lerobot/robot_devices/control_utils.py
-"""
-
-import time
-import numpy as np
-import cv2
-from multiprocessing.sharedctypes import SynchronizedArray
-from lerobot.configs import parser
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.robots.unitree_g1.eval_robot.make_robot import (
-    setup_image_client,
-    setup_robot_interface,
-    process_images_and_observations,
-)
-from lerobot.robots.unitree_g1.eval_robot.utils.utils import cleanup_resources, EvalRealConfig
-
-from lerobot.robots.unitree_g1.eval_robot.utils.rerun_visualizer import RerunLogger, visualization_data
-from lerobot.robots.unitree_g1.eval_robot.utils.utils import to_list, to_scalar
-from lerobot.robots.unitree_g1.eval_robot.robot_control.robot_arm_test import (
-    G1_29_ArmController, G1_29_JointIndex
-)
-import logging_mp
-from lerobot.robots.unitree_g1.eval_robot.robot_control.robot_arm_ik import G1_29_ArmIK
-
-logging_mp.basic_config(level=logging_mp.INFO)
-logger_mp = logging_mp.get_logger(__name__)
-
-
-def replay_main():
-
-    #damp needs to be on? do i start the robot as well 
-
-    arm_ik = G1_29_ArmIK()
-    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
-    #arm_ctrl.ctrl_dual_arm_go_home()
-    dataset = LeRobotDataset(repo_id='nepyope/unitree_box_push_30fps_actions_fix', root="", episodes=[0])
-    actions = dataset.hf_dataset.select_columns("action")
-    print(actions)
-    episode_idx = 0
-    episode_info = dataset.meta.episodes[episode_idx]
-
-    from_idx = episode_info["dataset_from_index"]
-    to_idx = episode_info["dataset_to_index"]
-    step = dataset[from_idx]
-    init_left_arm_pose = step["observation.state"][:14].cpu().numpy()
-    print(init_left_arm_pose)
-    exit()
-    tau = arm_ik.solve_tau(init_left_arm_pose)
-    #arm_ctrl.ctrl_dual_arm(init_left_arm_pose, tau)
-    print('ok')
-
-    # Create config object for image client
-    import argparse
-    cfg = argparse.Namespace(
-        sim=False,      # Real robot (not simulation)
-        arm="G1_29",
-        ee="dex3",
-        motion=False
-    )
-    
-    #replay actions from the dataset
-    for idx in range(dataset.num_frames):
-
-            arm_joint_indices = set(range(15, 29))  # 15–28 are arms
-            for jid in G1_29_JointIndex:
-                if jid.value not in arm_joint_indices:
-                    arm_ctrl.msg.motor_cmd[jid].mode = 1
-                    arm_ctrl.msg.motor_cmd[jid].q = 0.0
-                    arm_ctrl.msg.motor_cmd[jid].dq = 0.0
-                    arm_ctrl.msg.motor_cmd[jid].tau = 0.0
-            loop_start_time = time.perf_counter()
-
-            action_np = actions[idx]["action"].numpy()
-
-            # exec action
-            arm_action = action_np[:14]
-            tau = arm_ik.solve_tau(arm_action)
-            arm_ctrl.ctrl_dual_arm(arm_action, tau)
-            logger_mp.info(f"arm_action {arm_action}, tau {tau}")
-
-            # Maintain frequency
-            time.sleep(max(0, (1.0 / 30) - (time.perf_counter() - loop_start_time)))
-    
-    #some thread issue idk motion_mode true gets rid of the shakes motion mode 
-
-if __name__ == "__main__":
-    replay_main()

test_cool_config.json

@@ -1,71 +0,0 @@
-{
-  "glove": {
-    "base_class": "lerobot.teleoperators.homunculus.homunculus_glove.HomunculusGlove",
-    "port": "/dev/ttyACM0",
-    "id": "unitree_glove_test",
-    "side": "right",
-    "baud_rate": 115200,
-    "robot_actions": {
-      "kRightShoulderPitch.pos": {
-        "source": "teleop",
-        "joint": "index_mcp_flexion"
-      },
-      "kRightShoulderRoll.pos": {
-        "source": "neutral",
-        "value": 0.5
-      },
-      "kRightShoulderYaw.pos": {
-        "source": "teleop",
-        "joint": "thumb_cmc"
-      },
-      "kRightElbow.pos": {
-        "source": "teleop",
-        "joint": "middle_mcp_flexion",
-        "invert": true
-      },
-      "kRightWristRoll.pos": {
-        "source": "teleop",
-        "joint": "middle_dip"
-      },
-      "kRightWristPitch.pos": {
-        "source": "neutral",
-        "value": 0.5
-      },
-      "kRightWristYaw.pos": {
-        "source": "neutral",
-        "value": 0.5
-      },
-      "kLeftShoulderPitch.pos": {
-        "source": "teleop",
-        "joint": "pinky_mcp_flexion"
-      },
-      "kLeftShoulderRoll.pos": {
-        "source": "neutral",
-        "value": 0.5
-      },
-      "kLeftShoulderYaw.pos": {
-        "source": "teleop",
-        "joint": "thumb_cmc",
-        "invert": true
-      },
-      "kLeftElbow.pos": {
-        "source": "teleop",
-        "joint": "ring_mcp_flexion",
-        "invert": true
-      },
-      "kLeftWristRoll.pos": {
-        "source": "teleop",
-        "joint": "ring_dip"
-      },
-      "kLeftWristPitch.pos": {
-        "source": "neutral",
-        "value": 0.5
-      },
-      "kLeftWristyaw.pos": {
-        "source": "neutral",
-        "value": 0.5
-      }
-    }
-  }
-}
-

test_dance_minimal.py

@@ -1,38 +0,0 @@
-#!/usr/bin/env python
-"""Minimal test script for dance_102 motion imitation."""
-
-import sys
-from pathlib import Path
-import time
-sys.path.insert(0, str(Path(__file__).parent / "src"))
-
-from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
-from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
-
-config = UnitreeG1Config(
-    motion_imitation_control=True,  # Enable motion imitation (dance)
-    simulation_mode=False
-)
-
-robot = UnitreeG1(config)
-
-# Keep alive
-try:
-    print("\n" + "="*60)
-    print("Dance_102 Motion Imitation Running!")
-    print(f"Motion duration: {robot.motion_loader.duration:.2f}s")
-    print("The robot will loop the dance motion")
-    print("Press Ctrl+C to stop")
-    print("="*60 + "\n")
-    
-    while True:
-        time.sleep(1.0)
-        # Print progress every second
-        if robot.motion_loader:
-            progress = (robot.motion_loader.current_time / robot.motion_loader.duration) * 100
-            print(f"Progress: {progress:.1f}% - Time: {robot.motion_loader.current_time:.2f}s / {robot.motion_loader.duration:.2f}s")
-except KeyboardInterrupt:
-    print("\nStopping dance...")
-    robot.stop_motion_imitation_thread()
-    print("Dance stopped!")
-

test_locomotion_minimal.py

@@ -1,24 +0,0 @@
-#!/usr/bin/env python
-"""Minimal test script - just initialize robot with locomotion."""
-
-import sys
-from pathlib import Path
-import time
-sys.path.insert(0, str(Path(__file__).parent / "src"))
-
-from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
-from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
-
-config = UnitreeG1Config(locomotion_control=True, simulation_mode=True
-, policy_path="src/lerobot/robots/unitree_g1/assets/g1/locomotion/GR00T-WholeBodyControl-Walk-converted.onnx")
-#, policy_path="src/lerobot/robots/unitree_g1/assets/g1/locomotion/motion.pt")
-# dance 102
-robot = UnitreeG1(config)
-# Keep alive
-try:
-    while True:
-        time.sleep(1.0)
-except KeyboardInterrupt:
-    robot.stop_locomotion_thread()
-
-

zmq_cameras_example.json

@@ -1,13 +0,0 @@
-[
-    {
-        "name": "unitree_g1_head",
-        "address": "192.168.123.164",
-        "port": 5554
-    },
-    {
-        "name": "lab_camera_1",
-        "address": "10.0.0.100",
-        "port": 5555
-    }
-]
-