9c14830cd9
Added possiblity to record and replay delta actions during teleoperation rather than absolute actions
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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-03-28 17:18:24 +00:00
729b4ed697
- Added lerobot/scripts/server/gym_manipulator.py that contains all the necessary wrappers to run a gym-style env around the real robot.
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- Added `lerobot/scripts/server/find_joint_limits.py` to test the min and max angles of the motion you wish the robot to explore during RL training.
- Added logic in `manipulator.py` to limit the maximum possible joint angles to allow motion within a predefined joint position range. The limits are specified in the yaml config for each robot. Checkout the so100.yaml.
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-03-28 17:18:24 +00:00
87c7eca582
Added crop_dataset_roi.py that allows you to load a lerobotdataset -> crop its images -> create a new lerobot dataset with the cropped and resized images.
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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-03-28 17:18:24 +00:00
6139df553d
Extend reward classifier for multiple camera views ( #626 )
2025-03-28 17:18:24 +00:00
b68730474a
[Port HIL_SERL] Final fixes for the Reward Classifier ( #598 )
2025-03-28 17:18:24 +00:00
df57d372d6
Fixup
2025-03-28 17:18:24 +00:00
58cc445921
Reward classifier and training ( #528 )
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Co-authored-by: Daniel Ritchie <daniel@brainwavecollective.ai >
Co-authored-by: resolver101757 <kelster101757@hotmail.com >
Co-authored-by: Jannik Grothusen <56967823+J4nn1K@users.noreply.github.com >
Co-authored-by: Remi <re.cadene@gmail.com >
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
2025-03-28 17:18:24 +00:00
952e892fe5
Use float32 instead of int ( #877 )
2025-03-18 16:36:37 +01:00
974028bd28
Organize test folders ( #856 )
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Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-03-13 14:05:55 +01:00
84565c7c2e
Fix camera rotation error ( #839 )
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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
2025-03-10 17:02:19 +01:00
32fffd4bbb
Fix delay in teleoperation start time ( #676 )
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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>
2025-03-08 11:40:07 +01:00
5e9473806c
refactor(config): Move device & amp args to PreTrainedConfig ( #812 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2025-03-06 17:59:28 +01:00
5d24ce3160
chore(doc): add license header to all files ( #818 )
2025-03-05 17:56:51 +01:00
2feb5edc65
Fix printout in make_cameras_from_configs ( #796 )
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Signed-off-by: Yadunund <yadunund@gmail.com >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-03-05 10:01:24 +01:00
a003e7c081
change wheel setup in kinematics ( #811 )
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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
2025-03-04 18:42:45 +01:00
a1809ad3de
Add typos checks ( #770 )
2025-02-25 23:51:15 +01:00
8699a28be0
[QOL] Enable teleoperation during environment reset ( #725 )
2025-02-25 19:28:26 +01:00
3354d919fc
LeRobotDataset v2.1 ( #711 )
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Co-authored-by: Remi <remi.cadene@huggingface.co >
Co-authored-by: Remi Cadene <re.cadene@gmail.com >
2025-02-25 15:27:29 +01:00
aca464ca72
Add mobile so100 ( #724 )
2025-02-25 09:06:50 +01:00
c4c2ce04e7
Update pre-commits ( #733 )
2025-02-15 15:51:17 +01:00
dd974529cf
User/pepijn/2025 01 31 improved tutorial so100 ( #666 )
2025-02-03 18:27:55 +01:00
3c0a209f9f
Simplify configs ( #550 )
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Co-authored-by: Remi <remi.cadene@huggingface.co >
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com >
2025-01-31 13:57:37 +01:00
66f8736598
fixing typo from 'teloperation' to 'teleoperation' ( #566 )
2024-12-11 05:57:52 -08:00
32eb0cec8f
Dataset v2.0 ( #461 )
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Co-authored-by: Remi <remi.cadene@huggingface.co >
2024-11-29 19:04:00 +01:00
975c1c25c3
Add distinction between two unallowed cases in name check "eval_" ( #489 )
2024-11-22 19:19:57 +01:00
172809a502
[Fix] Move back to manual calibration ( #488 )
2024-10-26 15:27:21 +02:00
55e4ff6742
Fix autocalib moss ( #486 )
2024-10-26 12:15:17 +02:00
07e8716315
Add FeetechMotorsBus, SO-100, Moss-v1 ( #419 )
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Co-authored-by: jess-moss <jess.moss@huggingface.co >
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2024-10-25 11:23:55 +02:00
77478d50e5
Refactor record with add_frame ( #468 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2024-10-16 20:51:35 +02:00
97b1feb0b3
Add policy/act_aloha_real.yaml + env/act_real.yaml ( #429 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2024-10-10 17:12:45 +02:00
c29e70e5a1
Fix issue with wrong using index instead of camera_index in opencv ( #466 )
2024-10-09 11:35:19 +02:00
1a343c3591
Add support for Stretch (hello-robot) ( #409 )
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Co-authored-by: Remi <remi.cadene@huggingface.co >
Co-authored-by: Remi Cadene <re.cadene@gmail.com >
2024-10-04 18:56:42 +02:00
26f97cfd17
Enable CI for robot devices with mocked versions ( #398 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2024-10-03 17:05:23 +02:00
9ff829a3a1
Add comments for Aloha ( #417 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2024-09-06 21:07:52 +02:00
9c9f5cac90
Add IntelRealSenseCamera ( #410 )
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Co-authored-by: Simon Alibert <simon.alibert@huggingface.co >
Co-authored-by: shantanuparab-tr <shantanu@trossenrobotics.com >
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2024-09-05 23:59:41 +02:00
429a463aff
Control aloha robot natively ( #316 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2024-09-04 19:28:05 +02:00
04a995e7d1
Fix safe_action ( #395 )
2024-08-30 10:36:05 +02:00
9ce98bb93c
Add safety limits on relative action target ( #373 )
2024-08-26 14:30:18 +01:00
97086cdcdf
Make gripper_open_degree a config param ( #379 )
2024-08-26 12:28:16 +01:00
bbe9057225
Improve control robot ; Add process to configure motor indices ( #326 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com >
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com >
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co >
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com >
2024-08-15 18:11:33 +02:00
5e54e39795
Add real robot devices and scripts to control real robot ( #288 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com >
2024-07-15 17:43:10 +02:00
Michel Aractingi