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78 lines
2.8 KiB
Python
78 lines
2.8 KiB
Python
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# !/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Run a trained policy on LeKiwi without recording (base rollout).
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Uses the rollout engine's :class:`BaseStrategy` (autonomous execution,
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no dataset) with :class:`SyncInferenceConfig` (inline policy call per
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control tick). For a CLI entry point with the same capabilities plus
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recording, upload, and human-in-the-loop variants, see ``lerobot-rollout``.
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"""
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from lerobot.configs import PreTrainedConfig
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from lerobot.robots.lekiwi import LeKiwiClientConfig
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from lerobot.rollout import BaseStrategyConfig, RolloutConfig, build_rollout_context
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from lerobot.rollout.inference import SyncInferenceConfig
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from lerobot.rollout.strategies import BaseStrategy
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from lerobot.utils.process import ProcessSignalHandler
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from lerobot.utils.utils import init_logging
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FPS = 30
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DURATION_SEC = 60
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TASK_DESCRIPTION = "My task description"
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HF_MODEL_ID = "<hf_username>/<model_repo_id>"
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def main():
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init_logging()
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# Robot: LeKiwi client — make sure lekiwi_host is already running on the robot.
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robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
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# Policy: load the pretrained config. ``pretrained_path`` is read downstream
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# by ``build_rollout_context`` to reload the full model.
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policy_config = PreTrainedConfig.from_pretrained(HF_MODEL_ID)
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policy_config.pretrained_path = HF_MODEL_ID
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# Assemble the rollout config: base strategy (no recording) + sync inference.
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cfg = RolloutConfig(
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robot=robot_config,
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policy=policy_config,
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strategy=BaseStrategyConfig(),
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inference=SyncInferenceConfig(),
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fps=FPS,
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duration=DURATION_SEC,
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task=TASK_DESCRIPTION,
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)
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# Graceful Ctrl-C: the strategy loop exits when shutdown_event is set.
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signal_handler = ProcessSignalHandler(use_threads=True)
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# Build the context (connects robot, loads policy, wires the inference strategy).
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# No custom processors here — LeKiwi runs on raw joint features.
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ctx = build_rollout_context(cfg, signal_handler.shutdown_event)
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strategy = BaseStrategy(cfg.strategy)
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try:
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strategy.setup(ctx)
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strategy.run(ctx)
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finally:
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strategy.teardown(ctx)
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if __name__ == "__main__":
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main()
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