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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""
Replays the actions of an episode from a dataset on a robot.
Examples:
```shell
lerobot-replay \
--robot.type=so100_follower \
--robot.port=/dev/tty.usbmodem58760431541 \
--robot.id=black \
--dataset.repo_id=aliberts/record-test \
--dataset.episode=0
```
Example replay with bimanual so100:
```shell
lerobot-replay \
--robot.type=bi_so100_follower \
--robot.left_arm_port=/dev/tty.usbmodem5A460851411 \
--robot.right_arm_port=/dev/tty.usbmodem5A460812391 \
--robot.id=bimanual_follower \
--dataset.repo_id=${HF_USER}/bimanual-so100-handover-cube \
--dataset.episode=0
```
"""
import logging
import time
from dataclasses import asdict, dataclass
from pathlib import Path
from pprint import pformat
from lerobot.configs import parser
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.processor import (
make_default_robot_action_processor,
)
from lerobot.robots import ( # noqa: F401
Robot,
RobotConfig,
bi_so100_follower,
hope_jr,
koch_follower,
make_robot_from_config,
so100_follower,
so101_follower,
)
from lerobot.utils.constants import ACTION
from lerobot.utils.import_utils import register_third_party_devices
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.utils import (
init_logging,
log_say,
)
@dataclass
class DatasetReplayConfig:
# Dataset identifier. By convention it should match '{hf_username}/{dataset_name}' (e.g. `lerobot/test`).
repo_id: str
# Episode to replay.
episode: int
# Root directory where the dataset will be stored (e.g. 'dataset/path').
root: str | Path | None = None
# Limit the frames per second. By default, uses the policy fps.
fps: int = 30
@dataclass
class ReplayConfig:
robot: RobotConfig
dataset: DatasetReplayConfig
# Use vocal synthesis to read events.
play_sounds: bool = True
@parser.wrap()
def replay(cfg: ReplayConfig):
init_logging()
logging.info(pformat(asdict(cfg)))
robot_action_processor = make_default_robot_action_processor()
robot = make_robot_from_config(cfg.robot)
dataset = LeRobotDataset(cfg.dataset.repo_id, root=cfg.dataset.root, episodes=[cfg.dataset.episode])
# Filter dataset to only include frames from the specified episode since episodes are chunked in dataset V3.0
episode_frames = dataset.hf_dataset.filter(lambda x: x["episode_index"] == cfg.dataset.episode)
actions = episode_frames.select_columns(ACTION)
robot.connect()
log_say("Replaying episode", cfg.play_sounds, blocking=True)
for idx in range(len(episode_frames)):
start_episode_t = time.perf_counter()
action_array = actions[idx][ACTION]
action = {}
for i, name in enumerate(dataset.features[ACTION]["names"]):
action[name] = action_array[i]
robot_obs = robot.get_observation()
processed_action = robot_action_processor((action, robot_obs))
_ = robot.send_action(processed_action)
dt_s = time.perf_counter() - start_episode_t
busy_wait(1 / dataset.fps - dt_s)
robot.disconnect()
def main():
register_third_party_devices()
replay()
if __name__ == "__main__":
main()
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