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Merge branch 'main' into user/michel-aractingi/2025_06_30_dataset_v3

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Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
This commit is contained in:
Francesco Capuano
2025-08-25 16:34:44 +02:00
committed by GitHub
parent db36f01e8b 577cd10974
commit 2ca6edc19e
3 changed files with 3 additions and 6 deletions
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docker/Dockerfile.user
+1 -1
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@@ -29,7 +29,7 @@ ENV DEBIAN_FRONTEND=noninteractive \
# Install system dependencies and uv (as root) # Install system dependencies and uv (as root)
RUN apt-get update && apt-get install -y --no-install-recommends \ RUN apt-get update && apt-get install -y --no-install-recommends \
build-essential git curl libglib2.0-0 libegl1-mesa ffmpeg \ build-essential git curl libglib2.0-0 libegl1-mesa-dev ffmpeg \
libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \ libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
&& curl -LsSf https://astral.sh/uv/install.sh | sh \ && curl -LsSf https://astral.sh/uv/install.sh | sh \
&& mv /root/.local/bin/uv /usr/local/bin/uv \ && mv /root/.local/bin/uv /usr/local/bin/uv \
src/lerobot/motors/dynamixel/tables.py
+2
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@@ -107,6 +107,8 @@ X_SERIES_ENCODINGS_TABLE = {
"Goal_PWM": X_SERIES_CONTROL_TABLE["Goal_PWM"][1], "Goal_PWM": X_SERIES_CONTROL_TABLE["Goal_PWM"][1],
"Goal_Current": X_SERIES_CONTROL_TABLE["Goal_Current"][1], "Goal_Current": X_SERIES_CONTROL_TABLE["Goal_Current"][1],
"Goal_Velocity": X_SERIES_CONTROL_TABLE["Goal_Velocity"][1], "Goal_Velocity": X_SERIES_CONTROL_TABLE["Goal_Velocity"][1],
"Goal_Position": X_SERIES_CONTROL_TABLE["Goal_Position"][1],
"Present_Position": X_SERIES_CONTROL_TABLE["Present_Position"][1],
"Present_PWM": X_SERIES_CONTROL_TABLE["Present_PWM"][1], "Present_PWM": X_SERIES_CONTROL_TABLE["Present_PWM"][1],
"Present_Current": X_SERIES_CONTROL_TABLE["Present_Current"][1], "Present_Current": X_SERIES_CONTROL_TABLE["Present_Current"][1],
"Present_Velocity": X_SERIES_CONTROL_TABLE["Present_Velocity"][1], "Present_Velocity": X_SERIES_CONTROL_TABLE["Present_Velocity"][1],
src/lerobot/scripts/server/robot_client.py
-5
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@@ -302,11 +302,6 @@ class RobotClient:
self.logger.debug(f"Current latest action: {latest_action}") self.logger.debug(f"Current latest action: {latest_action}")
# Get queue state before changes
old_size, old_timesteps = self._inspect_action_queue()
if not old_timesteps:
old_timesteps = [latest_action] # queue was empty
# Get queue state before changes # Get queue state before changes
old_size, old_timesteps = self._inspect_action_queue() old_size, old_timesteps = self._inspect_action_queue()
if not old_timesteps: if not old_timesteps: