Running a policy

from videosdk_teleop import Leader, single_group_descriptor

from joints import JOINTS          # the same module the follower imports


class PolicyLeader(Leader):
    def __init__(self, policy, **kw):
        self.robot_id = "policy"
        self._policy = policy
        self.action = {j: 0.0 for j in JOINTS}
        super().__init__(**kw)                    # LAST

    def descriptor(self):
        return single_group_descriptor(self.robot_id, "my-arm", JOINTS,
                                       control_hz=30)

    def read_joints(self):
        return dict(self.action)


leader = PolicyLeader(my_policy, sync_buffer_ms=120.0)
leader.start()

if not leader.claim_control(timeout_s=10):
    raise SystemExit("no control")

leader.hold_deadman(True)

for i in leader.ticks(hz=30):
    obs = leader.observation()                    # what the robot sees now
    if obs.images:
        leader.action.update(my_policy(obs.images, obs.joints))

from videosdk_teleop.adapters.lerobot import SO101LeaderAdapter

watcher = SO101LeaderAdapter(
    MEETING_ID,
    motors=("shoulder_pan", "shoulder_lift", "elbow_flex",
            "wrist_flex", "wrist_roll", "gripper"),
    record="./sessions")

watcher.start()

for i in watcher.ticks(hz=30):
    obs = watcher.observation()