| 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() | |