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8 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
 HUANG TZU-CHUN
|
a6b06eac38 |
docs: fix env processor code fences and minor doc errors (#3953)
* docs: fix code fences in env processor guide The "Flexibility and Reusability" section wrapped a duplicated example in a four-backtick fence and left a following block unclosed, so the stray closing fence matched a later block. Everything in between rendered as one code block that swallowed the surrounding prose. Remove the duplicated block, add the missing closing fence after the first example, and normalize the four-backtick fences to three so all fences pair correctly. * docs(pi0fast): fix typo 40kk -> 40k steps * docs(integrate-hardware): fix so101 follower source link * docs(hope_jr): fix dataset example link The "example" link in the Record section pointed at the dataset's `/settings` page, which returns HTTP 403 for readers. Drop the `/settings` suffix so it links to the public dataset page the sentence describes. * docs(lekiwi): render emoji shortcodes as unicode MDX does not expand `🤗` / `🤖` shortcodes, so they showed as literal text in the rendered install step. Replace them with the 🤗 and 🤖 unicode characters, matching how the other robot pages write emoji. * docs(smolvla): anchor record link to its section The "Record a dataset" link dropped readers at the top of the il_robots page instead of the relevant section. Point it at the `#record-a-dataset` anchor (the `## Record a dataset` heading in il_robots.mdx) so the link lands on the step it names. |
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Caroline Pascal
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3dd19d043e |
feat(depth maps): adding support for depth in LeRobot (#3644)
* feat(depth): add depth quantization helpers and tests
* feat(video): add ffv1 to supported codecs
* feat(depth): persist depth metadata
* feat(depth): extend quantization tools to better fit the encoding/decoding pipeline
* feat(depth): plumb DepthEncoderConfig through LeRobotDataset and DatasetWriter
* feat(depth): wire StreamingVideoEncoder + writer to depth encoder
* feat(depth): wire DatasetReader to decode_depth_frames
* feat(cameras/realsense): expose async depth in metric meters
* feat(features): route 2D camera shapes to observation.depth.<key>
* feat(robots/so_follower): emit + populate depth keys when use_depth
* feat(record): plumb DepthEncoderConfig through lerobot-record
* feat(viz): render depth observations as rr.DepthImage in Viridis
* feat(depth maps writer): adding support for raw depth maps recording with image writer
* chore(format): format code
* feat(depth shape): ensuring depth maps shape is always including the channel
* feat(is_depth): simplifying is_depth nested name + legacy support
* fix(stop_event): fixing stop_event race condition in camera classes
* fix(plumbing): fixing missing parts in the depth maps pipeline
* chore(typos): fixing typos
* test(fix): fixing exisiting tests to still work with latest features
* tests(depth): adding new tests for depth integration validation
* feat(pix_fmt channels): use PyAv to check get pixel formats number of channels
* feat(refactor): refactor DepthEncoderConfig quantization pipeline, so that the methods do not live in the config class. Add pixel format - channels validation.Move the default pixel format for depth in the config file.
* fix(pre-commit): fixing mutable defautl value
* fix(info): fixing info metadata update when is_depth_map was set
* tests(typos): fixing typos in tests
* fix(realsense): fixing typo in realsense serial number
* fix(normalization): restricting 255 normalization to non depth/uint8 images only
* fix(typo): fixing typo
* fix(TIFF): add missing quantization and cleanup for TIFF files
* feat(batched dequantization): optimizing dequantize_depth for torch based batched dequantization
* feat(tools): adding depth support in LeRobotDataset edition tools
* test(aggregate): extending aggregation tests to depth frames
* test(cleaning): cleaning up tests
* fix(from_video_info): fixing early validation issue in from_video_info
* fix(typo): fixing typo
* fix(is_depth): adding missing doctrings and is_depth arguments in video decoding functions
Co-authored-by: Wensi (Vince) Ai <59036629+wensi-ai@users.noreply.github.com>
* fix(depth units): fixing depth units output for the realsense cameras
* feat(output unit): adding support for output unit specification at dataset reading/training time
Co-authored-by: Wensi (Vince) Ai <59036629+wensi-ai@users.noreply.github.com>
* test(depth): cleaning up depth tests
* test(depth encoding): updating and cleaning video/depth encoding tests
* chore(format): formatting code
* docs(depth): improving depth maps docs
* test(fix): fixing depth tests
* test(dataset tools): adding missing tests for new dataset edition tools features
* chore(format): formatting code
* fix(pyav check): fixing PyAV option validation for integer codec options by normalizing
numeric values before calling `is_integer()`
Co-authored-by: Wensi (Vince) Ai <59036629+wensi-ai@users.noreply.github.com>
* docs(mermaid): fixing mermaid diagram
* fix(rebase): rebase follow up corrections
* feat(dataset tools): adding missing docstrings and features for depth fill support in dataset edition tools
* docs(docstring): updating docstrings
* docs(dataset tools): updating docs
* fix(save images): fixing image saving in dataset tools
* fix(update video info): fixing update video info logic to match the recording and editing use cases
* test(reencode): fixing reencoding monkeypatch
* fix(review): add Claude review
* chore(format): format code
* fix(update video info): ditching the differentiated approahces for video info update - video info are always updated unless for preserved keys.
* chore(rebase): fixing rebase merge conflicts
* test(visualization): fixing visualization tests
* feat(docstrings): adding explicit docstring for encoding parameters. Docstrigns will now show up as description in the CLI --help.
* feat(mm as default): adding a global DEFAULT_DEPTH_UNIT variable setting mm as default depth unit
* fix(RGB <-> camera): renaming camera_encoder to rgb_encoder for clarity
* chore(TODO): removing deprecated TODO
* doc(write_u16_plane): improving docstrings for write_u16_plane
* feat(units): adding constants for depth frames units (m and mm)
* fix(spam): replacing spamming warning but a debug log
* feat(leagcy metadata): adding automatic metadata update for legacy 'video.is_depth_map' feature
* fix(copy&reindex): fixing metadat reshaping for single channel frames
* fix(ImageNet): excluding dpeth frames from ImageNet stats
* fix(PyAV container seek): fixing initial PyAV container seek to be robust againsy codec choice
* feat(lerobot-dataset-viz): adding support for depth in lerobot-dataset-viz
* fix(compress): removing rerun compression for DepthImages
* fix(signle channel squeeze): fixing single channel squeezing
* chore(format): format code
* fix(streaming): adding support for dequantization in streaming_dataset.py
* refactor(read depth): factorizing depth reading methods for realsense camera and adding support for depth-only usage
* chore(renaming): fixing missed RGBEncoderConfig renamings
* docs(renaming): reflecting renamings in a clearer way in the docs
* chore(annotation): excluding depth from the annotation pipeline
* feat(robots): adding depth support in compatible follower robots
* feat(LeSadKiwi): excluding LeKiwi from depth support (for now)
* chore(fail): removing misplaced file
* chore(fail): removing misplaced file
* fix(remove ffv1): removing ffv1 as it does not support MP4
* docs(cheat sheet): adding depth and video encoding to the cheat sheet
* fix(lossless): tuning depth encoding parameters for lossless depth storage
* test(fix): fixing failing tests
* depth(ZMQ): excluding ZMQ from depth support
* Revert "depth(ZMQ): excluding ZMQ from depth support"
This reverts commit
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Caroline Pascal
|
bd9619dfc3 |
feat(encoding parameters): adding support for user provided video encoding parameters (#3455)
* chore(video backend): renaming codec into video_backend in get_safe_default_video_backend() * feat(pyav utils): adding suport for PyAV encoding parameters validation * feat(VideoEncoderConfig): creating a VideoEncoderConfig to encapsulate encoding parameters * feat(VideoEncoderConfig): propagating the VideoEncoderConfig in the codebase * chore(docs): updating the docs * feat(metadata): adding encoding parameters in dataset metadata * fix(concatenation compatibility): adding compatibility check when concatenating video files * feat(VideoEncoderConfig init): making VideoEncoderConfig more robust and adaptable to multiple backends * feat(pyav checks): making pyav parameters checks more robust * chore(duplicate): removing duplicate get_codec_options definition * test(existing): adapting existing tests * test(new): adding new tests for encoding related features * chore(format): fixing formatting issues * chore(PyAV): cleaning up PyAV utils and encoding parameters checks to stick to the minimun required tooling. * chore(format): formatting code * chore(doctrings): updating docstrings * fix(camera_encoder_config): Removing camera_encoder_config from LeRobotDataset, as it's only required in LeRobotDatasetWriter. * feat(default values): applying a consistent naming convention for default RGB cameras video encoder parameters * fix(rollout): propagating VideoEncoderConfig to the latest recording modes * chore(format): formatting code, fixing error messages and variable names * fix(arguments order): reverting changes in arguments order in StreamingVideoEncoder * chore(relative imports): switching to relative local imports within lerobot.datasets * test(artifacts): cleaning up artifacts for the video encoding tests * chore(docs): updating docs * chore(fromat): formatting code * fix(imports): refactoring the file architecture to avoid circular imports. VideoEncoderConfig is now defined in lerobot.configs and lazily imports av at runtime. * fix(typos): fixing typos and small mistakes * test(factories): updating factories * feat(aggregate): updating dataset aggregation procedure. Encoding tuning paramters (crf, g,...) are ignored for validation and changed to None in the aggregated dataset if incompatible. * docs(typos): fixing typos * fix(deletion): reverting unwanted deletion * fix(typos): fixing multiple typos * feat(codec options): passing codec options to lerobot_edit_dataset episode deletion tool * typo(typo): typo * fix(typos): fixing remaining typos * chore(rename): renaming camera_encoder_config to camera_encoder * docs(clean): cleaning and formating docs * docs(dataset): addind details about datasets * chore(format): formatting code * docs(warning): adding warning regarding encoding parameters modification * fix(re-encoding): removing inconsistent re-encoding option in lerobot_edit_dataset * typos(typos): typos * chore(format): resolving prettier issues * fix(h264_nvenc): fixing crf handling for h264_nvenc * docs(clean): removing too technical parts of the docs * fix(imports): fixing imports at the __init__ level * fix(imports): fixing not very pretty imports in video config file |
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Steven Palma
|
e96339a3b4 |
feat(dataset): add streaming video encoding + HW encoder support (#2974)
* feat(dataset): init stream encoding * feat(dataset): use threads to fix frame pickle latency * refactor(dataset): remove HW encoded related changes * add lp (#2977) * feat(dataset): add Hw encoding + log drop frames (#2978) * chore(docs): add streaming video encoding guide * fix(dataset): style docs + testing * chore(docs): simplify sttreaming video encoding guide * chore(dataset): add commands + streaming encoding default false + print note if false + queue default is now 30 * chore(docs): add verification note advice * chore(dataset): adjusting defaults & docs for streaming encoding * docs(scripts): improve docstrings * test(dataset): polish streaming encoding tests * chore(dataset): move FYI log related to streaming * chore(dataset): add arg vcodec to suggestions * refactor(dataset): better handling for auto and available vcodec * chore(dataset): change log level * docs(dataset): add note related to training performance vcodec * docs(dataset): add more notes to streaming encoding --------- Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com> Co-authored-by: Pepijn <pepijn@huggingface.co> |
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Steven Palma
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5f15232271 | chore: remove usernames + use entrypoints in docs, comments & sample commands (#2988) | ||
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Steven Palma
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ce3b9f627e |
chore(docs): prioritize use of entry points in docs + fix nightly badge (#1692)
* chore(docs): fix typo in nightly badge * chore(docs): prioritize the use of entrypoints for consistency |
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Steven Palma
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e88b30e6cc |
fix(ci): multiple fixes (#1549)
* fix(ci): tag of image when pushing to main * fix(docs): remove symlink in docs folder * chore(docs): move .mdx files to docs/ folder * chore(docs): create symlink to docs files * chore(ci): de-couple fast and full test pipeline * fix(ci): skip GPU Tests for community PRs |
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Simon Alibert
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039de254ea |
Add Hope Jr (#935)
* Fix imports * Add feetech write tests * Nit * Add autoclosing fixture * Assert ping stub called * Add CalibrationMode * Add Motor in dxl robots * Simplify split_int_bytes * Rename read/write -> sync_read/write, refactor, add write * Rename tests * Refactor dxl tests by functionality * Add dxl write test * Refactor _is_comm_success * Refactor feetech tests by functionality * Add feetech write test * Simplify _is_comm_success & _is_error * Move mock_serial patch to dedicated file * Remove test skips & fix docstrings * Nit * Add dxl operating modes * Add is_connected in robots and teleops * Update Koch * Add feetech operating modes * Caps dxl OperatingMode * Update ensure_safe_goal_position * Update so100 * Privatize methods & renames * Fix dict * Add _configure_motors & move ping methods * Return models (str) with pings * Implement feetech broadcast ping * Add raw_values option * Rename idx -> id_ * Improve errors * Fix feetech ping tests * Ensure motors exist at connection time * Update tests * Add test_motors_bus * Move DriveMode & TorqueMode * Update Koch imports * Update so100 imports * Fix visualize_motors_bus * Fix imports * Add calibration * Rename idx -> id_ * Rename idx -> id_ * (WIP) _async_read * Add new calibration method for robot refactor (#896) Co-authored-by: Simon Alibert <simon.alibert@huggingface.co> * Remove deprecated scripts * Rename CalibrationMode -> MotorNormMode * Fix calibration functions * Remove todo * Add scan_port utility * Add calibration utilities * Move encoding functions to encoding_utils * Add test_encoding_utils * Rename test * Add more calibration utilities * Format baudrate tables * Implement SO-100 leader calibration * Implement SO-100 follower calibration * Implement Koch calibration * Add test_scan_port (TODO) * Fix calibration * Hack feetech firmware bug * Update tests * Update Koch & SO-100 * Improve format * Rename SO-100 classes * Rename Koch classes * Add calibration tests * Remove old calibration tests * Revert feetech hack and monkeypatch instead * Simplify motors mocks * Add is_calibrated test * Update viperx & widowx * Rename viperx & widowx * Remove old calibration * feat(teleop): thread-safe keyboard teleop implementation (#869) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> * Add support for feetech scs series + various fixes * Update dynamixel with motors bus & tables changes * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * (WIP) Add Hope Jr * Rename arm -> hand * (WIP) Add homonculus arm & glove * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Add Feetech protocol version * Implement read * Use constants from sdks * (nit) move write * Fix broadcast ping type hint * Add protocol 1 broadcast ping * Refactor & add _serialize_data * Add feetech sm8512bl * Make feetech broadcast ping faster in protocol 1 * Cleanup * Add support for feetech protocol 1 to _split_into_byte_chunks * Fix unormalize * Remove test_motors_bus fixtures * Add more segmented tests (base motor bus & feetech), add feetech protocol 1 support * Add more segmented tests (dynamixel) * Refactor tests * Add handshake, fix feetech _read_firmware_version * Fix tests * Motors config & disconnect fixes * Add torque_disabled context * Update branch & fix pre-commit errors * Fix hand & glove readings * Update feetech tables * Move read/write_calibration implementations * Add setup_motor * Fix calibration msg display * Fix setup_motor & add it to robots * Fix _find_single_motor * Remove deprecated configure_motor * Remove deprecated dynamixel_calibration * Remove names * Remove deprecated import * refactor/lekiwi robot (#863) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <simon.alibert@huggingface.co> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> * fix(teleoperators): use property is_connected (#1075) * Remove deprecated manipulator * Update robot features & naming * Update teleop features & naming * Add make_teleoperator_from_config * Rename find_port * Fix config parsing * Remove app script * Add setup_motors * Add teleoperate * Add record * Add replay * Fix test_datasets * Add mock robot & teleop * Add new test_control_robot * Add test_record_and_resume * Remove deprecated scripts & tests * Add calibrate * Add docstrings * Fix tests (no-extras install) * Add SO101 * Remove pynput from optional deps * Rename example 7 * Remove unecessary id * Add MotorsBus docstrings * Rename arm -> bus * Remove Moss arm * Fix setup_motors & calibrate configs * Fix test_calibrate * Add copyrights * Update hand & arm * Update homonculus hand & arm * Fix dxl _find_single_motor * Update glove * Add setup_motors for lekiwi * Fix glove calibration * Complete docstring * Add check for same min and max during calibration * Move MockMotorsBus * Add so100_follower tests * (WIP) add calibration gui * Fix test * Add setup_motors * Update calibration gui * Remove old .cache folder * Replace deprecated abc.abstractproperty * Fix feetech protocol 1 configure * Cleanup gui & add copyrights * Anatomically precise joint names * (WIP) Add glove to hand joints translation * Move make_robot_config * Add drive_mode & norm_mode in glove calibration * Fix joints translation * Fix normalization drive_mode * nit * Fix glove to hand conversion * Adapt feetech calibration * Remove pygame prompt * Implement arm calibration (hacks) * Better MotorsBus error messages * Update feetech read_calibration * Fix feetech test_is_calibrated * Cleanup glove * (WIP) Update arm * Add changes from #1117 * refactor(cameras): cameras implementations + tests improvements (#1108) Co-authored-by: Simon Alibert <simon.alibert@huggingface.co> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Fix arm joints order * Add timeout/event logic * Fix arm & glove * Fix predict_action from record * fix(cameras): update docstring + handle sn when starts with 0 + update timeouts to more reasonable value (#1154) * fix(scripts): parser instead of draccus in record + add __get_path_fields__() to RecordConfig (#1155) * Left/Right sides + other fixes * Arm fixes and add config * More hacks * Add control scripts * Fix merge errors * push changes to calibration, teleop and docs * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Move readme to docs * update readme Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com> * Add files via upload Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com> * Update image sources * Symlink doc * Compress image * Move image * Update docs link * fix docs * simplify teleop scripts * fix variable names * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Address code review * add EMA to glove * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * integrate teleoperation for hand * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * update docs * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * import hopejr/homunculus in teleoperate * update docs for teleoperate, record, replay, train and inference * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * chore(hopejr): address comments * chore(hopejr): address coments 2 * chore(docs): update teleoperation instructions for the hand/glove * fix(hopejr): calibration int + update docs --------- Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com> Signed-off-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: nepyope <nopyeps@gmail.com> Co-authored-by: Martino Russi <77496684+nepyope@users.noreply.github.com> Co-authored-by: Steven Palma <steven.palma@huggingface.co> |