mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-16 00:59:46 +00:00
Steven Palma
27a229ea64
* chore(examples): homogenize style across example files * chore(examples): homogenize style across example files eval + replay * chore(examples): homogenize headers
59 lines
1.8 KiB
Python
59 lines
1.8 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.robot_utils import busy_wait
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from lerobot.utils.utils import log_say
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EPISODE_IDX = 0
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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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actions = dataset.hf_dataset.select_columns("action")
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# Connect to the robot
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robot.connect()
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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(dataset.num_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]) 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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busy_wait(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
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robot.disconnect()
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