mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-16 17:20:05 +00:00
Martino Russi
37 lines
1.1 KiB
Python
37 lines
1.1 KiB
Python
from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1, G1_29_JointIndex
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from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
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from lerobot.datasets.lerobot_dataset import LeRobotDataset
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import time
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config = UnitreeG1Config(
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motion_mode=False,
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simulation_mode=False
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)
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robot = UnitreeG1(config)
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#print(robot.get_observation())
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#robot.calibrate()
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#print(robot.get_observation())
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while True:
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observation = robot.get_observation()
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robot.send_action(observation)
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#print(robot.get_observation())
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time.sleep(0.01)
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# print(observation)
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# time.sleep(0.1)
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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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# for idx in range(from_idx, to_idx):
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# robot.send_action(actions[idx]["action"].numpy()[:14])
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# time.sleep(1.0 / 30)
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