* fix(ci): prevent runner group error on fork pushes
Add repository check to unbound_deps_tests workflow to ensure
aws-general-8-plus runner group is only used on main repository,
preventing 'Required runner group not found' errors on forks.
* fix(ci): use gating job to prevent runner allocation on forks
The previous approach failed because GitHub evaluates runs-on before if conditions.
Now using a check-repo job that runs on ubuntu-latest first, and all jobs with
special runners depend on it and check its output before being scheduled.
* fix(ci): add gating job to full_tests to prevent runner allocation on forks
Apply the same gating pattern used in unbound_deps_tests to full_tests.yml
to prevent GitHub from trying to allocate custom runners when workflows
run on forks. The check-repo job runs first on ubuntu-latest and all jobs
with custom runners depend on it and check its output.
* fix(ci): add repository check to unbound_deps_tests workflow
Add 'if: github.repository == huggingface/lerobot' check to build-and-push-docker job to prevent runner group access errors on forks, matching the pattern used in nightly.yml
* fix(ci): add repository check to full_tests workflow
Add 'if: github.repository == huggingface/lerobot' check to build-and-push-docker and gpu-tests jobs to prevent runner group access errors on forks
* refactor(ci): remove redundant check from gpu-tests job
gpu-tests depends on build-and-push-docker via needs, so it will automatically skip when the parent job is skipped
* refactor(ci): remove unnecessary fork check from full-tests job
full-tests runs on ubuntu-latest which is available to all forks, no need to restrict it
---------
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
* docs: clarify installation steps are sequential, not optional
Add intro paragraph noting conda is one path (not the only one) and
number the three sections as steps so readers understand miniforge and
environment setup are prerequisites, not independent choices.
* Update installation guide link for LeRobot
Signed-off-by: Jai Kumaar Ratadia <jaikumaarratadia@gmail.com>
* Fix link formatting in installation guide again
Signed-off-by: Jai Kumaar Ratadia <jaikumaarratadia@gmail.com>
---------
Signed-off-by: Jai Kumaar Ratadia <jaikumaarratadia@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
* feat(datasets): add modify_tasks function for in-place task editing
Add a new utility function to modify tasks in LeRobotDataset in-place.
This allows users to:
- Set a single task for all episodes
- Set specific tasks for individual episodes
- Combine a default task with per-episode overrides
* feat(edit-dataset): add CLI support for modify_tasks operation
Integrate the modify_tasks function into lerobot_edit_dataset CLI.
Users can now modify dataset tasks via command line:
Supports setting a default task, per-episode tasks, or both combined.
* test(datasets): add tests for modify_tasks function
Add comprehensive test coverage for the modify_tasks utility:
- Single task for all episodes
- Episode-specific task assignment
- Default task with per-episode overrides
- Error handling for missing/invalid arguments
- Verification of task_index correctness
- In-place modification behavior
- Metadata preservation
* respond to copilot review
* fix(sac): make temperature a property to fix checkpoint resume bug
Temperature was stored as a plain float and not restored after loading
a checkpoint, causing incorrect loss computations until update_temperature()
was called. Changed to a property that always computes from log_alpha,
ensuring correct behavior after checkpoint loading.
* simplify docstrings
* feat(cameras): add new read_latest() method
* fix(cameras): fix threading bug + clear state
* refactor(cameras): multiple improvements
* feat(camera): add context manager to camera base class
* chore(camera): slight modifications to opencv
* test(cameras): update opencv tests according to the changes
* refactor(cameras): reflect desing changes to realsense + deal with depth
* test(cameras): fix realsense tests accordingly to new changes
* refactor(cameras): update reachymini and zmq accordingly
* chore: wrap resource sensitive examples into a try/finally
* test(cameras): add test for new read_latest
* test(cameras): fix problem with image artifact in opencv tests
* test(cameras): fix test_read_latest_high_frequency expectations
* Apply suggestions from code review 1
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
* chore(cameras): address feedback
* feat(cameras): add max_age_ms check in read_latest
* test(cameras): fix read_latest tests
* chore(redundancies): removing redundancies in Reachy 2 camera class
* fix(warmup): replacing the arbitrary time.sleep in by an actual warmup in the RealSense camera class
* chore(format): formatting latest changes
* chore(warning): adding a "to be implemented" warning for read_latest() in Camera base class
* chore(warning): making read_latest() warning message shorter and clearer
---------
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
* fix(motors): cleanup imports + fix signatures
* feat(motors): add damiao canbus + multiple fixes
* fix(motors): address comments -> last_state + different gains + sleep
* refactor(motors): reduce duplicated code + adressed some comments in the PR
* chore(motors): better timeouts
* tests(motors): damiao test and imports
* chore(deps): fix space
* feat(robot): add openarm leader
Co-authored-by: Pepijn <pepijn@huggingface.co>
* feat(robot): add openarm follower
Co-authored-by: Pepijn <pepijn@huggingface.co>
* refactor(robot): remove mechanical compensations and double arm assumption + rename
* chore(robots): remove left arm references
* refactor(teleop): multiple improvements to leader
* refactor(teleop): multiple improvements to leader
* feat(robots): add open arm to util CLI
* chore(robot): add alias openarm
* Apply suggestions from code review
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
* chore(motors): remove normalization tables damiao
* fix(motors): imports and signatures
* feat(motors): add motor_type_str + recv_id to motor class and _get_motor_recv_id raises if no motor_obj.recv_id
* chore(motors): remove normalize from base motor class and damaio
* tests(motors): remove bad tests (to be replaced)
* chore(motors): updated import check
* fix(robots): open arm mirrored config for joint limits
* chore(motors): update position_kd gain values
* chore(robots): set to 0 if openarm is calibrated at connect time
* chore(robots): remove macos in open arm as can doesn't support it
* chore(robots): update for motor_type_str in Motor class
* chore(robots): no default value for can port in open arms
* feat(robots): add bi manual openarm follower and leader
* use constant for kp and kd range and check responses in mit_control_batch()
* Add docs on setting up canbus and use damiao otor bus, also add lerobot_setup_can.py and log if there is not response from a write command
* precommit format
* supress bandit as these are intentional cli commands
* fix setup-can
* add test
* skip test in ci
* nit precommit
* update doc example
* dont import can for tests
* remove comment
* Add openarms docs
* format
* update purchase link
* can to none if nit availabl;e
* add canfd option in bus
* make handshake logic similar to lerobot-can
* type hint
* type check
* add temp teleop test
* remove script
* mock class
* mock class
* ignore linter
* pre-commit
* Add command for bimanual openarm
* fix import
* fix import leader
* fix import draccus
---------
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Pepijn <pepijn@huggingface.co>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
* fix(motors): cleanup imports + fix signatures
* feat(motors): add damiao canbus + multiple fixes
* fix(motors): address comments -> last_state + different gains + sleep
* refactor(motors): reduce duplicated code + adressed some comments in the PR
* chore(motors): better timeouts
* tests(motors): damiao test and imports
* chore(deps): fix space
* feat(robot): add openarm leader
Co-authored-by: Pepijn <pepijn@huggingface.co>
* feat(robot): add openarm follower
Co-authored-by: Pepijn <pepijn@huggingface.co>
* refactor(robot): remove mechanical compensations and double arm assumption + rename
* chore(robots): remove left arm references
* refactor(teleop): multiple improvements to leader
* refactor(teleop): multiple improvements to leader
* feat(robots): add open arm to util CLI
* chore(robot): add alias openarm
* Apply suggestions from code review
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
* chore(motors): remove normalization tables damiao
* fix(motors): imports and signatures
* feat(motors): add motor_type_str + recv_id to motor class and _get_motor_recv_id raises if no motor_obj.recv_id
* chore(motors): remove normalize from base motor class and damaio
* tests(motors): remove bad tests (to be replaced)
* chore(motors): updated import check
* fix(robots): open arm mirrored config for joint limits
* chore(motors): update position_kd gain values
* chore(robots): set to 0 if openarm is calibrated at connect time
* chore(robots): remove macos in open arm as can doesn't support it
* chore(robots): update for motor_type_str in Motor class
* chore(robots): no default value for can port in open arms
* use constant for kp and kd range and check responses in mit_control_batch()
* Add docs on setting up canbus and use damiao otor bus, also add lerobot_setup_can.py and log if there is not response from a write command
* precommit format
* supress bandit as these are intentional cli commands
* fix setup-can
* add test
* skip test in ci
* nit precommit
* update doc example
* dont import can for tests
* remove comment
* Add openarms docs
* format
* update purchase link
* can to none if nit availabl;e
* add canfd option in bus
* make handshake logic similar to lerobot-can
* type hint
* type check
* add temp teleop test
* remove script
* mock class
* ignore linter
---------
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Pepijn <pepijn@huggingface.co>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
* Fix aggeregation of datasets when subdatasets are already a result of a previous merge
* docstring
* respond to copilot review + add regression test
* Remove unnecessary int conversion for indicies
* fix(motors): cleanup imports + fix signatures
* feat(motors): add damiao canbus + multiple fixes
* fix(motors): address comments -> last_state + different gains + sleep
* refactor(motors): reduce duplicated code + adressed some comments in the PR
* chore(motors): better timeouts
* tests(motors): damiao test and imports
* chore(deps): fix space
* Apply suggestions from code review
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
* chore(motors): remove normalization tables damiao
* fix(motors): imports and signatures
* feat(motors): add motor_type_str + recv_id to motor class and _get_motor_recv_id raises if no motor_obj.recv_id
* chore(motors): remove normalize from base motor class and damaio
* tests(motors): remove bad tests (to be replaced)
* chore(motors): updated import check
* use constant for kp and kd range and check responses in mit_control_batch()
* Add docs on setting up canbus and use damiao otor bus, also add lerobot_setup_can.py and log if there is not response from a write command
* precommit format
* supress bandit as these are intentional cli commands
* fix setup-can
* add test
* skip test in ci
* nit precommit
* update doc example
* dont import can for tests
---------
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>
* feat(async_inference): server always sends CPU tensors, client handles device conversion
* fix:fix the type annotation of RawObservation in src/lerobot/async_inference/helpers.py
* update the import of robot_client
---------
Co-authored-by: Sato shinji <wwwsatoshinji@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: KB <kevin-brian.n-diaye@epita.fr>
whats2000