mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-17 01:30:14 +00:00
Martino Russi
41 lines
1.2 KiB
Python
41 lines
1.2 KiB
Python
"""'
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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 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 eval_robot.utils.utils import cleanup_resources, EvalRealConfig
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from eval_robot.utils.rerun_visualizer import RerunLogger, visualization_data
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from eval_robot.utils.utils import to_list, to_scalar
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from 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 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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if __name__ == "__main__":
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replay_main()
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