From 664e069c3f03fbc142a1ef16106c9b929bd6e5c5 Mon Sep 17 00:00:00 2001 From: Caroline Pascal Date: Mon, 28 Jul 2025 12:55:47 +0200 Subject: [PATCH] docs/style: updating docs and deprecated links (#1584) --- docs/source/hilserl.mdx | 4 ++-- docs/source/il_robots.mdx | 2 +- docs/source/lekiwi.mdx | 2 +- src/lerobot/__init__.py | 6 +++--- src/lerobot/robots/viperx/README.md | 2 +- tests/async_inference/test_robot_client.py | 2 +- 6 files changed, 9 insertions(+), 9 deletions(-) diff --git a/docs/source/hilserl.mdx b/docs/source/hilserl.mdx index f66d8cab7..2f73d0964 100644 --- a/docs/source/hilserl.mdx +++ b/docs/source/hilserl.mdx @@ -28,7 +28,7 @@ This guide provides step-by-step instructions for training a robot policy using - A gamepad (recommended) or keyboard to control the robot - A Nvidia GPU - A real robot with a follower and leader arm (optional if you use the keyboard or the gamepad) -- A URDF file for the robot for the kinematics package (check `lerobot/common/model/kinematics.py`) +- A URDF file for the robot for the kinematics package (check `lerobot/model/kinematics.py`) ## What kind of tasks can I train? @@ -477,7 +477,7 @@ Create a training configuration file (example available [here](https://huggingfa 1. Configure the policy settings (`type="sac"`, `device`, etc.) 2. Set `dataset` to your cropped dataset 3. Configure environment settings with crop parameters -4. Check the other parameters related to SAC in [configuration_sac.py](https://github.com/huggingface/lerobot/blob/19bb621a7d0a31c20cd3cc08b1dbab68d3031454/lerobot/common/policies/sac/configuration_sac.py#L79). +4. Check the other parameters related to SAC in [configuration_sac.py](https://github.com/huggingface/lerobot/blob/main/src/lerobot/policies/sac/configuration_sac.py#L79). 5. Verify that the `policy` config is correct with the right `input_features` and `output_features` for your task. **Starting the Learner** diff --git a/docs/source/il_robots.mdx b/docs/source/il_robots.mdx index ccca6d508..de80b1fcd 100644 --- a/docs/source/il_robots.mdx +++ b/docs/source/il_robots.mdx @@ -323,7 +323,7 @@ The `record` function provides a suite of tools for capturing and managing data ##### 2. Checkpointing and Resuming - Checkpoints are automatically created during recording. -- If an issue occurs, you can resume by re-running the same command with `--resume=true`. +- If an issue occurs, you can resume by re-running the same command with `--resume=true`. When resuming a recording, `--dataset.num_episodes` must be set to the **number of additional episodes to be recorded**, and not to the targeted total number of episodes in the dataset ! - To start recording from scratch, **manually delete** the dataset directory. ##### 3. Recording Parameters diff --git a/docs/source/lekiwi.mdx b/docs/source/lekiwi.mdx index bb70fd26b..a5bdb19cf 100644 --- a/docs/source/lekiwi.mdx +++ b/docs/source/lekiwi.mdx @@ -258,7 +258,7 @@ You should see on your laptop something like this: `[INFO] Connected to remote r | F | Decrease speed | > [!TIP] -> If you use a different keyboard, you can change the keys for each command in the [`LeKiwiConfig`](../src/lerobot/robot_devices/robots/configs.py). +> If you use a different keyboard, you can change the keys for each command in the [`LeKiwiClientConfig`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/robots/lekiwi/config_lekiwi.py). ### Wired version diff --git a/src/lerobot/__init__.py b/src/lerobot/__init__.py index 38d4e8644..9d3ed1893 100644 --- a/src/lerobot/__init__.py +++ b/src/lerobot/__init__.py @@ -170,7 +170,7 @@ available_datasets = sorted( # lists all available policies from `lerobot/policies` available_policies = ["act", "diffusion", "tdmpc", "vqbet"] -# lists all available robots from `lerobot/robot_devices/robots` +# lists all available robots from `lerobot/robots` available_robots = [ "koch", "koch_bimanual", @@ -179,13 +179,13 @@ available_robots = [ "so101", ] -# lists all available cameras from `lerobot/robot_devices/cameras` +# lists all available cameras from `lerobot/cameras` available_cameras = [ "opencv", "intelrealsense", ] -# lists all available motors from `lerobot/robot_devices/motors` +# lists all available motors from `lerobot/motors` available_motors = [ "dynamixel", "feetech", diff --git a/src/lerobot/robots/viperx/README.md b/src/lerobot/robots/viperx/README.md index 4e90c99c7..5cdb152a2 100644 --- a/src/lerobot/robots/viperx/README.md +++ b/src/lerobot/robots/viperx/README.md @@ -63,7 +63,7 @@ python lerobot/scripts/control_robot.py \ --control.type=teleoperate ``` -By adding `--robot.max_relative_target=5`, we override the default value for `max_relative_target` defined in [`AlohaRobotConfig`](lerobot/robot_devices/robots/configs.py). It is expected to be `5` to limit the magnitude of the movement for more safety, but the teleoperation won't be smooth. When you feel confident, you can disable this limit by adding `--robot.max_relative_target=null` to the command line: +By adding `--robot.max_relative_target=5`, we override the default value for `max_relative_target` defined in [`ViperXConfig`](./config_viperx.py). It is expected to be `5` to limit the magnitude of the movement for more safety, but the teleoperation won't be smooth. When you feel confident, you can disable this limit by adding `--robot.max_relative_target=null` to the command line: ```bash python lerobot/scripts/control_robot.py \ diff --git a/tests/async_inference/test_robot_client.py b/tests/async_inference/test_robot_client.py index d1273ae63..51db2c3a7 100644 --- a/tests/async_inference/test_robot_client.py +++ b/tests/async_inference/test_robot_client.py @@ -13,7 +13,7 @@ # limitations under the License. """Unit-tests for the `RobotClient` action-queue logic (pure Python, no gRPC). -We monkey-patch `lerobot.common.robot_devices.robots.utils.make_robot` so that +We monkey-patch `lerobot.robots.utils.make_robot_from_config` so that no real hardware is accessed. Only the queue-update mechanism is verified. """