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https://github.com/huggingface/lerobot.git
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Martino Russi
8f06c02c17
remove isaaclab, add test scripts added simulator to the hub remove mujoco env
39 lines
1.2 KiB
Python
39 lines
1.2 KiB
Python
#!/usr/bin/env python
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"""Minimal test script for dance_102 motion imitation."""
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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(
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motion_imitation_control=True, # Enable motion imitation (dance)
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simulation_mode=False
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)
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robot = UnitreeG1(config)
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# Keep alive
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try:
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print("\n" + "="*60)
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print("Dance_102 Motion Imitation Running!")
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print(f"Motion duration: {robot.motion_loader.duration:.2f}s")
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print("The robot will loop the dance motion")
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print("Press Ctrl+C to stop")
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print("="*60 + "\n")
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while True:
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time.sleep(1.0)
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# Print progress every second
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if robot.motion_loader:
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progress = (robot.motion_loader.current_time / robot.motion_loader.duration) * 100
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print(f"Progress: {progress:.1f}% - Time: {robot.motion_loader.current_time:.2f}s / {robot.motion_loader.duration:.2f}s")
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except KeyboardInterrupt:
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print("\nStopping dance...")
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robot.stop_motion_imitation_thread()
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print("Dance stopped!")
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