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import time
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.utils import log_say
EPISODE_IDX = 0
robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
robot = LeKiwiClient(robot_config)
dataset = LeRobotDataset("<hf_username>/<dataset_repo_id>", episodes=[EPISODE_IDX])
actions = dataset.hf_dataset.select_columns("action")
robot.connect()
if not robot.is_connected:
raise ValueError("Robot is not connected!")
log_say(f"Replaying episode {EPISODE_IDX}")
for idx in range(dataset.num_frames):
t0 = time.perf_counter()
action = {
name: float(actions[idx]["action"][i]) for i, name in enumerate(dataset.features["action"]["names"])
}
robot.send_action(action)
busy_wait(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
robot.disconnect()
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