File size: 3,094 Bytes
7efe9d0 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 |
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""
Replays the actions of an episode from a dataset on a robot.
Example:
```shell
python -m lerobot.replay \
--robot.type=so100_follower \
--robot.port=/dev/tty.usbmodem58760431541 \
--robot.id=black \
--dataset.repo_id=aliberts/record-test \
--dataset.episode=2
```
"""
import logging
import time
from dataclasses import asdict, dataclass
from pathlib import Path
from pprint import pformat
import draccus
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.robots import ( # noqa: F401
Robot,
RobotConfig,
koch_follower,
make_robot_from_config,
so100_follower,
so101_follower,
)
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.utils import (
init_logging,
log_say,
)
@dataclass
class DatasetReplayConfig:
# Dataset identifier. By convention it should match '{hf_username}/{dataset_name}' (e.g. `lerobot/test`).
repo_id: str
# Episode to replay.
episode: int
# Root directory where the dataset will be stored (e.g. 'dataset/path').
root: str | Path | None = None
# Limit the frames per second. By default, uses the policy fps.
fps: int = 30
@dataclass
class ReplayConfig:
robot: RobotConfig
dataset: DatasetReplayConfig
# Use vocal synthesis to read events.
play_sounds: bool = True
@draccus.wrap()
def replay(cfg: ReplayConfig):
init_logging()
logging.info(pformat(asdict(cfg)))
robot = make_robot_from_config(cfg.robot)
dataset = LeRobotDataset(cfg.dataset.repo_id, root=cfg.dataset.root, episodes=[cfg.dataset.episode])
actions = dataset.hf_dataset.select_columns("action")
robot.connect()
log_say("Replaying episode", cfg.play_sounds, blocking=True)
for idx in range(dataset.num_frames):
start_episode_t = time.perf_counter()
action_array = actions[idx]["action"]
action = {}
for i, name in enumerate(dataset.features["action"]["names"]):
key = f"{name.removeprefix('main_')}.pos"
action[key] = action_array[i].item()
action["shoulder_lift.pos"] = -(action["shoulder_lift.pos"] - 90)
action["elbow_flex.pos"] -= 90
robot.send_action(action)
dt_s = time.perf_counter() - start_episode_t
busy_wait(1 / dataset.fps - dt_s)
robot.disconnect()
if __name__ == "__main__":
replay()
|