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Merge branch 'main' into feature/add-multitask-dit

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Bryson Jones
2026-01-08 08:17:15 -08:00
committed by GitHub
parent db17c08f6e 242b65d2df
commit dd39503802
67 changed files with 306 additions and 599 deletions
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docs/source/async.mdx
+1 -1
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@@ -169,7 +169,7 @@ python -m lerobot.async_inference.robot_client \
<!-- prettier-ignore-start -->
```python
import threading
from lerobot.robots.so100_follower import SO100FollowerConfig
from lerobot.robots.so_follower import SO100FollowerConfig
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.async_inference.configs import RobotClientConfig
from lerobot.async_inference.robot_client import RobotClient
docs/source/envhub_leisaac.mdx
+2 -2
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@@ -137,7 +137,7 @@ from lerobot.teleoperators import ( # noqa: F401
Teleoperator,
TeleoperatorConfig,
make_teleoperator_from_config,
so101_leader,
so_leader,
)
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import init_logging
@@ -222,7 +222,7 @@ def teleoperate(cfg: TeleoperateConfig):
def main():
teleoperate(TeleoperateConfig(
teleop=so101_leader.SO101LeaderConfig(
teleop=so_leader.SO101LeaderConfig(
port="/dev/ttyACM0",
id='leader',
use_degrees=False,
docs/source/il_robots.mdx
+9 -9
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@@ -58,8 +58,8 @@ lerobot-teleoperate \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so101_leader import SO101LeaderConfig, SO101Leader
from lerobot.robots.so101_follower import SO101FollowerConfig, SO101Follower
from lerobot.teleoperators.so_leader import SO101LeaderConfig, SO101Leader
from lerobot.robots.so_follower import SO101FollowerConfig, SO101Follower
robot_config = SO101FollowerConfig(
port="/dev/tty.usbmodem58760431541",
@@ -195,9 +195,9 @@ lerobot-record \
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.robots.so100_follower import SO100Follower, SO100FollowerConfig
from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.teleoperators.so_leader.config_so100_leader import SO100LeaderConfig
from lerobot.teleoperators.so_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
@@ -408,8 +408,8 @@ lerobot-replay \
import time
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.robots.so_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so_follower.so100_follower import SO100Follower
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import log_say
@@ -531,8 +531,8 @@ from lerobot.datasets.lerobot_dataset import LeRobotDataset
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.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.robots.so_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so_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
docs/source/integrate_hardware.mdx
+1 -1
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@@ -18,7 +18,7 @@ If you're using Feetech or Dynamixel motors, LeRobot provides built-in bus inter
- [`DynamixelMotorsBus`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/motors/dynamixel/dynamixel.py) – for controlling Dynamixel servos
Please refer to the [`MotorsBus`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/motors/motors_bus.py) abstract class to learn about its API.
For a good example of how it can be used, you can have a look at our own [SO101 follower implementation](https://github.com/huggingface/lerobot/blob/main/src/lerobot/robots/so101_follower/so101_follower.py)
For a good example of how it can be used, you can have a look at our own [SO101 follower implementation](https://github.com/huggingface/lerobot/blob/main/src/lerobot/robots/so_follower/so101_follower/so101_follower.py)
Use these if compatible. Otherwise, you'll need to find or write a Python interface (not covered in this tutorial):
docs/source/lekiwi.mdx
+1 -1
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@@ -204,7 +204,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so100_leader import SO100LeaderConfig, SO100Leader
from lerobot.teleoperators.so_leader import SO100LeaderConfig, SO100Leader
config = SO100LeaderConfig(
port="/dev/tty.usbmodem58760431551",
docs/source/phone_teleop.mdx
+8 -8
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@@ -44,7 +44,7 @@ Modify the examples to use `PhoneOS.IOS` or `PhoneOS.ANDROID` in `PhoneConfig`.
Teleoperation example:
```36:43:examples/phone_so100_teleop.py
```python
from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
teleop_config = PhoneConfig(phone_os=PhoneOS.IOS) # or PhoneOS.ANDROID
@@ -103,7 +103,7 @@ Additionally you can customize mapping or safety limits by editing the processor
- Kinematics are used in multiple steps. We use [Placo](https://github.com/Rhoban/placo) which is a wrapper around Pinocchio for handling our kinematics. We construct the kinematics object by passing the robot's URDF and target frame. We set `target_frame_name` to the gripper frame.
```examples/phone_to_so100/teleoperate.py
```python
kinematics_solver = RobotKinematics(
urdf_path="./SO101/so101_new_calib.urdf",
target_frame_name="gripper_frame_link",
@@ -114,7 +114,7 @@ Additionally you can customize mapping or safety limits by editing the processor
- The `MapPhoneActionToRobotAction` step converts the calibrated phone pose and inputs into target deltas and gripper commands, below is shown what the step outputs.
```src/lerobot/teleoperators/phone/phone_processor.py
```python
action["enabled"] = enabled
action["target_x"] = -pos[1] if enabled else 0.0
action["target_y"] = pos[0] if enabled else 0.0
@@ -127,7 +127,7 @@ Additionally you can customize mapping or safety limits by editing the processor
- The `EEReferenceAndDelta` step converts target deltas to an absolute desired EE pose, storing a reference on enable, the `end_effector_step_sizes` are the step sizes for the EE pose and can be modified to change the motion speed.
```examples/phone_to_so100/teleoperate.py
```python
EEReferenceAndDelta(
kinematics=kinematics_solver,
end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5},
@@ -138,7 +138,7 @@ Additionally you can customize mapping or safety limits by editing the processor
- The `EEBoundsAndSafety` step clamps EE motion to a workspace and checks for large ee step jumps to ensure safety. The `end_effector_bounds` are the bounds for the EE pose and can be modified to change the workspace. The `max_ee_step_m` are the step limits for the EE pose and can be modified to change the safety limits.
```examples/phone_to_so100/teleoperate.py
```python
EEBoundsAndSafety(
end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
max_ee_step_m=0.10,
@@ -147,7 +147,7 @@ Additionally you can customize mapping or safety limits by editing the processor
- The `GripperVelocityToJoint` step turns a velocity‑like gripper input into absolute gripper position using the current measured state. The `speed_factor` is the factor by which the velocity is multiplied.
```examples/phone_to_so100/teleoperate.py
```python
GripperVelocityToJoint(speed_factor=20.0)
```
@@ -157,7 +157,7 @@ We use different IK initial guesses in the kinematic steps. As initial guess eit
- Closed loop (used in record/eval): sets `initial_guess_current_joints=True` so IK starts from the measured joints each frame.
```examples/phone_to_so100/record.py
```python
InverseKinematicsEEToJoints(
kinematics=kinematics_solver,
motor_names=list(robot.bus.motors.keys()),
@@ -167,7 +167,7 @@ We use different IK initial guesses in the kinematic steps. As initial guess eit
- Open loop (used in replay): sets `initial_guess_current_joints=False` so IK continues from the previous IK solution rather than the measured state. This preserves action stability when we replay without feedback.
```examples/phone_to_so100/replay.py
```python
InverseKinematicsEEToJoints(
kinematics=kinematics_solver,
motor_names=list(robot.bus.motors.keys()),
docs/source/processors_robots_teleop.mdx
+3 -3
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@@ -30,7 +30,7 @@ Each of these pipelines handle different conversions between different action an
Below is an example of the three pipelines that we use in the phone to SO-100 follower examples:
```69:90:examples/phone_so100_record.py
```python
phone_to_robot_ee_pose_processor = RobotProcessorPipeline[RobotAction, RobotAction]( # teleop -> dataset action
steps=[
MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
@@ -84,7 +84,7 @@ Dataset features are determined by the keys saved in the dataset. Each step can
Below is and example of how we declare features with the `transform_features` method in the phone to SO-100 follower examples:
```src/lerobot/robots/so100_follower/robot_kinematic_processor.py
```python
def transform_features(
self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
@@ -103,7 +103,7 @@ Here we declare what PolicyFeatures we modify in this step, so we know what feat
Below is an example of how we aggregate and merge features in the phone to SO-100 record example:
```121:145:examples/phone_so100_record.py
```python
features=combine_feature_dicts(
# Run the feature contract of the pipelines
# This tells you how the features would look like after the pipeline steps
docs/source/so100.mdx
+4 -4
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@@ -103,7 +103,7 @@ lerobot-setup-motors \
<!-- prettier-ignore-start -->
```python
from lerobot.robots.so100_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
config = SO100FollowerConfig(
port="/dev/tty.usbmodem585A0076841",
@@ -177,7 +177,7 @@ lerobot-setup-motors \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
config = SO100LeaderConfig(
port="/dev/tty.usbmodem585A0076841",
@@ -579,7 +579,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.robots.so100_follower import SO100FollowerConfig, SO100Follower
from lerobot.robots.so_follower import SO100FollowerConfig, SO100Follower
config = SO100FollowerConfig(
port="/dev/tty.usbmodem585A0076891",
@@ -617,7 +617,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so100_leader import SO100LeaderConfig, SO100Leader
from lerobot.teleoperators.so_leader import SO100LeaderConfig, SO100Leader
config = SO100LeaderConfig(
port="/dev/tty.usbmodem58760431551",
docs/source/so101.mdx
+4 -4
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@@ -125,7 +125,7 @@ lerobot-setup-motors \
<!-- prettier-ignore-start -->
```python
from lerobot.robots.so101_follower import SO101Follower, SO101FollowerConfig
from lerobot.robots.so_follower import SO101Follower, SO101FollowerConfig
config = SO101FollowerConfig(
port="/dev/tty.usbmodem585A0076841",
@@ -201,7 +201,7 @@ lerobot-setup-motors \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so101_leader import SO101Leader, SO101LeaderConfig
from lerobot.teleoperators.so_leader import SO101Leader, SO101LeaderConfig
config = SO101LeaderConfig(
port="/dev/tty.usbmodem585A0076841",
@@ -364,7 +364,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.robots.so101_follower import SO101FollowerConfig, SO101Follower
from lerobot.robots.so_follower import SO101FollowerConfig, SO101Follower
config = SO101FollowerConfig(
port="/dev/tty.usbmodem585A0076891",
@@ -413,7 +413,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so101_leader import SO101LeaderConfig, SO101Leader
from lerobot.teleoperators.so_leader import SO101LeaderConfig, SO101Leader
config = SO101LeaderConfig(
port="/dev/tty.usbmodem58760431551",