Simon Alibert
039de254ea
Add Hope Jr ( #935 )
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* Fix imports
* Add feetech write tests
* Nit
* Add autoclosing fixture
* Assert ping stub called
* Add CalibrationMode
* Add Motor in dxl robots
* Simplify split_int_bytes
* Rename read/write -> sync_read/write, refactor, add write
* Rename tests
* Refactor dxl tests by functionality
* Add dxl write test
* Refactor _is_comm_success
* Refactor feetech tests by functionality
* Add feetech write test
* Simplify _is_comm_success & _is_error
* Move mock_serial patch to dedicated file
* Remove test skips & fix docstrings
* Nit
* Add dxl operating modes
* Add is_connected in robots and teleops
* Update Koch
* Add feetech operating modes
* Caps dxl OperatingMode
* Update ensure_safe_goal_position
* Update so100
* Privatize methods & renames
* Fix dict
* Add _configure_motors & move ping methods
* Return models (str) with pings
* Implement feetech broadcast ping
* Add raw_values option
* Rename idx -> id_
* Improve errors
* Fix feetech ping tests
* Ensure motors exist at connection time
* Update tests
* Add test_motors_bus
* Move DriveMode & TorqueMode
* Update Koch imports
* Update so100 imports
* Fix visualize_motors_bus
* Fix imports
* Add calibration
* Rename idx -> id_
* Rename idx -> id_
* (WIP) _async_read
* Add new calibration method for robot refactor (#896 )
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co >
* Remove deprecated scripts
* Rename CalibrationMode -> MotorNormMode
* Fix calibration functions
* Remove todo
* Add scan_port utility
* Add calibration utilities
* Move encoding functions to encoding_utils
* Add test_encoding_utils
* Rename test
* Add more calibration utilities
* Format baudrate tables
* Implement SO-100 leader calibration
* Implement SO-100 follower calibration
* Implement Koch calibration
* Add test_scan_port (TODO)
* Fix calibration
* Hack feetech firmware bug
* Update tests
* Update Koch & SO-100
* Improve format
* Rename SO-100 classes
* Rename Koch classes
* Add calibration tests
* Remove old calibration tests
* Revert feetech hack and monkeypatch instead
* Simplify motors mocks
* Add is_calibrated test
* Update viperx & widowx
* Rename viperx & widowx
* Remove old calibration
* feat(teleop): thread-safe keyboard teleop implementation (#869 )
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
* Add support for feetech scs series + various fixes
* Update dynamixel with motors bus & tables changes
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* (WIP) Add Hope Jr
* Rename arm -> hand
* (WIP) Add homonculus arm & glove
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* Add Feetech protocol version
* Implement read
* Use constants from sdks
* (nit) move write
* Fix broadcast ping type hint
* Add protocol 1 broadcast ping
* Refactor & add _serialize_data
* Add feetech sm8512bl
* Make feetech broadcast ping faster in protocol 1
* Cleanup
* Add support for feetech protocol 1 to _split_into_byte_chunks
* Fix unormalize
* Remove test_motors_bus fixtures
* Add more segmented tests (base motor bus & feetech), add feetech protocol 1 support
* Add more segmented tests (dynamixel)
* Refactor tests
* Add handshake, fix feetech _read_firmware_version
* Fix tests
* Motors config & disconnect fixes
* Add torque_disabled context
* Update branch & fix pre-commit errors
* Fix hand & glove readings
* Update feetech tables
* Move read/write_calibration implementations
* Add setup_motor
* Fix calibration msg display
* Fix setup_motor & add it to robots
* Fix _find_single_motor
* Remove deprecated configure_motor
* Remove deprecated dynamixel_calibration
* Remove names
* Remove deprecated import
* refactor/lekiwi robot (#863 )
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Co-authored-by: Simon Alibert <simon.alibert@huggingface.co >
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
* fix(teleoperators): use property is_connected (#1075 )
* Remove deprecated manipulator
* Update robot features & naming
* Update teleop features & naming
* Add make_teleoperator_from_config
* Rename find_port
* Fix config parsing
* Remove app script
* Add setup_motors
* Add teleoperate
* Add record
* Add replay
* Fix test_datasets
* Add mock robot & teleop
* Add new test_control_robot
* Add test_record_and_resume
* Remove deprecated scripts & tests
* Add calibrate
* Add docstrings
* Fix tests (no-extras install)
* Add SO101
* Remove pynput from optional deps
* Rename example 7
* Remove unecessary id
* Add MotorsBus docstrings
* Rename arm -> bus
* Remove Moss arm
* Fix setup_motors & calibrate configs
* Fix test_calibrate
* Add copyrights
* Update hand & arm
* Update homonculus hand & arm
* Fix dxl _find_single_motor
* Update glove
* Add setup_motors for lekiwi
* Fix glove calibration
* Complete docstring
* Add check for same min and max during calibration
* Move MockMotorsBus
* Add so100_follower tests
* (WIP) add calibration gui
* Fix test
* Add setup_motors
* Update calibration gui
* Remove old .cache folder
* Replace deprecated abc.abstractproperty
* Fix feetech protocol 1 configure
* Cleanup gui & add copyrights
* Anatomically precise joint names
* (WIP) Add glove to hand joints translation
* Move make_robot_config
* Add drive_mode & norm_mode in glove calibration
* Fix joints translation
* Fix normalization drive_mode
* nit
* Fix glove to hand conversion
* Adapt feetech calibration
* Remove pygame prompt
* Implement arm calibration (hacks)
* Better MotorsBus error messages
* Update feetech read_calibration
* Fix feetech test_is_calibrated
* Cleanup glove
* (WIP) Update arm
* Add changes from #1117
* refactor(cameras): cameras implementations + tests improvements (#1108 )
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co >
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>
* Fix arm joints order
* Add timeout/event logic
* Fix arm & glove
* Fix predict_action from record
* fix(cameras): update docstring + handle sn when starts with 0 + update timeouts to more reasonable value (#1154 )
* fix(scripts): parser instead of draccus in record + add __get_path_fields__() to RecordConfig (#1155 )
* Left/Right sides + other fixes
* Arm fixes and add config
* More hacks
* Add control scripts
* Fix merge errors
* push changes to calibration, teleop and docs
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* Move readme to docs
* update readme
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* Add files via upload
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* Update image sources
* Symlink doc
* Compress image
* Move image
* Update docs link
* fix docs
* simplify teleop scripts
* fix variable names
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* Address code review
* add EMA to glove
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* integrate teleoperation for hand
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* update docs
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* import hopejr/homunculus in teleoperate
* update docs for teleoperate, record, replay, train and inference
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* chore(hopejr): address comments
* chore(hopejr): address coments 2
* chore(docs): update teleoperation instructions for the hand/glove
* fix(hopejr): calibration int + update docs
---------
Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com >
Signed-off-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
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Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
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2025-07-08 15:47:11 +02:00
Simon Alibert
e23b41e79a
Hardware API redesign ( #777 )
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Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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Co-authored-by: Pepijn <pepijn@huggingface.co >
2025-06-05 17:48:43 +02:00
Pepijn
42bf1e8b9d
Update tutorial ( #1021 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2025-04-28 09:00:32 +02:00
Pepijn
a4c1da25de
Add kiwi to readme ( #803 )
2025-03-04 18:43:27 +01:00
Pepijn
b299cfea8a
Add step assembly tutorial ( #800 )
2025-03-04 09:57:37 +01:00
Pepijn
aca464ca72
Add mobile so100 ( #724 )
2025-02-25 09:06:50 +01:00
Ivelin Ivanov
963738d983
fix: broken images and a few minor typos in README ( #499 )
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Signed-off-by: ivelin <ivelin117@gmail.com >
2024-11-05 15:30:59 +01:00
Remi
172809a502
[Fix] Move back to manual calibration ( #488 )
2024-10-26 15:27:21 +02:00
Remi
07e8716315
Add FeetechMotorsBus, SO-100, Moss-v1 ( #419 )
...
Co-authored-by: jess-moss <jess.moss@huggingface.co >
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2024-10-25 11:23:55 +02:00
Remi
429a463aff
Control aloha robot natively ( #316 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2024-09-04 19:28:05 +02:00
Remi
bbe9057225
Improve control robot ; Add process to configure motor indices ( #326 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com >
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com >
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co >
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com >
2024-08-15 18:11:33 +02:00
Remi
5e54e39795
Add real robot devices and scripts to control real robot ( #288 )
...
Co-authored-by: Simon Alibert <alibert.sim@gmail.com >
2024-07-15 17:43:10 +02:00
Simon Alibert
f5e76393eb
Release cleanup ( #132 )
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Co-authored-by: Kashif Rasul <kashif.rasul@gmail.com >
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com >
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
Co-authored-by: Cadene <re.cadene@gmail.com >
2024-05-06 03:03:14 +02:00
Alexander Soare
1a1308d62f
fix environment seeding
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add fixes for reproducibility
only try to start env if it is closed
revision
fix normalization and data type
Improve README
Improve README
Tests are passing, Eval pretrained model works, Add gif
Update gif
Update gif
Update gif
Update gif
Update README
Update README
update minor
Update README.md
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
Update README.md
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
Address suggestions
Update thumbnail + stats
Update thumbnail + stats
Update README.md
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com >
Add more comments
Add test_examples.py
2024-03-26 10:10:43 +00:00
