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Package folder structure (#1417)

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* Move files

* Replace imports & paths

* Update relative paths

* Update doc symlinks

* Update instructions paths

* Fix imports

* Update grpc files

* Update more instructions

* Downgrade grpc-tools

* Update manifest

* Update more paths

* Update config paths

* Update CI paths

* Update bandit exclusions

* Remove walkthrough section
This commit is contained in:
Simon Alibert
2025-07-01 16:34:46 +02:00
committed by GitHub
parent 483be9aac2
commit d4ee470b00
268 changed files with 862 additions and 890 deletions
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docs/source/il_robots.mdx
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@@ -52,8 +52,8 @@ python -m lerobot.teleoperate \
</hfoption>
<hfoption id="API example">
```python
from lerobot.common.teleoperators.so101_leader import SO101LeaderConfig, SO101Leader
from lerobot.common.robots.so101_follower import SO101FollowerConfig, SO101Follower
from lerobot.teleoperators.so101_leader import SO101LeaderConfig, SO101Leader
from lerobot.robots.so101_follower import SO101FollowerConfig, SO101Follower
robot_config = SO101FollowerConfig(
port="/dev/tty.usbmodem58760431541",
@@ -105,9 +105,9 @@ python -m lerobot.teleoperate \
</hfoption>
<hfoption id="API example">
```python
from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.common.teleoperators.koch_leader import KochLeaderConfig, KochLeader
from lerobot.common.robots.koch_follower import KochFollowerConfig, KochFollower
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.teleoperators.koch_leader import KochLeaderConfig, KochLeader
from lerobot.robots.koch_follower import KochFollowerConfig, KochFollower
camera_config = {
"front": OpenCVCameraConfig(index_or_path=0, width=1920, height=1080, fps=30)
@@ -175,15 +175,15 @@ python -m lerobot.record \
</hfoption>
<hfoption id="API example">
```python
from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.datasets.utils import hw_to_dataset_features
from lerobot.common.robots.so100_follower import SO100Follower, SO100FollowerConfig
from lerobot.common.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
from lerobot.common.teleoperators.so100_leader.so100_leader import SO100Leader
from lerobot.common.utils.control_utils import init_keyboard_listener
from lerobot.common.utils.utils import log_say
from lerobot.common.utils.visualization_utils import _init_rerun
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.robots.so100_follower import SO100Follower, SO100FollowerConfig
from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import _init_rerun
from lerobot.record import record_loop
NUM_EPISODES = 5
@@ -353,11 +353,11 @@ python -m lerobot.replay \
```python
import time
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.common.robots.so100_follower.so100_follower import SO100Follower
from lerobot.common.utils.robot_utils import busy_wait
from lerobot.common.utils.utils import log_say
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.utils import log_say
episode_idx = 0
@@ -389,9 +389,9 @@ Your robot should replicate movements similar to those you recorded. For example
## Train a policy
To train a policy to control your robot, use the [`python lerobot/scripts/train.py`](../lerobot/scripts/train.py) script. A few arguments are required. Here is an example command:
To train a policy to control your robot, use the [`python -m lerobot.scripts.train`](../src/lerobot/scripts/train.py) script. A few arguments are required. Here is an example command:
```bash
python lerobot/scripts/train.py \
python -m lerobot.scripts.train \
--dataset.repo_id=${HF_USER}/so101_test \
--policy.type=act \
--output_dir=outputs/train/act_so101_test \
@@ -403,7 +403,7 @@ python lerobot/scripts/train.py \
Let's explain the command:
1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/so101_test`.
2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../lerobot/common/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor states, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../src/lerobot/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor states, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
4. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
5. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
@@ -411,7 +411,7 @@ Training should take several hours. You will find checkpoints in `outputs/train/
To resume training from a checkpoint, below is an example command to resume from `last` checkpoint of the `act_so101_test` policy:
```bash
python lerobot/scripts/train.py \
python -m lerobot.scripts.train \
--config_path=outputs/train/act_so101_test/checkpoints/last/pretrained_model/train_config.json \
--resume=true
```
@@ -462,15 +462,15 @@ python -m lerobot.record \
</hfoption>
<hfoption id="API example">
```python
from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.datasets.utils import hw_to_dataset_features
from lerobot.common.policies.act.modeling_act import ACTPolicy
from lerobot.common.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.common.robots.so100_follower.so100_follower import SO100Follower
from lerobot.common.utils.control_utils import init_keyboard_listener
from lerobot.common.utils.utils import log_say
from lerobot.common.utils.visualization_utils import _init_rerun
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.policies.act.modeling_act import ACTPolicy
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import _init_rerun
from lerobot.record import record_loop
NUM_EPISODES = 5