update for evaluate.py

robodriver/scripts/evaluate.py

@@ -2,51 +2,54 @@
 from dataclasses import asdict, dataclass
 from pprint import pformat
 from typing import List
-
-import time
-import cv2
 import logging_mp
-
 from lerobot.robots import RobotConfig
 
-from robodriver.robots.daemon import Daemon
-from robodriver.utils.utils import git_branch_log
-from robodriver.utils.import_utils import register_third_party_devices
 from robodriver.utils import parser
-from robodriver.utils.constants import DEFAULT_FPS
+from robodriver.utils.import_utils import register_third_party_devices
+from robodriver.utils.utils import git_branch_log
+
 from robodriver.robots.utils import (
-    Robot,
-    busy_wait,
     make_robot_from_config,
 )
 
+
 logging_mp.basic_config(level=logging_mp.INFO)
 logger = logging_mp.get_logger(__name__)
 
 
 @dataclass
 class ControlPipelineConfig:
     robot: RobotConfig
-
     @classmethod
     def __get_path_fields__(cls) -> List[str]:
         """This enables the parser to load config from the policy using `--policy.path=local/dir`"""
         return ["control.policy"]
 
+
 @parser.wrap()
 async def async_main(cfg: ControlPipelineConfig):
-    robot = make_robot_from_config(cfg.robot)
-    robot.connect()
+    logger.info(pformat(asdict(cfg)))
 
-    while True:
-        start_loop_t = time.perf_counter()
-        robot.get_observation()
 
-        robot.send_action()
-        dt_s = time.perf_counter() - start_loop_t
+    try:
+        robot = make_robot_from_config(cfg.robot)
+    except Exception as e:
+        logger.critical(f"Failed to create robot: {e}")
+        raise
 
-        busy_wait(1 / 30 - dt_s)
+    logger.info("Make robot success")
+    logger.info(f"robot.type: {robot.robot_type}")
 
+    if not robot.is_connected:
+        robot.connect()
+    logger.info("Connect robot success")
+
+    # 在下面实现推理代码
+    observation = robot.get_observation() # 从臂和图像信息
+    action = None
+    if action:
+        robot.send_action(action)
 
 def main():
     git_branch_log()
@@ -59,3 +62,5 @@ def main():
 
 if __name__ == "__main__":
     main()
+
+# 启动命令：python -m robodriver.scripts.evaluate --robot.type=galaxealite-aio-ros2