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Merge branch 'main' into feat/add_pi

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Pepijn
2025-09-25 12:03:58 +02:00
parent e708f64f66 ddba994d73
commit 1c2826e869
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.github/ISSUE_TEMPLATE/bug-report.yml
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@@ -25,7 +25,7 @@ body:
id: system-info
attributes:
label: System Info
description: If needed, you can share your lerobot configuration with us by running `python -m lerobot.scripts.display_sys_info` and copy-pasting its outputs below
description: Please share your LeRobot configuration by running `lerobot-info` (if installed) or `python -m lerobot.scripts.display_sys_info` (if not installed) and pasting the output below.
render: Shell
placeholder: lerobot version, OS, python version, numpy version, torch version, and lerobot's configuration
validations:
.github/workflows/stale.yml
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@@ -31,11 +31,11 @@ env:
Feel free to reopen if is still relevant, or to ping a collaborator if you have any questions.
WARN_ISSUE_MESSAGE: >
This issue has been automatically marked as stale because it has not had
recent activity (1 year). It will be closed if no further activity occurs.
recent activity (6 months). It will be closed if no further activity occurs.
Thank you for your contributions.
WARN_PR_MESSAGE: >
This PR has been automatically marked as stale because it has not had
recent activity (1 year). It will be closed if no further activity occurs.
recent activity (6 months). It will be closed if no further activity occurs.
Thank you for your contributions.
jobs:
README.md
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@@ -202,7 +202,7 @@ Check out [example 1](https://github.com/huggingface/lerobot/blob/main/examples/
You can also locally visualize episodes from a dataset on the hub by executing our script from the command line:
```bash
python -m lerobot.scripts.visualize_dataset \
lerobot-dataset-viz \
--repo-id lerobot/pusht \
--episode-index 0
```
@@ -210,7 +210,7 @@ python -m lerobot.scripts.visualize_dataset \
or from a dataset in a local folder with the `root` option and the `--local-files-only` (in the following case the dataset will be searched for in `./my_local_data_dir/lerobot/pusht`)
```bash
python -m lerobot.scripts.visualize_dataset \
lerobot-dataset-viz \
--repo-id lerobot/pusht \
--root ./my_local_data_dir \
--local-files-only 1 \
@@ -221,7 +221,7 @@ It will open `rerun.io` and display the camera streams, robot states and actions
https://github-production-user-asset-6210df.s3.amazonaws.com/4681518/328035972-fd46b787-b532-47e2-bb6f-fd536a55a7ed.mov?X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=AKIAVCODYLSA53PQK4ZA%2F20240505%2Fus-east-1%2Fs3%2Faws4_request&X-Amz-Date=20240505T172924Z&X-Amz-Expires=300&X-Amz-Signature=d680b26c532eeaf80740f08af3320d22ad0b8a4e4da1bcc4f33142c15b509eda&X-Amz-SignedHeaders=host&actor_id=24889239&key_id=0&repo_id=748713144
Our script can also visualize datasets stored on a distant server. See `python -m lerobot.scripts.visualize_dataset --help` for more instructions.
Our script can also visualize datasets stored on a distant server. See `lerobot-dataset-viz --help` for more instructions.
### The `LeRobotDataset` format
src/lerobot/utils/benchmark.py → benchmarks/video/benchmark.py
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benchmarks/video/run_video_benchmark.py
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@@ -35,12 +35,12 @@ import torch
from skimage.metrics import mean_squared_error, peak_signal_noise_ratio, structural_similarity
from tqdm import tqdm
from benchmarks.video.benchmark import TimeBenchmark
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.video_utils import (
decode_video_frames_torchvision,
encode_video_frames,
)
from lerobot.utils.benchmark import TimeBenchmark
BASE_ENCODING = OrderedDict(
[
docs/source/async.mdx
+8 -8
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@@ -31,7 +31,7 @@ Then, spin up a policy server (in one terminal, or in a separate machine) specif
You can spin up a policy server running:
```shell
python src/lerobot/scripts/server/policy_server.py \
python src/lerobot/async_inference/policy_server.py \
--host=127.0.0.1 \
--port=8080 \
```
@@ -39,7 +39,7 @@ python src/lerobot/scripts/server/policy_server.py \
This will start a policy server listening on `127.0.0.1:8080` (`localhost`, port 8080). At this stage, the policy server is empty, as all information related to which policy to run and with which parameters are specified during the first handshake with the client. Spin up a client with:
```shell
python src/lerobot/scripts/server/robot_client.py \
python src/lerobot/async_inference/robot_client.py \
--server_address=127.0.0.1:8080 \ # SERVER: the host address and port of the policy server
--robot.type=so100_follower \ # ROBOT: your robot type
--robot.port=/dev/tty.usbmodem585A0076841 \ # ROBOT: your robot port
@@ -122,8 +122,8 @@ python -m lerobot.scripts.server.policy_server \
<!-- prettier-ignore-start -->
```python
from lerobot.scripts.server.configs import PolicyServerConfig
from lerobot.scripts.server.policy_server import serve
from lerobot.async_inference.configs import PolicyServerConfig
from lerobot.async_inference.policy_server import serve
config = PolicyServerConfig(
host="localhost",
@@ -148,7 +148,7 @@ The `RobotClient` streams observations to the `PolicyServer`, and receives actio
<hfoptions id="start_robot_client">
<hfoption id="Command">
```bash
python src/lerobot/scripts/server/robot_client.py \
python src/lerobot/async_inference/robot_client.py \
--server_address=127.0.0.1:8080 \ # SERVER: the host address and port of the policy server
--robot.type=so100_follower \ # ROBOT: your robot type
--robot.port=/dev/tty.usbmodem585A0076841 \ # ROBOT: your robot port
@@ -171,9 +171,9 @@ python src/lerobot/scripts/server/robot_client.py \
import threading
from lerobot.robots.so100_follower import SO100FollowerConfig
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.scripts.server.configs import RobotClientConfig
from lerobot.scripts.server.robot_client import RobotClient
from lerobot.scripts.server.helpers import visualize_action_queue_size
from lerobot.async_inference.configs import RobotClientConfig
from lerobot.async_inference.robot_client import RobotClient
from lerobot.async_inference.helpers import visualize_action_queue_size
# 1. Create the robot instance
"""Check out the cameras available in your setup by running `python lerobot/find_cameras.py`"""
docs/source/hilserl.mdx
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@@ -62,7 +62,7 @@ pip install -e ".[hilserl]"
### Understanding Configuration
The training process begins with proper configuration for the HILSerl environment. The main configuration class is `GymManipulatorConfig` in `lerobot/scripts/rl/gym_manipulator.py`, which contains nested `HILSerlRobotEnvConfig` and `DatasetConfig`. The configuration is organized into focused, nested sub-configs:
The training process begins with proper configuration for the HILSerl environment. The main configuration class is `GymManipulatorConfig` in `lerobot/rl/gym_manipulator.py`, which contains nested `HILSerlRobotEnvConfig` and `DatasetConfig`. The configuration is organized into focused, nested sub-configs:
<!-- prettier-ignore-start -->
```python
@@ -304,13 +304,13 @@ Before collecting demonstrations, you need to determine the appropriate operatio
This helps simplify the problem of learning on the real robot in two ways: 1) by limiting the robot's operational space to a specific region that solves the task and avoids unnecessary or unsafe exploration, and 2) by allowing training in end-effector space rather than joint space. Empirically, learning in joint space for reinforcement learning in manipulation is often a harder problem - some tasks are nearly impossible to learn in joint space but become learnable when the action space is transformed to end-effector coordinates.
**Using find_joint_limits.py**
**Using lerobot-find-joint-limits**
This script helps you find the safe operational bounds for your robot's end-effector. Given that you have a follower and leader arm, you can use the script to find the bounds for the follower arm that will be applied during training.
Bounding the action space will reduce the redundant exploration of the agent and guarantees safety.
```bash
python -m lerobot.scripts.find_joint_limits \
lerobot-find-joint-limits \
--robot.type=so100_follower \
--robot.port=/dev/tty.usbmodem58760431541 \
--robot.id=black \
@@ -518,7 +518,7 @@ During the online training, press `space` to take over the policy and `space` ag
Start the recording process, an example of the config file can be found [here](https://huggingface.co/datasets/aractingi/lerobot-example-config-files/blob/main/env_config_so100.json):
```bash
python -m lerobot.scripts.rl.gym_manipulator --config_path src/lerobot/configs/env_config_so100.json
python -m lerobot.rl.gym_manipulator --config_path src/lerobot/configs/env_config_so100.json
```
During recording:
@@ -549,7 +549,7 @@ Note: If you already know the crop parameters, you can skip this step and just s
Use the `crop_dataset_roi.py` script to interactively select regions of interest in your camera images:
```bash
python -m lerobot.scripts.rl.crop_dataset_roi --repo-id username/pick_lift_cube
python -m lerobot.rl.crop_dataset_roi --repo-id username/pick_lift_cube
```
1. For each camera view, the script will display the first frame
@@ -618,7 +618,7 @@ Before training, you need to collect a dataset with labeled examples. The `recor
To collect a dataset, you need to modify some parameters in the environment configuration based on HILSerlRobotEnvConfig.
```bash
python -m lerobot.scripts.rl.gym_manipulator --config_path src/lerobot/configs/reward_classifier_train_config.json
python -m lerobot.rl.gym_manipulator --config_path src/lerobot/configs/reward_classifier_train_config.json
```
**Key Parameters for Data Collection**
@@ -764,7 +764,7 @@ or set the argument in the json config file.
Run `gym_manipulator.py` to test the model.
```bash
python -m lerobot.scripts.rl.gym_manipulator --config_path path/to/env_config.json
python -m lerobot.rl.gym_manipulator --config_path path/to/env_config.json
```
The reward classifier will automatically provide rewards based on the visual input from the robot's cameras.
@@ -777,7 +777,7 @@ The reward classifier will automatically provide rewards based on the visual inp
2. **Collect a dataset**:
```bash
python -m lerobot.scripts.rl.gym_manipulator --config_path src/lerobot/configs/env_config.json
python -m lerobot.rl.gym_manipulator --config_path src/lerobot/configs/env_config.json
```
3. **Train the classifier**:
@@ -788,7 +788,7 @@ The reward classifier will automatically provide rewards based on the visual inp
4. **Test the classifier**:
```bash
python -m lerobot.scripts.rl.gym_manipulator --config_path src/lerobot/configs/env_config.json
python -m lerobot.rl.gym_manipulator --config_path src/lerobot/configs/env_config.json
```
### Training with Actor-Learner
@@ -810,7 +810,7 @@ Create a training configuration file (example available [here](https://huggingfa
First, start the learner server process:
```bash
python -m lerobot.scripts.rl.learner --config_path src/lerobot/configs/train_config_hilserl_so100.json
python -m lerobot.rl.learner --config_path src/lerobot/configs/train_config_hilserl_so100.json
```
The learner:
@@ -825,7 +825,7 @@ The learner:
In a separate terminal, start the actor process with the same configuration:
```bash
python -m lerobot.scripts.rl.actor --config_path src/lerobot/configs/train_config_hilserl_so100.json
python -m lerobot.rl.actor --config_path src/lerobot/configs/train_config_hilserl_so100.json
```
The actor:
docs/source/hilserl_sim.mdx
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@@ -91,7 +91,7 @@ Important parameters:
To run the environment, set mode to null:
```bash
python -m lerobot.scripts.rl.gym_manipulator --config_path path/to/gym_hil_env.json
python -m lerobot.rl.gym_manipulator --config_path path/to/gym_hil_env.json
```
### Recording a Dataset
@@ -118,7 +118,7 @@ To collect a dataset, set the mode to `record` whilst defining the repo_id and n
```
```bash
python -m lerobot.scripts.rl.gym_manipulator --config_path path/to/gym_hil_env.json
python -m lerobot.rl.gym_manipulator --config_path path/to/gym_hil_env.json
```
### Training a Policy
@@ -126,13 +126,13 @@ python -m lerobot.scripts.rl.gym_manipulator --config_path path/to/gym_hil_env.j
To train a policy, checkout the configuration example available [here](https://huggingface.co/datasets/lerobot/config_examples/resolve/main/rl/gym_hil/train_config.json) and run the actor and learner servers:
```bash
python -m lerobot.scripts.rl.actor --config_path path/to/train_gym_hil_env.json
python -m lerobot.rl.actor --config_path path/to/train_gym_hil_env.json
```
In a different terminal, run the learner server:
```bash
python -m lerobot.scripts.rl.learner --config_path path/to/train_gym_hil_env.json
python -m lerobot.rl.learner --config_path path/to/train_gym_hil_env.json
```
The simulation environment provides a safe and repeatable way to develop and test your Human-In-the-Loop reinforcement learning components before deploying to real robots.
docs/source/il_robots.mdx
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@@ -200,7 +200,7 @@ from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderCo
from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import _init_rerun
from lerobot.utils.visualization_utils import init_rerun
from lerobot.record import record_loop
NUM_EPISODES = 5
@@ -237,7 +237,7 @@ dataset = LeRobotDataset.create(
# Initialize the keyboard listener and rerun visualization
_, events = init_keyboard_listener()
_init_rerun(session_name="recording")
init_rerun(session_name="recording")
# Connect the robot and teleoperator
robot.connect()
@@ -517,7 +517,7 @@ from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerCon
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import _init_rerun
from lerobot.utils.visualization_utils import init_rerun
from lerobot.record import record_loop
from lerobot.policies.factory import make_processor
@@ -557,7 +557,7 @@ dataset = LeRobotDataset.create(
# Initialize the keyboard listener and rerun visualization
_, events = init_keyboard_listener()
_init_rerun(session_name="recording")
init_rerun(session_name="recording")
# Connect the robot
robot.connect()
docs/source/il_sim.mdx
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@@ -61,14 +61,14 @@ Then we can run this command to start:
<hfoption id="Linux">
```bash
python -m lerobot.scripts.rl.gym_manipulator --config_path path/to/env_config_gym_hil_il.json
python -m lerobot.rl.gym_manipulator --config_path path/to/env_config_gym_hil_il.json
```
</hfoption>
<hfoption id="MacOS">
```bash
mjpython -m lerobot.scripts.rl.gym_manipulator --config_path path/to/env_config_gym_hil_il.json
mjpython -m lerobot.rl.gym_manipulator --config_path path/to/env_config_gym_hil_il.json
```
</hfoption>
@@ -198,14 +198,14 @@ Then you can run this command to visualize your trained policy
<hfoption id="Linux">
```bash
python -m lerobot.scripts.rl.eval_policy --config_path=path/to/eval_config_gym_hil.json
python -m lerobot.rl.eval_policy --config_path=path/to/eval_config_gym_hil.json
```
</hfoption>
<hfoption id="MacOS">
```bash
mjpython -m lerobot.scripts.rl.eval_policy --config_path=path/to/eval_config_gym_hil.json
mjpython -m lerobot.rl.eval_policy --config_path=path/to/eval_config_gym_hil.json
```
</hfoption>
docs/source/koch.mdx
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@@ -277,7 +277,7 @@ leader.disconnect()
</hfoption>
</hfoptions>
Congrats 🎉, your robot is all set to learn a task on its own. Start training it by following this tutorial: [Getting started with real-world robots](./getting_started_real_world_robot)
Congrats 🎉, your robot is all set to learn a task on its own. Start training it by following this tutorial: [Getting started with real-world robots](./il_robots)
> [!TIP]
> If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb).
docs/source/lekiwi.mdx
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@@ -323,7 +323,7 @@ To replay an episode run the API example below, make sure to change `remote_ip`,
python examples/lekiwi/replay.py
```
Congrats 🎉, your robot is all set to learn a task on its own. Start training it by the training part of this tutorial: [Getting started with real-world robots](./getting_started_real_world_robot)
Congrats 🎉, your robot is all set to learn a task on its own. Start training it by the training part of this tutorial: [Getting started with real-world robots](./il_robots)
## Evaluate your policy
docs/source/lerobot-dataset-v3.mdx
+1 -1
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@@ -246,7 +246,7 @@ You can also use any `torchvision.transforms.v2` transform by passing it directl
Use the visualization script to preview how transforms affect your data:
```bash
python -m lerobot.scripts.visualize_image_transforms \
lerobot-imgtransform-viz \
--repo-id=your-username/your-dataset \
--output-dir=./transform_examples \
--n-examples=5
docs/source/libero.mdx
+4 -4
View File
@@ -33,7 +33,7 @@ To Install LIBERO, after following LeRobot official instructions, just do:
Evaluate a policy on one LIBERO suite:
```bash
python src/lerobot/scripts/eval.py \
lerobot-eval \
--policy.path="your-policy-id" \
--env.type=libero \
--env.task=libero_object \
@@ -52,7 +52,7 @@ python src/lerobot/scripts/eval.py \
Benchmark a policy across multiple suites at once:
```bash
python src/lerobot/scripts/eval.py \
lerobot-eval \
--policy.path="your-policy-id" \
--env.type=libero \
--env.task=libero_object,libero_spatial \
@@ -103,10 +103,10 @@ For reference, here is the **original dataset** published by Physical Intelligen
### Example training command
```bash
python src/lerobot/scripts/train.py \
lerobot-train \
--policy.type=smolvla \
--policy.repo_id=${HF_USER}/libero-test \
--dataset.repo_id=jadechoghari/smol-libero3 \
--dataset.repo_id=HuggingFaceVLA/libero \
--env.type=libero \
--env.task=libero_10 \
--output_dir=./outputs/ \
docs/source/smolvla.mdx
+2 -2
View File
@@ -29,7 +29,7 @@ SmolVLA is Hugging Face’s lightweight foundation model for robotics. Designed
## Collect a dataset
SmolVLA is a base model, so fine-tuning on your own data is required for optimal performance in your setup.
We recommend recording ~50 episodes of your task as a starting point. Follow our guide to get started: [Recording a Dataset](https://huggingface.co/docs/lerobot/getting_started_real_world_robot#record-a-dataset)
We recommend recording ~50 episodes of your task as a starting point. Follow our guide to get started: [Recording a Dataset](./il_robots)
<Tip>
@@ -93,7 +93,7 @@ lerobot-train --help
## Evaluate the finetuned model and run it in real-time
Similarly for when recording an episode, it is recommended that you are logged in to the HuggingFace Hub. You can follow the corresponding steps: [Record a dataset](./getting_started_real_world_robot#record-a-dataset).
Similarly for when recording an episode, it is recommended that you are logged in to the HuggingFace Hub. You can follow the corresponding steps: [Record a dataset](./il_robots).
Once you are logged in, you can run inference in your setup by doing:
```bash
docs/source/so100.mdx
+1 -1
View File
@@ -634,7 +634,7 @@ leader.disconnect()
</hfoption>
</hfoptions>
Congrats 🎉, your robot is all set to learn a task on its own. Start training it by following this tutorial: [Getting started with real-world robots](./getting_started_real_world_robot)
Congrats 🎉, your robot is all set to learn a task on its own. Start training it by following this tutorial: [Getting started with real-world robots](./il_robots)
> [!TIP]
> If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb).
docs/source/so101.mdx
+1 -1
View File
@@ -430,7 +430,7 @@ leader.disconnect()
</hfoption>
</hfoptions>
Congrats 🎉, your robot is all set to learn a task on its own. Start training it by following this tutorial: [Getting started with real-world robots](./getting_started_real_world_robot)
Congrats 🎉, your robot is all set to learn a task on its own. Start training it by following this tutorial: [Getting started with real-world robots](./il_robots)
> [!TIP]
> If you have any questions or need help, please reach out on [Discord](https://discord.com/invite/s3KuuzsPFb).
examples/lekiwi/evaluate.py
+3 -3
View File
@@ -19,11 +19,11 @@ from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.policies.act.modeling_act import ACTPolicy
from lerobot.policies.factory import make_pre_post_processors
from lerobot.processor import make_default_processors
from lerobot.record import record_loop
from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
from lerobot.scripts.lerobot_record import record_loop
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import _init_rerun
from lerobot.utils.visualization_utils import init_rerun
NUM_EPISODES = 2
FPS = 30
@@ -73,7 +73,7 @@ teleop_action_processor, robot_action_processor, robot_observation_processor = m
# Initialize the keyboard listener and rerun visualization
listener, events = init_keyboard_listener()
_init_rerun(session_name="lekiwi_evaluate")
init_rerun(session_name="lekiwi_evaluate")
if not robot.is_connected:
raise ValueError("Robot is not connected!")
examples/lekiwi/record.py
+3 -3
View File
@@ -17,14 +17,14 @@
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.processor import make_default_processors
from lerobot.record import record_loop
from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
from lerobot.scripts.lerobot_record import record_loop
from lerobot.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import _init_rerun
from lerobot.utils.visualization_utils import init_rerun
NUM_EPISODES = 2
FPS = 30
@@ -69,7 +69,7 @@ keyboard.connect()
# Initialize the keyboard listener and rerun visualization
listener, events = init_keyboard_listener()
_init_rerun(session_name="lekiwi_record")
init_rerun(session_name="lekiwi_record")
if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
raise ValueError("Robot or teleop is not connected!")
examples/lekiwi/teleoperate.py
+2 -2
View File
@@ -20,7 +20,7 @@ from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
from lerobot.teleoperators.keyboard.teleop_keyboard import KeyboardTeleop, KeyboardTeleopConfig
from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.visualization_utils import _init_rerun, log_rerun_data
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
FPS = 30
@@ -41,7 +41,7 @@ leader_arm.connect()
keyboard.connect()
# Init rerun viewer
_init_rerun(session_name="lekiwi_teleop")
init_rerun(session_name="lekiwi_teleop")
if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
raise ValueError("Robot or teleop is not connected!")
examples/phone_to_so100/evaluate.py
+3 -3
View File
@@ -34,16 +34,16 @@ from lerobot.processor.converters import (
transition_to_observation,
transition_to_robot_action,
)
from lerobot.record import record_loop
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
ForwardKinematicsJointsToEE,
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.scripts.lerobot_record import record_loop
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import _init_rerun
from lerobot.utils.visualization_utils import init_rerun
NUM_EPISODES = 5
FPS = 30
@@ -137,7 +137,7 @@ robot.connect()
# Initialize the keyboard listener and rerun visualization
listener, events = init_keyboard_listener()
_init_rerun(session_name="phone_so100_evaluate")
init_rerun(session_name="phone_so100_evaluate")
if not robot.is_connected:
raise ValueError("Robot is not connected!")
examples/phone_to_so100/record.py
+3 -3
View File
@@ -26,7 +26,6 @@ from lerobot.processor.converters import (
transition_to_observation,
transition_to_robot_action,
)
from lerobot.record import record_loop
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
EEBoundsAndSafety,
@@ -36,12 +35,13 @@ from lerobot.robots.so100_follower.robot_kinematic_processor import (
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.scripts.lerobot_record import record_loop
from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
from lerobot.teleoperators.phone.teleop_phone import Phone
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import _init_rerun
from lerobot.utils.visualization_utils import init_rerun
NUM_EPISODES = 2
FPS = 30
@@ -143,7 +143,7 @@ phone.connect()
# Initialize the keyboard listener and rerun visualization
listener, events = init_keyboard_listener()
_init_rerun(session_name="phone_so100_record")
init_rerun(session_name="phone_so100_record")
if not robot.is_connected or not phone.is_connected:
raise ValueError("Robot or teleop is not connected!")
examples/phone_to_so100/teleoperate.py
+2 -2
View File
@@ -33,7 +33,7 @@ from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
from lerobot.teleoperators.phone.teleop_phone import Phone
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.visualization_utils import _init_rerun, log_rerun_data
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
FPS = 30
@@ -87,7 +87,7 @@ robot.connect()
teleop_device.connect()
# Init rerun viewer
_init_rerun(session_name="phone_so100_teleop")
init_rerun(session_name="phone_so100_teleop")
if not robot.is_connected or not teleop_device.is_connected:
raise ValueError("Robot or teleop is not connected!")
examples/so100_to_so100_EE/evaluate.py
+3 -3
View File
@@ -34,16 +34,16 @@ from lerobot.processor.converters import (
transition_to_observation,
transition_to_robot_action,
)
from lerobot.record import record_loop
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
ForwardKinematicsJointsToEE,
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.scripts.lerobot_record import record_loop
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import _init_rerun
from lerobot.utils.visualization_utils import init_rerun
NUM_EPISODES = 5
FPS = 30
@@ -138,7 +138,7 @@ robot.connect()
# Initialize the keyboard listener and rerun visualization
listener, events = init_keyboard_listener()
_init_rerun(session_name="so100_so100_evaluate")
init_rerun(session_name="so100_so100_evaluate")
if not robot.is_connected:
raise ValueError("Robot is not connected!")
examples/so100_to_so100_EE/record.py
+3 -3
View File
@@ -27,7 +27,6 @@ from lerobot.processor.converters import (
transition_to_observation,
transition_to_robot_action,
)
from lerobot.record import record_loop
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
EEBoundsAndSafety,
@@ -35,11 +34,12 @@ from lerobot.robots.so100_follower.robot_kinematic_processor import (
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.scripts.lerobot_record import record_loop
from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import _init_rerun
from lerobot.utils.visualization_utils import init_rerun
NUM_EPISODES = 2
FPS = 30
@@ -143,7 +143,7 @@ follower.connect()
# Initialize the keyboard listener and rerun visualization
listener, events = init_keyboard_listener()
_init_rerun(session_name="recording_phone")
init_rerun(session_name="recording_phone")
if not leader.is_connected or not follower.is_connected:
raise ValueError("Robot or teleop is not connected!")
examples/so100_to_so100_EE/teleoperate.py
+2 -2
View File
@@ -33,7 +33,7 @@ from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.visualization_utils import _init_rerun, log_rerun_data
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
FPS = 30
@@ -95,7 +95,7 @@ follower.connect()
leader.connect()
# Init rerun viewer
_init_rerun(session_name="so100_so100_EE_teleop")
init_rerun(session_name="so100_so100_EE_teleop")
print("Starting teleop loop...")
while True:
examples/training/train_with_streaming.py
+1 -1
View File
@@ -20,13 +20,13 @@ from pathlib import Path
import torch
from lerobot.configs.types import FeatureType
from lerobot.constants import ACTION
from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
from lerobot.datasets.utils import dataset_to_policy_features
from lerobot.policies.act.configuration_act import ACTConfig
from lerobot.policies.act.modeling_act import ACTPolicy
from lerobot.policies.factory import make_pre_post_processors
from lerobot.utils.constants import ACTION
def main():
pyproject.toml
+13 -9
View File
@@ -162,15 +162,19 @@ all = [
]
[project.scripts]
lerobot-calibrate="lerobot.calibrate:main"
lerobot-find-cameras="lerobot.find_cameras:main"
lerobot-find-port="lerobot.find_port:main"
lerobot-record="lerobot.record:main"
lerobot-replay="lerobot.replay:main"
lerobot-setup-motors="lerobot.setup_motors:main"
lerobot-teleoperate="lerobot.teleoperate:main"
lerobot-eval="lerobot.scripts.eval:main"
lerobot-train="lerobot.scripts.train:main"
lerobot-calibrate="lerobot.scripts.lerobot_calibrate:main"
lerobot-find-cameras="lerobot.scripts.lerobot_find_cameras:main"
lerobot-find-port="lerobot.scripts.lerobot_find_port:main"
lerobot-record="lerobot.scripts.lerobot_record:main"
lerobot-replay="lerobot.scripts.lerobot_replay:main"
lerobot-setup-motors="lerobot.scripts.lerobot_setup_motors:main"
lerobot-teleoperate="lerobot.scripts.lerobot_teleoperate:main"
lerobot-eval="lerobot.scripts.lerobot_eval:main"
lerobot-train="lerobot.scripts.lerobot_train:main"
lerobot-dataset-viz="lerobot.scripts.lerobot_dataset_viz:main"
lerobot-info="lerobot.scripts.lerobot_info:main"
lerobot-find-joint-limits="lerobot.scripts.lerobot_find_joint_limits:main"
lerobot-imgtransform-viz="lerobot.scripts.lerobot_imgtransform_viz:main"
# ---------------- Tool Configurations ----------------
[tool.setuptools.packages.find]
src/lerobot/scripts/server/configs.py → src/lerobot/async_inference/configs.py
+2 -1
View File
@@ -18,7 +18,8 @@ from dataclasses import dataclass, field
import torch
from lerobot.robots.config import RobotConfig
from lerobot.scripts.server.constants import (
from .constants import (
DEFAULT_FPS,
DEFAULT_INFERENCE_LATENCY,
DEFAULT_OBS_QUEUE_TIMEOUT,
src/lerobot/scripts/server/constants.py → src/lerobot/async_inference/constants.py
View File
src/lerobot/scripts/server/helpers.py → src/lerobot/async_inference/helpers.py
+1 -1
View File
@@ -22,7 +22,6 @@ from pathlib import Path
import torch
from lerobot.configs.types import PolicyFeature
from lerobot.constants import OBS_IMAGES, OBS_STATE
from lerobot.datasets.utils import build_dataset_frame, hw_to_dataset_features
# NOTE: Configs need to be loaded for the client to be able to instantiate the policy config
@@ -35,6 +34,7 @@ from lerobot.policies import ( # noqa: F401
VQBeTConfig,
)
from lerobot.robots.robot import Robot
from lerobot.utils.constants import OBS_IMAGES, OBS_STATE
from lerobot.utils.utils import init_logging
Action = torch.Tensor
src/lerobot/scripts/server/policy_server.py → src/lerobot/async_inference/policy_server.py
+10 -9
View File
@@ -15,7 +15,7 @@
"""
Example:
```shell
python src/lerobot/scripts/server/policy_server.py \
python src/lerobot/async_inference/policy_server.py \
--host=127.0.0.1 \
--port=8080 \
--fps=30 \
@@ -38,9 +38,15 @@ import grpc
import torch
from lerobot.policies.factory import get_policy_class
from lerobot.scripts.server.configs import PolicyServerConfig
from lerobot.scripts.server.constants import SUPPORTED_POLICIES
from lerobot.scripts.server.helpers import (
from lerobot.transport import (
services_pb2, # type: ignore
services_pb2_grpc, # type: ignore
)
from lerobot.transport.utils import receive_bytes_in_chunks
from .configs import PolicyServerConfig
from .constants import SUPPORTED_POLICIES
from .helpers import (
FPSTracker,
Observation,
RemotePolicyConfig,
@@ -50,11 +56,6 @@ from lerobot.scripts.server.helpers import (
observations_similar,
raw_observation_to_observation,
)
from lerobot.transport import (
services_pb2, # type: ignore
services_pb2_grpc, # type: ignore
)
from lerobot.transport.utils import receive_bytes_in_chunks
class PolicyServer(services_pb2_grpc.AsyncInferenceServicer):
src/lerobot/scripts/server/robot_client.py → src/lerobot/async_inference/robot_client.py
+10 -9
View File
@@ -15,7 +15,7 @@
"""
Example command:
```shell
python src/lerobot/scripts/server/robot_client.py \
python src/lerobot/async_inference/robot_client.py \
--robot.type=so100_follower \
--robot.port=/dev/tty.usbmodem58760431541 \
--robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 1920, height: 1080, fps: 30}}" \
@@ -57,9 +57,15 @@ from lerobot.robots import ( # noqa: F401
so100_follower,
so101_follower,
)
from lerobot.scripts.server.configs import RobotClientConfig
from lerobot.scripts.server.constants import SUPPORTED_ROBOTS
from lerobot.scripts.server.helpers import (
from lerobot.transport import (
services_pb2, # type: ignore
services_pb2_grpc, # type: ignore
)
from lerobot.transport.utils import grpc_channel_options, send_bytes_in_chunks
from .configs import RobotClientConfig
from .constants import SUPPORTED_ROBOTS
from .helpers import (
Action,
FPSTracker,
Observation,
@@ -72,11 +78,6 @@ from lerobot.scripts.server.helpers import (
validate_robot_cameras_for_policy,
visualize_action_queue_size,
)
from lerobot.transport import (
services_pb2, # type: ignore
services_pb2_grpc, # type: ignore
)
from lerobot.transport.utils import grpc_channel_options, send_bytes_in_chunks
class RobotClient:
src/lerobot/cameras/opencv/camera_opencv.py
+1 -1
View File
@@ -31,7 +31,7 @@ if platform.system() == "Windows" and "OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"
import cv2
import numpy as np
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..camera import Camera
from ..utils import get_cv2_backend, get_cv2_rotation
src/lerobot/cameras/reachy2_camera/reachy2_camera.py
+1 -1
View File
@@ -31,7 +31,7 @@ import numpy as np
from reachy2_sdk.media.camera import CameraView
from reachy2_sdk.media.camera_manager import CameraManager
from lerobot.errors import DeviceNotConnectedError
from lerobot.utils.errors import DeviceNotConnectedError
from ..camera import Camera
from .configuration_reachy2_camera import ColorMode, Reachy2CameraConfig
src/lerobot/cameras/realsense/camera_realsense.py
+1 -1
View File
@@ -29,7 +29,7 @@ try:
except Exception as e:
logging.info(f"Could not import realsense: {e}")
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..camera import Camera
from ..configs import ColorMode
src/lerobot/configs/policies.py
+2 -3
View File
@@ -27,9 +27,9 @@ from huggingface_hub.constants import CONFIG_NAME
from huggingface_hub.errors import HfHubHTTPError
from lerobot.configs.types import FeatureType, PolicyFeature
from lerobot.constants import ACTION, OBS_STATE
from lerobot.optim.optimizers import OptimizerConfig
from lerobot.optim.schedulers import LRSchedulerConfig
from lerobot.utils.constants import ACTION, OBS_STATE
from lerobot.utils.hub import HubMixin
from lerobot.utils.utils import auto_select_torch_device, is_amp_available, is_torch_device_available
@@ -198,10 +198,9 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
config = json.load(f)
config.pop("type")
with tempfile.NamedTemporaryFile("w+") as f:
with tempfile.NamedTemporaryFile("w+", delete=False, suffix=".json") as f:
json.dump(config, f)
config_file = f.name
f.flush()
cli_overrides = policy_kwargs.pop("cli_overrides", [])
with draccus.config_type("json"):
src/lerobot/datasets/lerobot_dataset.py
+1 -1
View File
@@ -31,7 +31,6 @@ import torch.utils
from huggingface_hub import HfApi, snapshot_download
from huggingface_hub.errors import RevisionNotFoundError
from lerobot.constants import HF_LEROBOT_HOME
from lerobot.datasets.compute_stats import aggregate_stats, compute_episode_stats
from lerobot.datasets.image_writer import AsyncImageWriter, write_image
from lerobot.datasets.utils import (
@@ -79,6 +78,7 @@ from lerobot.datasets.video_utils import (
get_video_duration_in_s,
get_video_info,
)
from lerobot.utils.constants import HF_LEROBOT_HOME
CODEBASE_VERSION = "v3.0"
src/lerobot/datasets/pipeline_features.py
+1 -1
View File
@@ -17,9 +17,9 @@ from collections.abc import Sequence
from typing import Any
from lerobot.configs.types import PipelineFeatureType
from lerobot.constants import ACTION, OBS_IMAGES, OBS_STATE
from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.processor import DataProcessorPipeline
from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE
def create_initial_features(
src/lerobot/datasets/streaming_dataset.py
+1 -1
View File
@@ -21,7 +21,6 @@ import numpy as np
import torch
from datasets import load_dataset
from lerobot.constants import HF_LEROBOT_HOME, LOOKAHEAD_BACKTRACKTABLE, LOOKBACK_BACKTRACKTABLE
from lerobot.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDatasetMetadata
from lerobot.datasets.utils import (
Backtrackable,
@@ -38,6 +37,7 @@ from lerobot.datasets.video_utils import (
VideoDecoderCache,
decode_video_frames_torchcodec,
)
from lerobot.utils.constants import HF_LEROBOT_HOME, LOOKAHEAD_BACKTRACKTABLE, LOOKBACK_BACKTRACKTABLE
class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
src/lerobot/datasets/v30/convert_dataset_v21_to_v30.py
+2 -2
View File
@@ -46,7 +46,6 @@ from datasets import Dataset, Features, Image
from huggingface_hub import HfApi, snapshot_download
from requests import HTTPError
from lerobot.constants import HF_LEROBOT_HOME
from lerobot.datasets.compute_stats import aggregate_stats
from lerobot.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset
from lerobot.datasets.utils import (
@@ -71,6 +70,7 @@ from lerobot.datasets.utils import (
write_tasks,
)
from lerobot.datasets.video_utils import concatenate_video_files, get_video_duration_in_s
from lerobot.utils.constants import HF_LEROBOT_HOME
V21 = "v2.1"
@@ -404,7 +404,7 @@ def convert_info(root, new_root, data_file_size_in_mb, video_file_size_in_mb):
info["video_files_size_in_mb"] = video_file_size_in_mb
info["data_path"] = DEFAULT_DATA_PATH
info["video_path"] = DEFAULT_VIDEO_PATH
info["fps"] = float(info["fps"])
info["fps"] = int(info["fps"])
for key in info["features"]:
if info["features"][key]["dtype"] == "video":
# already has fps in video_info
src/lerobot/envs/configs.py
+1 -1
View File
@@ -19,9 +19,9 @@ from typing import Any
import draccus
from lerobot.configs.types import FeatureType, PolicyFeature
from lerobot.constants import ACTION, OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
from lerobot.robots import RobotConfig
from lerobot.teleoperators.config import TeleoperatorConfig
from lerobot.utils.constants import ACTION, OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
@dataclass
src/lerobot/motors/dynamixel/dynamixel.py
+1 -1
View File
@@ -22,7 +22,7 @@ import logging
from copy import deepcopy
from enum import Enum
from lerobot.utils.encoding_utils import decode_twos_complement, encode_twos_complement
from lerobot.motors.encoding_utils import decode_twos_complement, encode_twos_complement
from ..motors_bus import Motor, MotorCalibration, MotorsBus, NameOrID, Value, get_address
from .tables import (
src/lerobot/utils/encoding_utils.py → src/lerobot/motors/encoding_utils.py
View File
src/lerobot/motors/feetech/feetech.py
+1 -1
View File
@@ -17,7 +17,7 @@ from copy import deepcopy
from enum import Enum
from pprint import pformat
from lerobot.utils.encoding_utils import decode_sign_magnitude, encode_sign_magnitude
from lerobot.motors.encoding_utils import decode_sign_magnitude, encode_sign_magnitude
from ..motors_bus import Motor, MotorCalibration, MotorsBus, NameOrID, Value, get_address
from .tables import (
src/lerobot/motors/motors_bus.py
+1 -1
View File
@@ -32,7 +32,7 @@ import serial
from deepdiff import DeepDiff
from tqdm import tqdm
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.utils import enter_pressed, move_cursor_up
NameOrID: TypeAlias = str | int
src/lerobot/optim/optimizers.py
+2 -2
View File
@@ -22,11 +22,11 @@ import draccus
import torch
from safetensors.torch import load_file, save_file
from lerobot.constants import (
from lerobot.datasets.utils import flatten_dict, unflatten_dict, write_json
from lerobot.utils.constants import (
OPTIMIZER_PARAM_GROUPS,
OPTIMIZER_STATE,
)
from lerobot.datasets.utils import flatten_dict, unflatten_dict, write_json
from lerobot.utils.io_utils import deserialize_json_into_object
src/lerobot/optim/schedulers.py
+1 -1
View File
@@ -22,8 +22,8 @@ import draccus
from torch.optim import Optimizer
from torch.optim.lr_scheduler import LambdaLR, LRScheduler
from lerobot.constants import SCHEDULER_STATE
from lerobot.datasets.utils import write_json
from lerobot.utils.constants import SCHEDULER_STATE
from lerobot.utils.io_utils import deserialize_json_into_object
src/lerobot/policies/act/modeling_act.py
+1 -1
View File
@@ -33,9 +33,9 @@ from torch import Tensor, nn
from torchvision.models._utils import IntermediateLayerGetter
from torchvision.ops.misc import FrozenBatchNorm2d
from lerobot.constants import ACTION, OBS_IMAGES
from lerobot.policies.act.configuration_act import ACTConfig
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.utils.constants import ACTION, OBS_IMAGES
class ACTPolicy(PreTrainedPolicy):
src/lerobot/policies/act/processor_act.py
+1 -1
View File
@@ -17,7 +17,6 @@ from typing import Any
import torch
from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
from lerobot.policies.act.configuration_act import ACTConfig
from lerobot.processor import (
AddBatchDimensionProcessorStep,
@@ -29,6 +28,7 @@ from lerobot.processor import (
UnnormalizerProcessorStep,
)
from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
def make_act_pre_post_processors(
src/lerobot/policies/diffusion/modeling_diffusion.py
+1 -1
View File
@@ -33,7 +33,6 @@ from diffusers.schedulers.scheduling_ddim import DDIMScheduler
from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
from torch import Tensor, nn
from lerobot.constants import ACTION, OBS_ENV_STATE, OBS_IMAGES, OBS_STATE
from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.policies.utils import (
@@ -42,6 +41,7 @@ from lerobot.policies.utils import (
get_output_shape,
populate_queues,
)
from lerobot.utils.constants import ACTION, OBS_ENV_STATE, OBS_IMAGES, OBS_STATE
class DiffusionPolicy(PreTrainedPolicy):
src/lerobot/policies/diffusion/processor_diffusion.py
+1 -1
View File
@@ -18,7 +18,6 @@ from typing import Any
import torch
from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
from lerobot.processor import (
AddBatchDimensionProcessorStep,
@@ -30,6 +29,7 @@ from lerobot.processor import (
UnnormalizerProcessorStep,
)
from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
def make_diffusion_pre_post_processors(
src/lerobot/policies/factory.py
+1 -1
View File
@@ -24,7 +24,6 @@ from typing_extensions import Unpack
from lerobot.configs.policies import PreTrainedConfig
from lerobot.configs.types import FeatureType
from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
from lerobot.datasets.utils import dataset_to_policy_features
from lerobot.envs.configs import EnvConfig
@@ -47,6 +46,7 @@ from lerobot.processor.converters import (
transition_to_batch,
transition_to_policy_action,
)
from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
def get_policy_class(name: str) -> type[PreTrainedPolicy]:
src/lerobot/policies/pi0/processor_pi0.py
+1 -1
View File
@@ -19,7 +19,6 @@ from typing import Any
import torch
from lerobot.configs.types import PipelineFeatureType, PolicyFeature
from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
from lerobot.policies.pi0.configuration_pi0 import PI0Config
from lerobot.processor import (
AddBatchDimensionProcessorStep,
@@ -35,6 +34,7 @@ from lerobot.processor import (
UnnormalizerProcessorStep,
)
from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
@ProcessorStepRegistry.register(name="pi0_new_line_processor")
src/lerobot/policies/pi0fast/modeling_pi0fast.py
+1 -1
View File
@@ -57,9 +57,9 @@ from transformers import AutoProcessor, AutoTokenizer, PaliGemmaForConditionalGe
from transformers.cache_utils import HybridCache, StaticCache
from transformers.models.auto import CONFIG_MAPPING
from lerobot.constants import ACTION, OBS_STATE
from lerobot.policies.pi0fast.configuration_pi0fast import PI0FASTConfig
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.utils.constants import ACTION, OBS_STATE
PRECISION = {
"float16": torch.float16,
src/lerobot/policies/pi0fast/processor_pi0fast.py
+1 -1
View File
@@ -18,7 +18,6 @@ from typing import Any
import torch
from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
from lerobot.policies.pi0fast.configuration_pi0fast import PI0FASTConfig
from lerobot.processor import (
AddBatchDimensionProcessorStep,
@@ -30,6 +29,7 @@ from lerobot.processor import (
UnnormalizerProcessorStep,
)
from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
def make_pi0fast_pre_post_processors(
src/lerobot/policies/pretrained.py
+3 -1
View File
@@ -246,7 +246,9 @@ class PreTrainedPolicy(nn.Module, HubMixin, abc.ABC):
base_model=base_model,
)
template_card = files("lerobot.templates").joinpath("lerobot_modelcard_template.md").read_text()
template_card = (
files("lerobot.templates").joinpath("lerobot_modelcard_template.md").read_text(encoding="utf-8")
)
card = ModelCard.from_template(card_data, template_str=template_card)
card.validate()
return card
src/lerobot/policies/sac/configuration_sac.py
+1 -1
View File
@@ -19,8 +19,8 @@ from dataclasses import dataclass, field
from lerobot.configs.policies import PreTrainedConfig
from lerobot.configs.types import NormalizationMode
from lerobot.constants import ACTION, OBS_IMAGE, OBS_STATE
from lerobot.optim.optimizers import MultiAdamConfig
from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
def is_image_feature(key: str) -> bool:
src/lerobot/policies/sac/processor_sac.py
+1 -1
View File
@@ -19,7 +19,6 @@ from typing import Any
import torch
from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
from lerobot.policies.sac.configuration_sac import SACConfig
from lerobot.processor import (
AddBatchDimensionProcessorStep,
@@ -31,6 +30,7 @@ from lerobot.processor import (
UnnormalizerProcessorStep,
)
from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
def make_sac_pre_post_processors(
src/lerobot/policies/sac/reward_model/modeling_classifier.py
+1 -1
View File
@@ -19,9 +19,9 @@ import logging
import torch
from torch import Tensor, nn
from lerobot.constants import OBS_IMAGE, REWARD
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
from lerobot.utils.constants import OBS_IMAGE, REWARD
class ClassifierOutput:
src/lerobot/policies/smolvla/modeling_smolvla.py
+1 -1
View File
@@ -59,13 +59,13 @@ import torch
import torch.nn.functional as F # noqa: N812
from torch import Tensor, nn
from lerobot.constants import ACTION, OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS, OBS_STATE
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
from lerobot.policies.smolvla.smolvlm_with_expert import SmolVLMWithExpertModel
from lerobot.policies.utils import (
populate_queues,
)
from lerobot.utils.constants import ACTION, OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS, OBS_STATE
from lerobot.utils.utils import get_safe_dtype
src/lerobot/policies/smolvla/processor_smolvla.py
+1 -1
View File
@@ -19,7 +19,6 @@ from typing import Any
import torch
from lerobot.configs.types import PipelineFeatureType, PolicyFeature
from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
from lerobot.processor import (
AddBatchDimensionProcessorStep,
@@ -34,6 +33,7 @@ from lerobot.processor import (
UnnormalizerProcessorStep,
)
from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
def make_smolvla_pre_post_processors(
src/lerobot/policies/tdmpc/modeling_tdmpc.py
+1 -1
View File
@@ -35,10 +35,10 @@ import torch.nn as nn
import torch.nn.functional as F # noqa: N812
from torch import Tensor
from lerobot.constants import ACTION, OBS_ENV_STATE, OBS_IMAGE, OBS_STATE, REWARD
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
from lerobot.policies.utils import get_device_from_parameters, get_output_shape, populate_queues
from lerobot.utils.constants import ACTION, OBS_ENV_STATE, OBS_IMAGE, OBS_STATE, REWARD
class TDMPCPolicy(PreTrainedPolicy):
src/lerobot/policies/tdmpc/processor_tdmpc.py
+1 -1
View File
@@ -18,7 +18,6 @@ from typing import Any
import torch
from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
from lerobot.processor import (
AddBatchDimensionProcessorStep,
@@ -30,6 +29,7 @@ from lerobot.processor import (
UnnormalizerProcessorStep,
)
from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
def make_tdmpc_pre_post_processors(
src/lerobot/policies/vqbet/modeling_vqbet.py
+1 -1
View File
@@ -27,11 +27,11 @@ import torch.nn.functional as F # noqa: N812
import torchvision
from torch import Tensor, nn
from lerobot.constants import ACTION, OBS_IMAGES, OBS_STATE
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.policies.utils import get_device_from_parameters, get_output_shape, populate_queues
from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
from lerobot.policies.vqbet.vqbet_utils import GPT, ResidualVQ
from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE
# ruff: noqa: N806
src/lerobot/policies/vqbet/processor_vqbet.py
+1 -1
View File
@@ -19,7 +19,6 @@ from typing import Any
import torch
from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
from lerobot.processor import (
AddBatchDimensionProcessorStep,
@@ -31,6 +30,7 @@ from lerobot.processor import (
UnnormalizerProcessorStep,
)
from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
def make_vqbet_pre_post_processors(
src/lerobot/processor/batch_processor.py
+1 -1
View File
@@ -25,7 +25,7 @@ from dataclasses import dataclass, field
from torch import Tensor
from lerobot.configs.types import PipelineFeatureType, PolicyFeature
from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
from lerobot.utils.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
from .core import EnvTransition, PolicyAction
from .pipeline import (
src/lerobot/processor/joint_observations_processor.py
+1 -1
View File
@@ -20,12 +20,12 @@ from typing import Any
import torch
from lerobot.configs.types import PipelineFeatureType, PolicyFeature
from lerobot.constants import OBS_STATE
from lerobot.processor.pipeline import (
ObservationProcessorStep,
ProcessorStepRegistry,
)
from lerobot.robots import Robot
from lerobot.utils.constants import OBS_STATE
@dataclass
src/lerobot/processor/observation_processor.py
+1 -1
View File
@@ -21,7 +21,7 @@ import torch
from torch import Tensor
from lerobot.configs.types import PipelineFeatureType, PolicyFeature
from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
from lerobot.utils.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
from .pipeline import ObservationProcessorStep, ProcessorStepRegistry
src/lerobot/processor/pipeline.py
+1 -1
View File
@@ -422,7 +422,7 @@ class DataProcessorPipeline(HubMixin, Generic[TInput, TOutput]):
"""
if save_directory is None:
# Use default directory in HF_LEROBOT_HOME
from lerobot.constants import HF_LEROBOT_HOME
from lerobot.utils.constants import HF_LEROBOT_HOME
sanitized_name = re.sub(r"[^a-zA-Z0-9_]", "_", self.name.lower())
save_directory = HF_LEROBOT_HOME / "processors" / sanitized_name
src/lerobot/processor/tokenizer_processor.py
+1 -1
View File
@@ -29,7 +29,7 @@ from typing import TYPE_CHECKING, Any
import torch
from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
from lerobot.constants import OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS
from lerobot.utils.constants import OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS
from lerobot.utils.import_utils import _transformers_available
from .core import EnvTransition, TransitionKey
src/lerobot/scripts/rl/actor.py → src/lerobot/rl/actor.py
+11 -10
View File
@@ -24,7 +24,7 @@ Examples of usage:
- Start an actor server for real robot training with human-in-the-loop intervention:
```bash
python -m lerobot.scripts.rl.actor --config_path src/lerobot/configs/train_config_hilserl_so100.json
python -m lerobot.rl.actor --config_path src/lerobot/configs/train_config_hilserl_so100.json
```
**NOTE**: The actor server requires a running learner server to connect to. Ensure the learner
@@ -35,7 +35,7 @@ gamepad to take control of the robot during training. Initially intervene freque
reduce interventions as the policy improves.
**WORKFLOW**:
1. Determine robot workspace bounds using `find_joint_limits.py`
1. Determine robot workspace bounds using `lerobot-find-joint-limits`
2. Record demonstrations with `gym_manipulator.py` in record mode
3. Process the dataset and determine camera crops with `crop_dataset_roi.py`
4. Start the learner server with the training configuration
@@ -63,13 +63,9 @@ from lerobot.configs.train import TrainRLServerPipelineConfig
from lerobot.policies.factory import make_policy
from lerobot.policies.sac.modeling_sac import SACPolicy
from lerobot.processor import TransitionKey
from lerobot.rl.process import ProcessSignalHandler
from lerobot.rl.queue import get_last_item_from_queue
from lerobot.robots import so100_follower # noqa: F401
from lerobot.scripts.rl.gym_manipulator import (
create_transition,
make_processors,
make_robot_env,
step_env_and_process_transition,
)
from lerobot.teleoperators import gamepad, so101_leader # noqa: F401
from lerobot.teleoperators.utils import TeleopEvents
from lerobot.transport import services_pb2, services_pb2_grpc
@@ -81,8 +77,6 @@ from lerobot.transport.utils import (
send_bytes_in_chunks,
transitions_to_bytes,
)
from lerobot.utils.process import ProcessSignalHandler
from lerobot.utils.queue import get_last_item_from_queue
from lerobot.utils.random_utils import set_seed
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.transition import (
@@ -96,6 +90,13 @@ from lerobot.utils.utils import (
init_logging,
)
from .gym_manipulator import (
create_transition,
make_processors,
make_robot_env,
step_env_and_process_transition,
)
ACTOR_SHUTDOWN_TIMEOUT = 30
# Main entry point
src/lerobot/utils/buffer.py → src/lerobot/rl/buffer.py
View File
src/lerobot/scripts/rl/crop_dataset_roi.py → src/lerobot/rl/crop_dataset_roi.py
View File
src/lerobot/scripts/rl/eval_policy.py → src/lerobot/rl/eval_policy.py
+2 -1
View File
@@ -25,12 +25,13 @@ from lerobot.robots import ( # noqa: F401
make_robot_from_config,
so100_follower,
)
from lerobot.scripts.rl.gym_manipulator import make_robot_env
from lerobot.teleoperators import (
gamepad, # noqa: F401
so101_leader, # noqa: F401
)
from .gym_manipulator import make_robot_env
logging.basicConfig(level=logging.INFO)
src/lerobot/scripts/rl/gym_manipulator.py → src/lerobot/rl/gym_manipulator.py
View File
src/lerobot/scripts/rl/learner.py → src/lerobot/rl/learner.py
+16 -15
View File
@@ -25,7 +25,7 @@ Examples of usage:
- Start a learner server for training:
```bash
python -m lerobot.scripts.rl.learner --config_path src/lerobot/configs/train_config_hilserl_so100.json
python -m lerobot.rl.learner --config_path src/lerobot/configs/train_config_hilserl_so100.json
```
**NOTE**: Start the learner server before launching the actor server. The learner opens a gRPC server
@@ -62,18 +62,14 @@ from torch.optim.optimizer import Optimizer
from lerobot.cameras import opencv # noqa: F401
from lerobot.configs import parser
from lerobot.configs.train import TrainRLServerPipelineConfig
from lerobot.constants import (
CHECKPOINTS_DIR,
LAST_CHECKPOINT_LINK,
PRETRAINED_MODEL_DIR,
TRAINING_STATE_DIR,
)
from lerobot.datasets.factory import make_dataset
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.policies.factory import make_policy
from lerobot.policies.sac.modeling_sac import SACPolicy
from lerobot.rl.buffer import ReplayBuffer, concatenate_batch_transitions
from lerobot.rl.process import ProcessSignalHandler
from lerobot.rl.wandb_utils import WandBLogger
from lerobot.robots import so100_follower # noqa: F401
from lerobot.scripts.rl import learner_service
from lerobot.teleoperators import gamepad, so101_leader # noqa: F401
from lerobot.teleoperators.utils import TeleopEvents
from lerobot.transport import services_pb2_grpc
@@ -83,8 +79,12 @@ from lerobot.transport.utils import (
bytes_to_transitions,
state_to_bytes,
)
from lerobot.utils.buffer import ReplayBuffer, concatenate_batch_transitions
from lerobot.utils.process import ProcessSignalHandler
from lerobot.utils.constants import (
CHECKPOINTS_DIR,
LAST_CHECKPOINT_LINK,
PRETRAINED_MODEL_DIR,
TRAINING_STATE_DIR,
)
from lerobot.utils.random_utils import set_seed
from lerobot.utils.train_utils import (
get_step_checkpoint_dir,
@@ -98,7 +98,8 @@ from lerobot.utils.utils import (
get_safe_torch_device,
init_logging,
)
from lerobot.utils.wandb_utils import WandBLogger
from .learner_service import MAX_WORKERS, SHUTDOWN_TIMEOUT, LearnerService
LOG_PREFIX = "[LEARNER]"
@@ -152,7 +153,7 @@ def train(cfg: TrainRLServerPipelineConfig, job_name: str | None = None):
# Setup WandB logging if enabled
if cfg.wandb.enable and cfg.wandb.project:
from lerobot.utils.wandb_utils import WandBLogger
from lerobot.rl.wandb_utils import WandBLogger
wandb_logger = WandBLogger(cfg)
else:
@@ -639,7 +640,7 @@ def start_learner(
# TODO: Check if its useful
_ = ProcessSignalHandler(False, display_pid=True)
service = learner_service.LearnerService(
service = LearnerService(
shutdown_event=shutdown_event,
parameters_queue=parameters_queue,
seconds_between_pushes=cfg.policy.actor_learner_config.policy_parameters_push_frequency,
@@ -649,7 +650,7 @@ def start_learner(
)
server = grpc.server(
ThreadPoolExecutor(max_workers=learner_service.MAX_WORKERS),
ThreadPoolExecutor(max_workers=MAX_WORKERS),
options=[
("grpc.max_receive_message_length", MAX_MESSAGE_SIZE),
("grpc.max_send_message_length", MAX_MESSAGE_SIZE),
@@ -670,7 +671,7 @@ def start_learner(
shutdown_event.wait()
logging.info("[LEARNER] Stopping gRPC server...")
server.stop(learner_service.SHUTDOWN_TIMEOUT)
server.stop(SHUTDOWN_TIMEOUT)
logging.info("[LEARNER] gRPC server stopped")
src/lerobot/scripts/rl/learner_service.py → src/lerobot/rl/learner_service.py
+1 -1
View File
@@ -19,9 +19,9 @@ import logging
import time
from multiprocessing import Event, Queue
from lerobot.rl.queue import get_last_item_from_queue
from lerobot.transport import services_pb2, services_pb2_grpc
from lerobot.transport.utils import receive_bytes_in_chunks, send_bytes_in_chunks
from lerobot.utils.queue import get_last_item_from_queue
MAX_WORKERS = 3 # Stream parameters, send transitions and interactions
SHUTDOWN_TIMEOUT = 10
src/lerobot/utils/process.py → src/lerobot/rl/process.py
View File
src/lerobot/utils/queue.py → src/lerobot/rl/queue.py
View File
src/lerobot/utils/wandb_utils.py → src/lerobot/rl/wandb_utils.py
+1 -1
View File
@@ -23,7 +23,7 @@ from huggingface_hub.constants import SAFETENSORS_SINGLE_FILE
from termcolor import colored
from lerobot.configs.train import TrainPipelineConfig
from lerobot.constants import PRETRAINED_MODEL_DIR
from lerobot.utils.constants import PRETRAINED_MODEL_DIR
def cfg_to_group(cfg: TrainPipelineConfig, return_list: bool = False) -> list[str] | str:
src/lerobot/robots/hope_jr/hope_jr_arm.py
+1 -1
View File
@@ -20,12 +20,12 @@ from functools import cached_property
from typing import Any
from lerobot.cameras.utils import make_cameras_from_configs
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.motors import Motor, MotorNormMode
from lerobot.motors.calibration_gui import RangeFinderGUI
from lerobot.motors.feetech import (
FeetechMotorsBus,
)
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..robot import Robot
from ..utils import ensure_safe_goal_position
src/lerobot/robots/hope_jr/hope_jr_hand.py
+1 -1
View File
@@ -20,12 +20,12 @@ from functools import cached_property
from typing import Any
from lerobot.cameras.utils import make_cameras_from_configs
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.motors import Motor, MotorNormMode
from lerobot.motors.calibration_gui import RangeFinderGUI
from lerobot.motors.feetech import (
FeetechMotorsBus,
)
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..robot import Robot
from .config_hope_jr import HopeJrHandConfig
src/lerobot/robots/koch_follower/koch_follower.py
+1 -1
View File
@@ -20,12 +20,12 @@ from functools import cached_property
from typing import Any
from lerobot.cameras.utils import make_cameras_from_configs
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.motors.dynamixel import (
DynamixelMotorsBus,
OperatingMode,
)
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..robot import Robot
from ..utils import ensure_safe_goal_position
src/lerobot/robots/lekiwi/lekiwi.py
+1 -1
View File
@@ -23,12 +23,12 @@ from typing import Any
import numpy as np
from lerobot.cameras.utils import make_cameras_from_configs
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.motors.feetech import (
FeetechMotorsBus,
OperatingMode,
)
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..robot import Robot
from ..utils import ensure_safe_goal_position
src/lerobot/robots/lekiwi/lekiwi_client.py
+1 -1
View File
@@ -23,7 +23,7 @@ from typing import Any
import cv2
import numpy as np
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..robot import Robot
from .config_lekiwi import LeKiwiClientConfig
src/lerobot/robots/robot.py
+1 -1
View File
@@ -19,8 +19,8 @@ from typing import Any
import draccus
from lerobot.constants import HF_LEROBOT_CALIBRATION, ROBOTS
from lerobot.motors import MotorCalibration
from lerobot.utils.constants import HF_LEROBOT_CALIBRATION, ROBOTS
from .config import RobotConfig
src/lerobot/robots/so100_follower/so100_follower.py
+1 -1
View File
@@ -20,12 +20,12 @@ from functools import cached_property
from typing import Any
from lerobot.cameras.utils import make_cameras_from_configs
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.motors.feetech import (
FeetechMotorsBus,
OperatingMode,
)
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..robot import Robot
from ..utils import ensure_safe_goal_position
src/lerobot/robots/so101_follower/so101_follower.py
+1 -1
View File
@@ -20,12 +20,12 @@ from functools import cached_property
from typing import Any
from lerobot.cameras.utils import make_cameras_from_configs
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.motors.feetech import (
FeetechMotorsBus,
OperatingMode,
)
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..robot import Robot
from ..utils import ensure_safe_goal_position
src/lerobot/robots/stretch3/robot_stretch3.py
+1 -1
View File
@@ -22,8 +22,8 @@ from stretch_body.robot import Robot as StretchAPI
from stretch_body.robot_params import RobotParams
from lerobot.cameras.utils import make_cameras_from_configs
from lerobot.constants import OBS_IMAGES, OBS_STATE
from lerobot.datasets.utils import get_nested_item
from lerobot.utils.constants import OBS_IMAGES, OBS_STATE
from ..robot import Robot
from .configuration_stretch3 import Stretch3RobotConfig
src/lerobot/robots/viperx/README.md
+1 -1
View File
@@ -118,7 +118,7 @@ echo ${HF_USER}/aloha_test
If you didn't upload with `--control.push_to_hub=false`, you can also visualize it locally with [Rerun](https://github.com/rerun-io/rerun):
```bash
python -m lerobot.scripts.visualize_dataset \
lerobot-dataset-viz \
--repo-id ${HF_USER}/aloha_test --episode 0
```
src/lerobot/robots/viperx/viperx.py
+2 -2
View File
@@ -18,13 +18,13 @@ from functools import cached_property
from typing import Any
from lerobot.cameras.utils import make_cameras_from_configs
from lerobot.constants import OBS_STATE
from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from lerobot.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.motors.dynamixel import (
DynamixelMotorsBus,
OperatingMode,
)
from lerobot.utils.constants import OBS_STATE
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..robot import Robot
from ..utils import ensure_safe_goal_position
src/lerobot/scripts/display_sys_info.py
-90
View File
@@ -1,90 +0,0 @@
#!/usr/bin/env python
# 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.
"""Use this script to get a quick summary of your system config.
It should be able to run without any of LeRobot's dependencies or LeRobot itself installed.
"""
import platform
HAS_HF_HUB = True
HAS_HF_DATASETS = True
HAS_NP = True
HAS_TORCH = True
HAS_LEROBOT = True
try:
import huggingface_hub
except ImportError:
HAS_HF_HUB = False
try:
import datasets
except ImportError:
HAS_HF_DATASETS = False
try:
import numpy as np
except ImportError:
HAS_NP = False
try:
import torch
except ImportError:
HAS_TORCH = False
try:
import lerobot
except ImportError:
HAS_LEROBOT = False
lerobot_version = lerobot.__version__ if HAS_LEROBOT else "N/A"
hf_hub_version = huggingface_hub.__version__ if HAS_HF_HUB else "N/A"
hf_datasets_version = datasets.__version__ if HAS_HF_DATASETS else "N/A"
np_version = np.__version__ if HAS_NP else "N/A"
torch_version = torch.__version__ if HAS_TORCH else "N/A"
torch_cuda_available = torch.cuda.is_available() if HAS_TORCH else "N/A"
cuda_version = torch._C._cuda_getCompiledVersion() if HAS_TORCH and torch.version.cuda is not None else "N/A"
# TODO(aliberts): refactor into an actual command `lerobot env`
def display_sys_info() -> dict:
"""Run this to get basic system info to help for tracking issues & bugs."""
info = {
"`lerobot` version": lerobot_version,
"Platform": platform.platform(),
"Python version": platform.python_version(),
"Huggingface_hub version": hf_hub_version,
"Dataset version": hf_datasets_version,
"Numpy version": np_version,
"PyTorch version (GPU?)": f"{torch_version} ({torch_cuda_available})",
"Cuda version": cuda_version,
"Using GPU in script?": "<fill in>",
# "Using distributed or parallel set-up in script?": "<fill in>",
}
print("\nCopy-and-paste the text below in your GitHub issue and FILL OUT the last point.\n")
print(format_dict(info))
return info
def format_dict(d: dict) -> str:
return "\n".join([f"- {prop}: {val}" for prop, val in d.items()]) + "\n"
if __name__ == "__main__":
display_sys_info()
src/lerobot/calibrate.py → src/lerobot/scripts/lerobot_calibrate.py
View File
src/lerobot/scripts/visualize_dataset.py → src/lerobot/scripts/lerobot_dataset_viz.py
+3 -3
View File
@@ -29,14 +29,14 @@ Examples:
- Visualize data stored on a local machine:
```
local$ python -m lerobot.scripts.visualize_dataset \
local$ lerobot-dataset-viz \
--repo-id lerobot/pusht \
--episode-index 0
```
- Visualize data stored on a distant machine with a local viewer:
```
distant$ python -m lerobot.scripts.visualize_dataset \
distant$ lerobot-dataset-viz \
--repo-id lerobot/pusht \
--episode-index 0 \
--save 1 \
@@ -50,7 +50,7 @@ local$ rerun lerobot_pusht_episode_0.rrd
(You need to forward the websocket port to the distant machine, with
`ssh -L 9087:localhost:9087 username@remote-host`)
```
distant$ python -m lerobot.scripts.visualize_dataset \
distant$ lerobot-dataset-viz \
--repo-id lerobot/pusht \
--episode-index 0 \
--mode distant \
src/lerobot/scripts/eval.py → src/lerobot/scripts/lerobot_eval.py
View File
src/lerobot/find_cameras.py → src/lerobot/scripts/lerobot_find_cameras.py
+1 -1
View File
@@ -24,7 +24,7 @@ lerobot-find-cameras
```
"""
# NOTE(Steven): RealSense can also be identified/opened as OpenCV cameras. If you know the camera is a RealSense, use the `lerobot.find_cameras realsense` flag to avoid confusion.
# NOTE(Steven): RealSense can also be identified/opened as OpenCV cameras. If you know the camera is a RealSense, use the `lerobot-find-cameras realsense` flag to avoid confusion.
# NOTE(Steven): macOS cameras sometimes report different FPS at init time, not an issue here as we don't specify FPS when opening the cameras, but the information displayed might not be truthful.
import argparse
src/lerobot/scripts/find_joint_limits.py → src/lerobot/scripts/lerobot_find_joint_limits.py
+6 -2
View File
@@ -20,7 +20,7 @@ Simple script to control a robot from teleoperation.
Example:
```shell
python -m lerobot.scripts.server.find_joint_limits \
lerobot-find-joint-limits \
--robot.type=so100_follower \
--robot.port=/dev/tty.usbmodem58760431541 \
--robot.id=black \
@@ -117,5 +117,9 @@ def find_joint_and_ee_bounds(cfg: FindJointLimitsConfig):
busy_wait(0.01)
if __name__ == "__main__":
def main():
find_joint_and_ee_bounds()
if __name__ == "__main__":
main()
src/lerobot/find_port.py → src/lerobot/scripts/lerobot_find_port.py
View File
src/lerobot/scripts/visualize_image_transforms.py → src/lerobot/scripts/lerobot_imgtransform_viz.py
+6 -2
View File
@@ -20,7 +20,7 @@ Additionally, each individual transform can be visualized separately as well as
Example:
```bash
python -m lerobot.scripts.visualize_image_transforms \
lerobot-imgtransform-viz \
--repo_id=lerobot/pusht \
--episodes='[0]' \
--image_transforms.enable=True
@@ -126,5 +126,9 @@ def visualize_image_transforms(cfg: DatasetConfig, output_dir: Path = OUTPUT_DIR
save_each_transform(cfg.image_transforms, original_frame, output_dir, n_examples)
if __name__ == "__main__":
def main():
visualize_image_transforms()
if __name__ == "__main__":
main()

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