Michel Aractingi
134202011c
Added hilserl.mdx that contains documentation for training hilserl on the real robot and in simulation and the reward classifier
2025-06-04 16:44:11 +02:00
Michel Aractingi
fddfafc487
Fixes in various path of gym_manipulator
2025-06-04 15:29:54 +02:00
AdilZouitine
906dd1396d
(fix):ReplayBuffer to pass task_name directly to add_frame method; update gym_manipulator documentation to describe environment features and usage.
2025-06-04 14:40:29 +02:00
Adil Zouitine
64219571e4
(hotfix): nightly CI by clipping pymunk version below 7.0.0 ( #1182 )
2025-06-04 14:29:46 +02:00
Adil Zouitine
3f61ec1d69
[Fix] Unpin torch beyond 2.6.0 & torchcodec beyond 0.2.1 ( #1127 )
2025-06-04 14:09:23 +02:00
AdilZouitine
00e9f61509
(fix): test
2025-06-03 18:42:41 +02:00
AdilZouitine
8d4fe1ad6a
(fix): linter
2025-06-03 17:45:10 +02:00
Eugene Mironov
6eeab64f8a
[PORT HIL-SERL] Refactor folders structure | Rebased version ( #1178 )
2025-06-03 17:30:50 +02:00
Michel Aractingi
8feda920da
Moved the step size from the teleop device to the robot; simplified the automatic takeover code
2025-06-03 17:30:50 +02:00
Michel Aractingi
1edfbf792a
General fixes to abide by the new config in learner_server, actor_server, gym_manipulator
2025-06-03 17:30:50 +02:00
Michel Aractingi
df96e5b3b2
Adapted gym_manipulator to teh new convention in robot devices
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changed the motor bus tranformation to degrees but considering the min and max
fixed the kinematics in the so100_follower_end_effector
2025-06-03 17:30:50 +02:00
Michel Aractingi
e044208534
precomit nits
2025-06-03 17:30:50 +02:00
Michel Aractingi
2f62e5496e
fixed naming convention in gym_manipulator, adapted get observation to so100_follower_end_effector
2025-06-03 17:30:50 +02:00
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
