mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-14 16:19:45 +00:00
Steven Palma
3409ef0dc2
* feat(cameras): add new read_latest() method * fix(cameras): fix threading bug + clear state * refactor(cameras): multiple improvements * feat(camera): add context manager to camera base class * chore(camera): slight modifications to opencv * test(cameras): update opencv tests according to the changes * refactor(cameras): reflect desing changes to realsense + deal with depth * test(cameras): fix realsense tests accordingly to new changes * refactor(cameras): update reachymini and zmq accordingly * chore: wrap resource sensitive examples into a try/finally * test(cameras): add test for new read_latest * test(cameras): fix problem with image artifact in opencv tests * test(cameras): fix test_read_latest_high_frequency expectations * Apply suggestions from code review 1 Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com> Signed-off-by: Steven Palma <imstevenpmwork@ieee.org> * chore(cameras): address feedback * feat(cameras): add max_age_ms check in read_latest * test(cameras): fix read_latest tests * chore(redundancies): removing redundancies in Reachy 2 camera class * fix(warmup): replacing the arbitrary time.sleep in by an actual warmup in the RealSense camera class * chore(format): formatting latest changes * chore(warning): adding a "to be implemented" warning for read_latest() in Camera base class * chore(warning): making read_latest() warning message shorter and clearer --------- Signed-off-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
70 lines
2.3 KiB
Python
70 lines
2.3 KiB
Python
# !/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import time
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from lerobot.datasets.lerobot_dataset import LeRobotDataset
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from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
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from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
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from lerobot.utils.constants import ACTION
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from lerobot.utils.robot_utils import precise_sleep
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from lerobot.utils.utils import log_say
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EPISODE_IDX = 0
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def main():
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# Initialize the robot config
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robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
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# Initialize the robot
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robot = LeKiwiClient(robot_config)
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# Fetch the dataset to replay
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dataset = LeRobotDataset("<hf_username>/<dataset_repo_id>", episodes=[EPISODE_IDX])
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# Filter dataset to only include frames from the specified episode since episodes are chunked in dataset V3.0
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episode_frames = dataset.hf_dataset.filter(lambda x: x["episode_index"] == EPISODE_IDX)
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actions = episode_frames.select_columns(ACTION)
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# Connect to the robot
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robot.connect()
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try:
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if not robot.is_connected:
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raise ValueError("Robot is not connected!")
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print("Starting replay loop...")
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log_say(f"Replaying episode {EPISODE_IDX}")
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for idx in range(len(episode_frames)):
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t0 = time.perf_counter()
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# Get recorded action from dataset
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action = {
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name: float(actions[idx][ACTION][i])
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for i, name in enumerate(dataset.features[ACTION]["names"])
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}
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# Send action to robot
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_ = robot.send_action(action)
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precise_sleep(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
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finally:
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robot.disconnect()
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if __name__ == "__main__":
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main()
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