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dora/examples/reachy/nodes/replay_node.py

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  1. """TODO: Add docstring."""

  2. 

  3. import time

  4. 

  5. import pyarrow as pa

  6. from dora import Node

  7. from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

  8. 

  9. episode = 1

  10. dataset = LeRobotDataset("cadene/reachy2_teleop_remi")

  11. from_index = dataset.episode_data_index["from"][episode]

  12. to_index = dataset.episode_data_index["to"][episode]

  13. actions = dataset.hf_dataset["action"][from_index:to_index]

  14. states = dataset.hf_dataset["observation.state"][from_index:to_index]

  15. 

  16. images = dataset[from_index.item()]["observation.images.cam_trunk"]

  17. 

  18. 

  19. node = Node()

  20. 

  21. time.sleep(1)

  22. for state in states:

  23.     node.send_output("agent_pos", pa.array(state.numpy()))

  24.     time.sleep(1 / 30)