70624da239
Add docs
2025-09-16 10:09:42 +02:00
d883c78a94
remove additional image augmentations, lerobot dataset already does this
2025-09-13 21:20:09 +02:00
d0d714be47
rename to loss
2025-09-13 16:15:29 +02:00
7d9b469eee
fix override self.pretrained_path = None overwrite
2025-09-13 14:50:43 +02:00
6db39cad58
temp: hardcode base model
2025-09-13 14:43:09 +02:00
af0676f99e
load from pretrained_path
2025-09-13 14:27:07 +02:00
b9df1a4ac5
use same name for action and state dim as lerobot pi0 and remove fixed image keys
2025-09-13 13:08:41 +02:00
5361346bec
Do not add model prefix to normalization
2025-09-13 11:25:26 +02:00
c5a029a28a
also compile forward method
2025-09-13 11:12:54 +02:00
c8163662ad
add preprocess tests
2025-09-12 21:41:25 +02:00
376cc772ff
fix from pretrained
2025-09-12 21:12:48 +02:00
d1eefd4e97
fix: remove unused param
2025-09-12 20:25:55 +02:00
7a03223693
use safeauto_docstring
2025-09-12 20:19:16 +02:00
f840d2e006
fix(modeling pi0): nit warning message
2025-09-12 20:06:06 +02:00
e94844fa59
revert to openpi transformer replace python 3.11
2025-09-12 20:00:21 +02:00
990f8e9cc9
update to python 3.11
2025-09-12 19:04:42 +02:00
6ce2a00135
also for pi05
2025-09-12 19:02:13 +02:00
bf90efa7e1
fix key match from pytorch state dict (similar keys to openpi implementation now)
2025-09-12 18:44:12 +02:00
dbe3406a69
add openpi image transforms for training and add more flexibility to _preprocess_images similar to lerobot pi0
2025-09-12 11:12:47 +02:00
1785767e61
clean up padding of state and action (more in line with lerobot pi0)
2025-09-12 10:38:24 +02:00
2234b851c0
rename action_horizon to chunk_size
2025-09-11 19:42:25 +02:00
b044f3104b
remove check
2025-09-11 11:03:41 +02:00
384ec52ec7
add pi05 to factory
2025-09-11 11:01:31 +02:00
8d1434c069
remove warning in config
2025-09-11 10:37:56 +02:00
f613a37cd2
add some comments, license and readme
2025-09-11 10:36:38 +02:00
494aa576b2
fix push to hub test
2025-09-11 09:18:20 +02:00
514625a7f6
fix test
2025-09-11 09:15:21 +02:00
9f7bfeb419
split pi0 and pi05 policy in seperate files
2025-09-11 09:04:46 +02:00
d36bdac114
fix test
2025-09-10 21:58:35 +02:00
ff1666b216
fix transformer dependency
2025-09-10 21:57:43 +02:00
c57d3a9688
remove test
2025-09-10 21:54:41 +02:00
9ae11a087d
all test pass! and fix tokenizer max length between 05 and 0
2025-09-10 21:51:40 +02:00
21e63b505f
fix test
2025-09-10 21:41:05 +02:00
e9e7eb827a
also shorten action_steps
2025-09-10 21:36:58 +02:00
ac323b0113
add pi05
2025-09-10 21:33:55 +02:00
b028907d21
use dummy stats
2025-09-10 20:42:48 +02:00
2eafcc7ca1
add model. prefix to all keys in state dict
2025-09-10 20:35:19 +02:00
b3b57a8288
do same in other files
2025-09-10 20:28:09 +02:00
eaaf1c1766
additionally
2025-09-10 20:25:46 +02:00
3bc3bf0391
fix autodocstring
2025-09-10 20:24:39 +02:00
8c5fe10d6c
adhere to python 3.11 syntax
2025-09-10 20:20:31 +02:00
8178a06b90
do detailed import
2025-09-10 20:03:14 +02:00
9ea8bd029c
change device in test
2025-09-10 19:50:49 +02:00
bd5c264c49
initial commit
2025-09-10 19:44:41 +02:00
d602e8169c
fix(scripts): revert deletion of rs cam config import introduced by #1767 ( #1876 )
2025-09-08 18:29:39 +02:00
49baccdccb
Disable torque before applying calibration logic ( #1889 )
2025-09-08 11:38:13 +02:00
6a3d57031a
2 add reachy 2 to updated lerobot ( #1767 )
...
* Start adding Reachy 2 (no camera)
* Fix joint shape
* Remove print
* Modify observation_features
* Fix observation state
* Try adding a fake Reachy teleoperator
* Saving test scripts
* Add reachy2camera to cameras
* Add teleop_left camera to observation
* Create test_reachy2_camera.py
* Update utils.py
* Add all rgb cameras
* Future depth work
* Try adding mobile_base velocity
* Update tests
* Update data_acquisition_server.py
* Update with use_external_commands
* Replay
* Usable with or without mobile base
* No need for new isntance
* Use same ip for cameras
* Remove useless imports
* Add resume
* Divide joints in multiple dicts
* Divide joinits into several dicts in teleoperator
* Fix forgotten method call
* Create test_robot_client.py
* Open gripper on start
* Add arguments for cameras
* Modify get_frame() requested size
* Call generate_joints_dict on _init_
* black + isort
* Add reachy2 in imports
* Add reachy2 dependencies
* Add documentation
* Update reachy2.mdx
* Update reachy2.mdx
* Clean files and add types
* Fix type in send_action
* Remove print
* Delete test files
* Clean code
* Update cameras
* Disconnect from camera
* Run pre-commit hooks
* Update pyproject.toml
* Create test_reachy2.py
* Fix generate_joints
* Update test_reachy2.py
* Update send_action test
* Update reachy2_cameras depth + CameraManager
* Update reachy2_camera tests
* Remove useless import and args
* Rename reachy2_teleoperator
* Create test_reachy2_teleoperator.py
* Fix remainging fake_teleoperator
* Remove useless elements
* Mock cameras in test_reachy2
* Delete commented lines
* Add use_present_position to teleoperator
* Add cameras tests
* Add check no part + test
* Use disable_torque_on_disconnect
* Use odometry for vel with present_position
* Update documentation
* Fix vel value type
* Use ensure_safe_goal_position
* Import joints dict from classes
* Update reachy2.mdx
* Update reachy2.mdx
* Update minimal version
* Update minimal version
* fix(tests) fixes for reachy2 tests; removing reachy2 references from the script
* Add reachy2_sdk fake as plugins
---------
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
2025-09-05 11:03:14 +02:00
d74494d92b
Allow max_relative_target to be a float ( #1837 )
...
* Remove unused max_relative_target for stretch3
* Fix type annotation and allow integer max_relative_target values
* Configure max_relative_target to be floats instead of ints
* Update docs and types to reflect that max_relative_target can be a dict
* Remove unnecessary isinstance check for ints
* Fix typo in name
---------
Co-authored-by: Justin Huang <justin.huang@jpl.nasa.gov >
2025-09-05 09:58:47 +02:00
882c80d446
Lower limits by 50% for current and torque for gripper motor ( #1809 )
...
Signed-off-by: Pepijn <138571049+pkooij@users.noreply.github.com >
2025-08-29 16:06:55 +02:00
61b0eeae4b
Add feetech firmware update docs ( #1793 )
...
* Add feetech firmware update docs
* add bonus
* formatting
* adapt text
* feedback pr
2025-08-28 11:18:54 +02:00
Pepijn