ae7e446afd
docs(mermaid): fixing mermaid diagram
2026-06-12 20:01:16 +02:00
f649a3b452
fix(pyav check): fixing PyAV option validation for integer codec options by normalizing
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numeric values before calling `is_integer()`
Co-authored-by: Wensi (Vince) Ai <59036629+wensi-ai@users.noreply.github.com >
2026-06-12 19:52:45 +02:00
5461fadc86
chore(format): formatting code
2026-06-12 19:52:10 +02:00
e0f08379e6
test(dataset tools): adding missing tests for new dataset edition tools features
2026-06-12 19:46:36 +02:00
f63e9682b2
test(fix): fixing depth tests
2026-06-12 19:45:38 +02:00
5c71fdf5f4
docs(depth): improving depth maps docs
2026-06-12 19:45:19 +02:00
bf2a3f3a39
chore(format): formatting code
2026-06-12 19:18:47 +02:00
6b2d5cec4c
test(depth encoding): updating and cleaning video/depth encoding tests
2026-06-12 19:17:59 +02:00
291d2e982c
test(depth): cleaning up depth tests
2026-06-12 19:00:17 +02:00
979f7b1187
feat(output unit): adding support for output unit specification at dataset reading/training time
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Co-authored-by: Wensi (Vince) Ai <59036629+wensi-ai@users.noreply.github.com >
2026-06-12 18:34:46 +02:00
1a5fbb216f
fix(depth units): fixing depth units output for the realsense cameras
2026-06-12 18:28:31 +02:00
65d4da7c1b
fix(is_depth): adding missing doctrings and is_depth arguments in video decoding functions
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Co-authored-by: Wensi (Vince) Ai <59036629+wensi-ai@users.noreply.github.com >
2026-06-12 18:04:45 +02:00
6610819c4a
fix(typo): fixing typo
2026-05-26 18:06:52 +02:00
6ab5e667c0
fix(from_video_info): fixing early validation issue in from_video_info
2026-05-26 18:06:22 +02:00
55ff277af9
test(cleaning): cleaning up tests
2026-05-26 18:05:31 +02:00
71546887c5
test(aggregate): extending aggregation tests to depth frames
2026-05-26 17:03:30 +02:00
1cc9fe0139
feat(tools): adding depth support in LeRobotDataset edition tools
2026-05-26 17:00:12 +02:00
f1859d8c65
feat(batched dequantization): optimizing dequantize_depth for torch based batched dequantization
2026-05-26 16:58:44 +02:00
3d67784f8c
fix(TIFF): add missing quantization and cleanup for TIFF files
2026-05-26 15:27:09 +02:00
621f4191be
fix(typo): fixing typo
2026-05-26 15:27:04 +02:00
de44bc9711
fix(normalization): restricting 255 normalization to non depth/uint8 images only
2026-05-26 14:17:03 +02:00
bb47f5c463
fix(realsense): fixing typo in realsense serial number
2026-05-26 14:05:17 +02:00
e06d83fbfd
tests(typos): fixing typos in tests
2026-05-24 23:50:30 +02:00
6179b5fd7e
fix(info): fixing info metadata update when is_depth_map was set
2026-05-24 23:37:08 +02:00
72ce8b099c
fix(pre-commit): fixing mutable defautl value
2026-05-24 23:37:08 +02:00
2efa8e5540
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.
2026-05-24 23:37:08 +02:00
aff1252b90
feat(pix_fmt channels): use PyAv to check get pixel formats number of channels
2026-05-24 23:37:08 +02:00
bf78fb11d3
tests(depth): adding new tests for depth integration validation
2026-05-24 23:37:08 +02:00
d8eea83a89
test(fix): fixing exisiting tests to still work with latest features
2026-05-24 23:37:08 +02:00
b183571586
chore(typos): fixing typos
2026-05-24 23:37:08 +02:00
6bf4ffaabc
fix(plumbing): fixing missing parts in the depth maps pipeline
2026-05-24 23:37:07 +02:00
45683aeccc
fix(stop_event): fixing stop_event race condition in camera classes
2026-05-24 23:37:07 +02:00
5b91fe5d1a
feat(is_depth): simplifying is_depth nested name + legacy support
2026-05-24 23:37:07 +02:00
ca9fad1f12
feat(depth shape): ensuring depth maps shape is always including the channel
2026-05-24 23:37:07 +02:00
efdec0ed3a
chore(format): format code
2026-05-24 23:37:07 +02:00
1ba832e6e2
feat(depth maps writer): adding support for raw depth maps recording with image writer
2026-05-24 23:37:07 +02:00
44280c4c56
feat(viz): render depth observations as rr.DepthImage in Viridis
2026-05-24 23:37:07 +02:00
8825bb77e4
feat(record): plumb DepthEncoderConfig through lerobot-record
2026-05-24 23:37:07 +02:00
ab6911b781
feat(robots/so_follower): emit + populate depth keys when use_depth
2026-05-24 23:37:07 +02:00
929113c0d7
feat(features): route 2D camera shapes to observation.depth.<key>
2026-05-24 23:37:06 +02:00
b4e7d4c63a
feat(cameras/realsense): expose async depth in metric meters
2026-05-24 23:37:06 +02:00
3f1b6f1ce1
feat(depth): wire DatasetReader to decode_depth_frames
2026-05-24 23:37:06 +02:00
226efd51f2
feat(depth): wire StreamingVideoEncoder + writer to depth encoder
2026-05-24 23:37:06 +02:00
c49c7536f2
feat(depth): plumb DepthEncoderConfig through LeRobotDataset and DatasetWriter
2026-05-24 23:37:06 +02:00
93d1fac4d1
feat(depth): extend quantization tools to better fit the encoding/decoding pipeline
2026-05-24 23:37:06 +02:00
01081d2156
feat(depth): persist depth metadata
2026-05-24 23:37:06 +02:00
119169e417
feat(video): add ffv1 to supported codecs
2026-05-24 23:37:06 +02:00
7402980d7d
feat(depth): add depth quantization helpers and tests
2026-05-24 23:37:05 +02:00
8194897994
fix(deps): cap placo below 0.9.16 and harden kinematics import ( #3647 )
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* fix(deps): cap placo below 0.9.16 and harden kinematics import
placo 0.9.16 links against liburdfdom_sensor.so.4, which is unavailable
on Ubuntu 24.04 (noble ships urdfdom 3.x). Importing placo on that base
crashes with:
ImportError: liburdfdom_sensor.so.4.0: cannot open shared object file
This broke nightly Latest Deps tests (CPU and GPU) when the lockfile
upgrade picked placo 0.9.16, since lerobot.model.kinematics
unconditionally imports placo when _placo_available is true, and that
check (importlib.util.find_spec) cannot detect dlopen failures of
transitive shared libraries — so unrelated subsystems (RL actor,
gym_manipulator) became unimportable.
Two changes:
1. Pin placo to <0.9.16 in pyproject.toml + regenerate uv.lock
(0.9.16 → 0.9.15). Short-term unblock for nightly CI until system
urdfdom 4.x is broadly available.
2. Harden the import guard in src/lerobot/model/kinematics.py:
wrap 'import placo' in try/except ImportError so a missing
transitive .so no longer crashes module import. RobotKinematics
instantiation now raises an informative ImportError citing the
underlying dlopen failure via _raise_if_placo_unusable().
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com >
* fix(kinematics): hoist _placo_runtime_error to module scope for mypy
Mypy walks the TYPE_CHECKING branch in which the runtime else-block is
not executed, so _placo_runtime_error was only defined at runtime and
mypy reported 'Name "_placo_runtime_error" is not defined' on the
three references inside _raise_if_placo_unusable. Declare the symbol
unconditionally at module scope with a default of None; the runtime
import-failure branch still assigns to it.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com >
* style(kinematics): drop verbose comments around placo import guard
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com >
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Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com >
2026-05-22 12:03:07 +02:00
9f437d86b6
fix(groot): align GR00TN15Config with transformers config dataclasses ( #3606 )
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* fix(gr00t): fix gr00t config dataclass init TypeError
* fix(groot): guard strict config decorator without transformers for passing CI
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Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com >
2026-05-22 10:31:04 +02:00
CarolinePascal