ac1c2454c5
Small fixes
2025-07-28 09:13:01 +02:00
2e3c116fad
add urdfs
2025-07-28 08:52:37 +02:00
65c174e9f8
fix record and replay and startup issue
2025-07-22 14:07:20 +02:00
005d4bb011
Modify replay
2025-07-18 16:38:09 +02:00
779d38fff0
hack to get images "at" 100fps
2025-07-18 16:33:38 +02:00
c0ffb92735
Update record
2025-07-17 09:56:31 +02:00
baa9b95b97
add acc, vel to dataset
2025-07-17 09:56:23 +02:00
75ce54e212
remove settings add record
2025-07-16 16:06:53 +02:00
05a2316a63
modify gains
2025-07-16 14:26:29 +02:00
2437decd3f
Cleanup unneeded code
2025-07-16 10:40:58 +02:00
2d2f5d3d60
remove set_motors
2025-07-15 14:08:41 +02:00
2d608f086a
Merge branch 'main' into feat/add-biteleop-so101
2025-07-15 14:03:15 +02:00
1c0ac8e341
Parse draccus subclass overrides when using --policy.path ( #1501 )
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* Parse draccus subclass overrides when using --policy.path
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2025-07-15 12:29:07 +02:00
c4c0105a47
[pre-commit.ci] pre-commit autoupdate ( #1327 )
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* [pre-commit.ci] pre-commit autoupdate
updates:
- [github.com/adhtruong/mirrors-typos: v1.33.1 → v1.34.0](https://github.com/adhtruong/mirrors-typos/compare/v1.33.1...v1.34.0 )
- [github.com/astral-sh/ruff-pre-commit: v0.11.13 → v0.12.3](https://github.com/astral-sh/ruff-pre-commit/compare/v0.11.13...v0.12.3 )
- [github.com/woodruffw/zizmor-pre-commit: v1.9.0 → v1.11.0](https://github.com/woodruffw/zizmor-pre-commit/compare/v1.9.0...v1.11.0 )
- [github.com/PyCQA/bandit: 1.8.3 → 1.8.6](https://github.com/PyCQA/bandit/compare/1.8.3...1.8.6 )
* Ignore B615
---------
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2025-07-15 12:28:22 +02:00
1b878c9155
fix(record): Improve OpenCV backend handling for Windows systems ( #1495 )
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* fix(record): Improve OpenCV backend handling for Windows systems
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* Resolved ruff's E402 error (import statements not at the beginning of the file):
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- Defined _fix_opencv_backend() as a function
- Adjusted the timing of the fix call
- Code structure conforming to ruff
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* fix(record): Correct OpenCV backend for Windows systems
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* fix(opencv): Set OpenCV environment variable for Windows systems
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* fix(opencv): Refactor MSMF hardware transform environment variable setting for Windows
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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2025-07-15 11:33:02 +02:00
724874e063
Fix tests ( #1510 )
2025-07-15 11:27:01 +02:00
91b110d806
fix(mps): gradient exploding and nan loss issues with ACT ( #1490 )
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Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
2025-07-15 10:28:19 +02:00
519b76110e
Remove random noise injected by policy server ( #1496 )
2025-07-13 21:58:05 +02:00
e925ef3f18
tune
2025-07-11 13:39:54 +02:00
fbf5f04545
Add vel filter and better static friction parameters
2025-07-11 13:34:28 +02:00
9fdec23cee
uncomment handshake (issue on this model)
2025-07-11 10:41:22 +02:00
d9af2f1b89
set direction bit
2025-07-11 10:17:55 +02:00
d2645cb19f
fix(docs): Record-Upload failed? Don't panic! ( #1478 )
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* fix: add instruction to manually upload dataset
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com >
* fix: repo type is explicited
---------
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com >
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
2025-07-10 20:13:56 +02:00
57f7c8b03e
Use multi turn, single turn is problem!
2025-07-10 19:31:14 +02:00
e9c795e479
remove set phase
2025-07-10 12:27:43 +02:00
abe51eeba3
Update async docs with blogpost ( #1479 )
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Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
2025-07-10 12:24:40 +02:00
c9cff132c3
Add better hls table
2025-07-10 10:56:47 +02:00
30c161006d
Add Async Inference ( #1196 )
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2025-07-10 10:39:11 +02:00
0136912fa4
Print more
2025-07-09 19:21:44 +02:00
ce2b9724bf
fix(hil-serl): discrete critic send through network ( #1468 )
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Co-authored-by: Khalil Meftah <kmeftah.khalil@gmail.com >
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2025-07-09 16:22:40 +02:00
cf86b9300d
fix(logging): Fixing logging levels ( #1466 )
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* fix(logging): Fixing logging levels, adding custom logging levels for console and file logging
* clean(typing): Adding typing in logging formatter, use proper getter for logging message
2025-07-08 18:59:13 +02:00
67d6bfee78
increase protection current
2025-07-08 15:51:15 +02:00
039de254ea
Add Hope Jr ( #935 )
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* 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
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* (WIP) Add Hope Jr
* Rename arm -> hand
* (WIP) Add homonculus arm & glove
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* 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>
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* 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
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* Move readme to docs
* update readme
Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com >
* Add files via upload
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* 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
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* Address code review
* add EMA to glove
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* integrate teleoperation for hand
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* update docs
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* import hopejr/homunculus in teleoperate
* update docs for teleoperate, record, replay, train and inference
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* chore(hopejr): address comments
* chore(hopejr): address coments 2
* chore(docs): update teleoperation instructions for the hand/glove
* fix(hopejr): calibration int + update docs
---------
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2025-07-08 15:47:11 +02:00
a3feadbbfb
Increase max torque limit
2025-07-08 15:26:13 +02:00
25e22ea3ba
Add friction to distribiutor estimation
2025-07-08 15:08:35 +02:00
5e27248bba
Tune everything a bit
2025-07-08 14:55:34 +02:00
a5e0aae13a
Fixes @torch.no_grad() usage ( #1455 )
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* fix: decorator calls with parentheses
* fix no grad for normalize too
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com >
---------
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com >
2025-07-08 13:08:32 +02:00
7f7b45cfbb
Add rerun vis
2025-07-04 17:33:25 +02:00
aec1b29d23
Fix indentation ( #1436 )
2025-07-04 14:56:12 +02:00
28857dccb1
Add friction component (helps!) but not right one yet
2025-07-04 14:48:31 +02:00
a4d46d4adb
modify gains
2025-07-04 14:36:37 +02:00
043b720505
Add inertia
2025-07-04 14:25:14 +02:00
d985f4b1db
fix: current impl
2025-07-04 13:20:27 +02:00
ab53de989a
fix: current
2025-07-04 09:21:53 +02:00
63ddfefa08
Remove references to lerobot.common ( #1432 )
2025-07-02 18:08:20 +02:00
596e9050bd
Refactor kinematics and switch to using placo ( #1322 )
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Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com >
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2025-07-02 15:20:04 +02:00
a56cf87f42
fix gravity compensation
2025-07-02 15:16:58 +02:00
6047bbee10
Update pyproject.toml to make package installable with pip ( #1430 )
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Signed-off-by: Gregor Lenz <gregor@paddington-robotics.com >
2025-07-02 12:40:35 +02:00
1522e60f83
feat: Add fixes and refactor lekiwi example ( #1396 )
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* feat: Add fixes and refactor lekiwi example
* fix: replace repo_id with placeholders
* feat: use record_loop for lekiwi, use same control strucutre as record.py
* feat: make rerun log more general for lekiwi
* fix: add comments record_loop and fix params evaluate.py
* fix: add events in evaluate.py
* fix: add events 2
* change record to display data
* Integrate feedback steven
* Add docs merging
* fix: add lekiwi name check
* fix: integrate feedback steven
* fix: list for type
* fix: check type list
* remove second robot connect
* fix: added file when merging
* fix(record): account for edge cases when teleop is a list
---------
Co-authored-by: Steven Palma <steven.palma@huggingface.co >
2025-07-02 11:41:20 +02:00
12d1629aae
Subtract middle
2025-07-01 18:09:36 +02:00
Pepijn