| import time | |
| from lerobot.common.datasets.lerobot_dataset import LeRobotDataset | |
| from lerobot.common.robots.lekiwi.config_lekiwi import LeKiwiClientConfig | |
| from lerobot.common.robots.lekiwi.lekiwi_client import LeKiwiClient | |
| from lerobot.common.utils.robot_utils import busy_wait | |
| robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi") | |
| robot = LeKiwiClient(robot_config) | |
| dataset = LeRobotDataset("pepijn223/lekiwi1749025613", episodes=[0]) | |
| robot.connect() | |
| print("Replaying episode…") | |
| for _, action_array in enumerate(dataset.hf_dataset["action"]): | |
| t0 = time.perf_counter() | |
| action = {name: float(action_array[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)) | |
| print("Disconnecting LeKiwi Client") | |
| robot.disconnect() | |