mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-20 19:19:56 +00:00
Martino Russi
8f06c02c17
remove isaaclab, add test scripts added simulator to the hub remove mujoco env
25 lines
746 B
Python
25 lines
746 B
Python
#!/usr/bin/env python
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"""Minimal test script - just initialize robot with locomotion."""
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import sys
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from pathlib import Path
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import time
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sys.path.insert(0, str(Path(__file__).parent / "src"))
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from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
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from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
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config = UnitreeG1Config(locomotion_control=True, simulation_mode=True
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, policy_path="src/lerobot/robots/unitree_g1/assets/g1/locomotion/GR00T-WholeBodyControl-Walk-converted.onnx")
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#, policy_path="src/lerobot/robots/unitree_g1/assets/g1/locomotion/motion.pt")
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# dance 102
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robot = UnitreeG1(config)
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# Keep alive
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try:
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while True:
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time.sleep(1.0)
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except KeyboardInterrupt:
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robot.stop_locomotion_thread()
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