42 lines
1.5 KiB
Python
42 lines
1.5 KiB
Python
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import argparse
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import logging
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import time
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from pathlib import Path
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from typing import List
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# from safetensors.torch import load_file, save_file
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from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
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from lerobot.common.datasets.populate_dataset import (create_lerobot_dataset,
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delete_current_episode,
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init_dataset,
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save_current_episode)
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from lerobot.common.robot_devices.control_utils import (
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control_loop, has_method, init_keyboard_listener, init_policy,
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log_control_info, record_episode, reset_environment,
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sanity_check_dataset_name, stop_recording, warmup_record)
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from lerobot.common.robot_devices.robots.factory import make_robot
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from lerobot.common.robot_devices.robots.utils import Robot
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from lerobot.common.robot_devices.utils import busy_wait, safe_disconnect
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from lerobot.common.utils.utils import (init_hydra_config, init_logging,
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log_say, none_or_int)
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import time
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import cv2
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if __name__ == '__main__':
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init_logging()
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control_mode = "test"
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robot_path = "lerobot/configs/robot/reachy2.yaml"
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robot_overrides = None
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robot_cfg = init_hydra_config(robot_path, robot_overrides)
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robot = make_robot(robot_cfg)
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print(robot.is_connected)
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# print(robot.get_state())
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print(robot.capture_observation())
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time.sleep(5)
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robot.disconnect()
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