Michel Aractingi
2475645f5f
Modified kinematics code to be independant of drive mode
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Modified gym_manipulator.py and find_joint_limits to adhere to the refactor of robot devices
Modified the configuration of envs to take into account the refactor
2025-06-03 17:30:48 +02:00
Michel Aractingi
ba477e81ce
precomit nits
2025-06-03 17:30:33 +02:00
Michel Aractingi
ab85147296
Added gamepad teleoperator and so100follower end effector robots
2025-06-03 17:30:33 +02:00
Michel Aractingi
05fcfca374
- added back degrees mode back to motor bus for IK and FK to work properly
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- created new so100followerendeffector robot that inherits from so100follower but takes eef actions and transforms them to joint positions
- created teleop_gamepad device to use gamepad as a teleoperater
2025-06-03 17:30:31 +02:00
AdilZouitine
b166296ba5
Shallow copy
2025-06-03 17:30:22 +02:00
AdilZouitine
adb1d08cc2
Add HIL-SERL citation
2025-06-03 17:30:22 +02:00
AdilZouitine
520cc69534
Add review feedback
2025-06-03 17:30:22 +02:00
AdilZouitine
1df2a7b2da
Add review feedback
2025-06-03 17:30:22 +02:00
AdilZouitine
fa72aed5b6
Remove numpy array support
2025-06-03 17:30:22 +02:00
AdilZouitine
1a936113c2
fix formating and typos
2025-06-03 17:30:22 +02:00
Adil Zouitine
a5f758d7c6
[HIL-SERL] Review feedback modifications ( #1112 )
2025-06-03 17:30:22 +02:00
Eugene Mironov
5902f8fcc7
[PORT HIL-SERL] Better unit tests coverage for SAC policy ( #1074 )
2025-06-03 17:30:21 +02:00
Eugene Mironov
f8a963b86f
Fixup proto header ( #1104 )
2025-06-03 17:30:21 +02:00
pre-commit-ci[bot]
42b0efdd99
[pre-commit.ci] auto fixes from pre-commit.com hooks
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for more information, see https://pre-commit.ci
2025-06-03 17:30:21 +02:00
Michel Aractingi
335c92c961
Added comment on SE(3) in kinematics and nits in lerobot/envs/utils.py
2025-06-03 17:30:21 +02:00
Michel Aractingi
7694d03dee
Improved the takeover logic in the case of leader_automatic control_mode in gym_manipulator.py
2025-06-03 17:30:21 +02:00
Michel Aractingi
aa793cbd4a
Added number of steps after success as parameter in config
2025-06-03 17:30:21 +02:00
Michel Aractingi
db86586530
Fixes in record_dataset and import gym_hil
2025-06-03 17:30:21 +02:00
Michel Aractingi
dd9c35ba78
removed fixed port values in find_joint_limits.py
2025-06-03 17:30:21 +02:00
AdilZouitine
f96c50a4e2
Add grpcio as optional dependency
2025-06-03 17:30:21 +02:00
Michel Aractingi
7b45c56be5
robot_type nit
2025-06-03 17:30:21 +02:00
Michel Aractingi
f762e2758f
added names in record_dataset function of gym_manipulator
2025-06-03 17:30:21 +02:00
AdilZouitine
35743b72de
Delete outdated example
2025-06-03 17:30:21 +02:00
AdilZouitine
5823657e38
Format file
2025-06-03 17:30:21 +02:00
AdilZouitine
3ba8b27680
Cleaning configs
2025-06-03 17:30:21 +02:00
Michel Aractingi
0061c217bd
style nit
2025-06-03 17:30:21 +02:00
Michel Aractingi
53fc441a8a
Added missing lisences
2025-06-03 17:30:21 +02:00
Adil Zouitine
049773a5fa
[HIL SERL] Env management and add gym-hil ( #1077 )
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Co-authored-by: Michel Aractingi <michel.aractingi@gmail.com >
2025-06-03 17:30:21 +02:00
Adil Zouitine
e76f29ff7a
Merge branch 'main' into user/adil-zouitine/2025-1-7-port-hil-serl-new
2025-06-03 17:30:11 +02:00
Simon Alibert
adcb07bf62
Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots
2025-06-02 19:41:50 +02:00
Pepijn
67e3383ffc
Refactor LeKiwi ( #1136 )
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Co-authored-by: Simon Alibert <simon.alibert@huggingface.co >
Co-authored-by: Steven Palma <steven.palma@huggingface.co >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
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>
2025-06-02 19:40:48 +02:00
pre-commit-ci[bot]
1537d0ab90
[pre-commit.ci] pre-commit autoupdate ( #1048 )
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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co >
2025-06-02 19:30:39 +02:00
Pepijn
ac5a9b90c7
Update the docs for the robots refactor ( #1115 )
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Co-authored-by: Simon Alibert <simon.alibert@huggingface.co >
Co-authored-by: Steven Palma <steven.palma@huggingface.co >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
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>
2025-06-02 18:14:21 +02:00
Simon Alibert
f35d24a9c3
Cleanup control_utils
2025-06-02 17:09:08 +02:00
Steven Palma
fbdefb2e3e
fix: several fixes identified in the docs PR ( #1181 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2025-06-02 16:05:05 +02:00
Simon Alibert
0e39d0f6e6
Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots
2025-06-02 13:19:26 +02:00
Adil Zouitine
2be7f3a3ff
(hotfix): nightly CI by clipping pymunk version below 7.0.0 ( #1182 )
2025-06-02 13:18:02 +02:00
Adil Zouitine
0cf864870c
[Fix] Unpin torch beyond 2.6.0 & torchcodec beyond 0.2.1 ( #1127 )
2025-05-28 16:54:20 +02:00
Simon Alibert
b8eecba63d
Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots
2025-05-28 15:39:30 +02:00
Steven Palma
7308aa57a2
fix(scripts): reconstructs action dict from policy output ( #1162 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2025-05-28 15:36:21 +02:00
Steven Palma
1fd3b2e2db
fix(utils): Convert observation values in predict_action to torch.Tensor ( #1157 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2025-05-28 15:29:08 +02:00
Simon Alibert
69e48bbe19
Merge branch 'user/aliberts/2025_02_25_refactor_robots' of github.com:huggingface/lerobot into user/aliberts/2025_02_25_refactor_robots
2025-05-28 15:08:48 +02:00
Steven Palma
0db1a67eaf
fix(dataset): key is an action if it starts with such prefix in dataset_to_policy_features ( #1156 )
2025-05-28 15:08:10 +02:00
Simon Alibert
ccb8468e9b
Complete TODO for cameras on robots 'is_connected'
2025-05-28 10:15:19 +02:00
mshukor
1786916a16
Update README.md ( #1163 )
2025-05-27 11:50:43 +02:00
mshukor
0507ad4f68
Update README.md ( #1160 )
2025-05-27 11:45:07 +02:00
Simon Alibert
f6198d20c6
Add suggestion from Caroline
2025-05-26 17:57:51 +02:00
Simon Alibert
78e29f4f20
Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots
2025-05-26 10:54:07 +02:00
Steven Palma
fb4bfaf029
fix(scripts): parser instead of draccus in record + add __get_path_fields__() to RecordConfig ( #1155 )
2025-05-26 10:51:05 +02:00
Steven Palma
809a9c6de0
fix(cameras): update docstring + handle sn when starts with 0 + update timeouts to more reasonable value ( #1154 )
2025-05-26 10:48:42 +02:00
