[pre-commit.ci] auto fixes from pre-commit.com hooks

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lerobot/__init__.py

@@ -168,7 +168,7 @@ available_datasets = sorted(
 )
 
 # lists all available policies from `lerobot/common/policies`
-available_policies = ["act", "diffusion", "tdmpc", "vqbet"]
+available_policies = ["act", "diffusion", "tdmpc", "vqbet", "smolvla"]
 
 # lists all available robots from `lerobot/common/robot_devices/robots`
 available_robots = [

lerobot/common/policies/smolvla/modeling_smolvla.py

@@ -662,6 +662,7 @@ class VLAFlowMatching(nn.Module):
             self.config.max_period,
             device=device,
         )
+
         time_emb = time_emb.type(dtype=dtype)
 
         time_emb = time_emb[:, None, :].expand_as(action_emb)

lerobot/common/robot_devices/control_utils.py

@@ -272,7 +272,6 @@ def control_loop(
                 action = {"action": action}
 
         if dataset is not None:
-            observation = {k: v for k, v in observation.items() if k not in ["task", "robot_type"]}
             frame = {**observation, **action, "task": single_task}
             dataset.add_frame(frame)
 

realman.md

@@ -1,125 +0,0 @@
-# Install
-Create a virtual environment with Python 3.10 and activate it, e.g. with [`miniconda`](https://docs.anaconda.com/free/miniconda/index.html):
-```bash
-conda create -y -n lerobot python=3.10
-conda activate lerobot
-```
-
-Install 🤗 LeRobot:
-```bash
-pip install -e . -i https://pypi.tuna.tsinghua.edu.cn/simple
-
-# pip uninstall numpy
-# pip install numpy==1.26.0
-# pip install pynput
-```
-
-/!\ For Linux only, ffmpeg and opencv requires conda install for now. Run this exact sequence of commands:
-```bash
-conda install ffmpeg=7.1.1 -c conda-forge
-# pip uninstall opencv-python
-# conda install "opencv>=4.10.0"
-```
-
-Install Realman SDK:  
-```bash
-pip install Robotic_Arm==1.0.4.1
-pip install pygame
-```
-
-# piper集成lerobot
-见lerobot_piper_tutorial/1. 🤗 LeRobot：新增机械臂的一般流程.pdf
-
-# Teleoperate
-```bash
-cd piper_scripts/
-bash can_activate.sh can0 1000000
-
-cd ..
-python lerobot/scripts/control_robot.py \
-    --robot.type=piper \
-    --robot.inference_time=false \
-    --control.type=teleoperate
-```
-
-# Record
-Set dataset root path
-```bash
-HF_USER=$PWD/data
-echo $HF_USER
-```
-
-```bash
-python lerobot/scripts/control_robot.py \
-    --robot.type=piper \
-    --robot.inference_time=false \
-    --control.type=record \
-    --control.fps=30 \
-    --control.single_task="move" \
-    --control.repo_id=${HF_USER}/test \
-    --control.num_episodes=2 \
-    --control.warmup_time_s=2 \
-    --control.episode_time_s=10 \
-    --control.reset_time_s=10 \
-    --control.play_sounds=true \
-    --control.push_to_hub=false
-```
-
-Press right arrow -> at any time during episode recording to early stop and go to resetting. Same during resetting, to early stop and to go to the next episode recording.  
-Press left arrow <- at any time during episode recording or resetting to early stop, cancel the current episode, and re-record it.  
-Press escape ESC at any time during episode recording to end the session early and go straight to video encoding and dataset uploading.  
-
-# visualize
-```bash
-python lerobot/scripts/visualize_dataset.py \
-    --repo-id ${HF_USER}/test \
-    --episode-index 0
-```
-
-# Replay
-```bash
-python lerobot/scripts/control_robot.py \
-    --robot.type=piper \
-    --robot.inference_time=false \
-    --control.type=replay \
-    --control.fps=30 \
-    --control.repo_id=${HF_USER}/test \
-    --control.episode=0
-```
-
-# Caution
-
-1. In lerobots/common/datasets/video_utils, the vcodec is set to **libopenh264**, please find your vcodec by **ffmpeg -codecs**
-
-
-# Train
-具体的训练流程见lerobot_piper_tutorial/2. 🤗 AutoDL训练.pdf
-```bash
-python lerobot/scripts/train.py \
-  --dataset.repo_id=${HF_USER}/jack \
-  --policy.type=act \
-  --output_dir=outputs/train/act_jack \
-  --job_name=act_jack \
-  --device=cuda \
-  --wandb.enable=true
-``` 
-
-
-# Inference
-还是使用control_robot.py中的record loop，配置 **--robot.inference_time=true** 可以将手柄移出。
-```bash
-python lerobot/scripts/control_robot.py \
-    --robot.type=piper \
-    --robot.inference_time=true \
-    --control.type=record \
-    --control.fps=30 \
-    --control.single_task="move" \
-    --control.repo_id=$USER/eval_act_jack \
-    --control.num_episodes=1 \
-    --control.warmup_time_s=2 \
-    --control.episode_time_s=30 \
-    --control.reset_time_s=10 \
-    --control.push_to_hub=false \
-    --control.policy.path=outputs/train/act_koch_pick_place_lego/checkpoints/latest/pretrained_model
-```
-

realman_src/dual_arm_connect_test.py

@@ -1,31 +0,0 @@
-from Robotic_Arm.rm_robot_interface import *
-
-armleft = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
-armright = RoboticArm()
-
-
-lefthandle = armleft.rm_create_robot_arm("169.254.128.18", 8080)
-print("机械臂ID：", lefthandle.id)
-righthandle = armright.rm_create_robot_arm("169.254.128.19", 8080)
-print("机械臂ID：", righthandle.id)
-
-# software_info = armleft.rm_get_arm_software_info()
-# if software_info[0] == 0:
-#     print("\n================== Arm Software Information ==================")
-#     print("Arm Model: ", software_info[1]['product_version'])
-#     print("Algorithm Library Version: ", software_info[1]['algorithm_info']['version'])
-#     print("Control Layer Software Version: ", software_info[1]['ctrl_info']['version'])
-#     print("Dynamics Version: ", software_info[1]['dynamic_info']['model_version'])
-#     print("Planning Layer Software Version: ", software_info[1]['plan_info']['version'])
-#     print("==============================================================\n")
-# else:
-#     print("\nFailed to get arm software information, Error code: ", software_info[0], "\n")
-
-print("Left: ", armleft.rm_get_current_arm_state())
-print("Left: ", armleft.rm_get_arm_all_state())
-armleft.rm_movej_p()
-# print("Right: ", armright.rm_get_current_arm_state())
-
-
-# 断开所有连接，销毁线程
-RoboticArm.rm_destory()

realman_src/realman_xbox.py

@@ -1,352 +0,0 @@
-#!/usr/bin/env python3
-# -*-coding:utf8-*-
-from typing import Optional
-import time
-from Robotic_Arm.rm_robot_interface import *
-import pygame
-import threading
-from typing import Dict
-
-
-def enable_fun(arm: RoboticArm):
-    '''
-    使能机械臂并检测使能状态,尝试5s,如果使能超时则退出程序
-    '''
-    enable_flag = False
-    # 设置超时时间（秒）
-    timeout = 5
-    # 记录进入循环前的时间
-    start_time = time.time()
-    elapsed_time_flag = False
-    
-    while not enable_flag:
-        elapsed_time = time.time() - start_time
-        print("--------------------")
-        
-        # 获取机械臂状态
-        ret = arm.rm_get_current_arm_state()
-        if ret[0] == 0:  # 成功获取状态
-            arm_state = ret[1]
-            enable_flag = True
-        
-        print("使能状态:", enable_flag)
-        print("--------------------")
-        # 检查是否超过超时时间
-        if elapsed_time > timeout:
-            print("超时....")
-            elapsed_time_flag = True
-            enable_flag = True
-            break
-        time.sleep(1)
-        
-    if elapsed_time_flag:
-        print("程序自动使能超时,退出程序")
-        exit(0)
-
-
-class EndPoseController:
-    def __init__(self, init_joint, init_pose):
-        # 初始化pygame和手柄
-        pygame.init()
-        pygame.joystick.init()
-        
-        # 检查是否有连接的手柄
-        if pygame.joystick.get_count() == 0:
-            raise Exception("未检测到手柄")
-        
-        # 初始化手柄
-        self.joystick = pygame.joystick.Joystick(0)
-        self.joystick.init()
-        
-        # 摇杆死区
-        self.deadzone = 0.15
-        
-        # 精细控制模式
-        self.fine_control_mode = False
-        
-        # 初始化末端姿态 [X, Y, Z, RX, RY, RZ] XYZ meter RX RY RZ rad
-        self.init_joint = init_joint
-        self.init_pose = init_pose
-        self.joint = self.init_joint
-        self.pose = self.init_pose
-        self.pose_speeds = [0.0] * 6
-        
-        # 末端位姿限制
-        self.pose_limits = [
-            (-0.850, 0.850),     # X (m)
-            (-0.850, 0.850),     # Y (m)
-            (0.850, 0.850),     # Z (m) - 设置最小高度防止碰撞
-            (-3.14, 3.14),   # RX (rad)
-            (-3.14, 3.14),   # RY (rad)
-            (-3.14, 3.14)    # RZ (rad)
-        ]
-        
-        # 控制参数
-        self.linear_step = 0.0015  # 线性移动步长(m)
-        self.angular_step = 0.001  # 角度步长(rad) - 从度转换为弧度
-        
-        # 夹爪状态和速度
-        self.gripper_open = False
-        self.gripper_speed = 10
-        
-        # 启动更新线程
-        self.running = True
-        self.thread = threading.Thread(target=self.update_controller)
-        self.thread.start()
-        
-        print("机械臂末端位姿控制器已启动")
-    
-    def _apply_nonlinear_mapping(self, value):
-        """应用非线性映射以提高控制精度"""
-        # 保持符号，但对数值应用平方映射以提高精度
-        sign = 1 if value >= 0 else -1
-        return sign * (abs(value) ** 2)
-    
-    def _normalize_angle(self, angle):
-        """将角度归一化到[-π, π]范围内"""
-        import math
-        while angle > math.pi:
-            angle -= 2 * math.pi
-        while angle < -math.pi:
-            angle += 2 * math.pi
-        return angle
-    
-    def update_controller(self):
-        while self.running:
-            try:
-                pygame.event.pump()
-            except Exception as e:
-                print(f"控制器错误: {e}")
-                self.stop()
-                continue
-            
-            # 检查精细控制模式切换 (使用L3按钮)
-            if self.joystick.get_button(10):  # L3按钮
-                self.fine_control_mode = not self.fine_control_mode
-                print(f"切换到{'精细' if self.fine_control_mode else '普通'}控制模式")
-                time.sleep(0.3)  # 防止多次触发
-            
-            # 检查重置按钮 (7号按钮，通常是Start按钮)
-            if self.joystick.get_button(7):  # Start按钮
-                print("重置机械臂到初始位置...")
-                # 重置位姿
-                self.joint = self.init_joint
-                self.pose = self.init_pose
-                self.pose_speeds = [0.0] * 6
-                self.gripper_open = False
-                self.gripper_speed = 10
-                print("机械臂已重置到初始位置")
-                time.sleep(0.3)  # 防止多次触发
-
-            # 更新末端位姿
-            self.update_end_pose()
-            
-            # 夹爪控制（圈/叉）
-            circle = self.joystick.get_button(1)  # 夹爪开
-            cross = self.joystick.get_button(0)   # 夹爪关
-            self.gripper_speed = 10 if circle else (10 if cross else 0)
-            self.gripper_open = True if circle else False 
-
-            # 更新夹爪
-            # self.gripper += self.gripper_speed
-            # self.gripper = max(0.0, min(0.1, self.gripper))
-            
-            time.sleep(0.02)
-    
-    def update_end_pose(self):
-        print("1", self.pose, "griper", self.gripper_open)
-        """更新末端位姿控制"""
-        # 根据控制模式调整步长
-        current_linear_step = self.linear_step * (0.1 if self.fine_control_mode else 1.0)
-        current_angular_step = self.angular_step * (0.1 if self.fine_control_mode else 1.0)
-        
-        # print(f"步长设置 - 线性: {current_linear_step}, 角度: {current_angular_step}")
-        print(f"精细控制模式: {self.fine_control_mode}")
-        
-        # 方向键控制XY
-        hat = self.joystick.get_hat(0)
-        hat_up = hat[1] == 1     # Y+
-        hat_down = hat[1] == -1  # Y-
-        hat_left = hat[0] == -1  # X-
-        hat_right = hat[0] == 1  # X+
-        
-        # print(f"方向键状态: up={hat_up}, down={hat_down}, left={hat_left}, right={hat_right}")
-        
-        # 右摇杆控制Z
-        right_y_raw = -self.joystick.get_axis(4)
-        # print(f"右摇杆原始值(axis 4): {self.joystick.get_axis(4)}")
-        # print(f"右摇杆处理值: {right_y_raw}")
-        
-        # 左摇杆控制RZ
-        left_y_raw = -self.joystick.get_axis(1)
-        # print(f"左摇杆原始值(axis 1): {self.joystick.get_axis(1)}")
-        # print(f"左摇杆处理值: {left_y_raw}")
-        
-        # 应用死区
-        right_y = 0.0 if abs(right_y_raw) < self.deadzone else right_y_raw
-        left_y = 0.0 if abs(left_y_raw) < self.deadzone else left_y_raw
-        
-        # print(f"死区处理后 - 右摇杆: {right_y}, 左摇杆: {left_y}")
-
-        # 计算各轴速度
-        self.pose_speeds[0] = current_linear_step if hat_up else (-current_linear_step if hat_down else 0.0)  # X
-        self.pose_speeds[1] = current_linear_step if hat_left else (-current_linear_step if hat_right else 0.0)  # Y
-        
-        # 设置Z速度（右摇杆Y轴控制）
-        z_mapping = self._apply_nonlinear_mapping(right_y)
-        # print(f"Z轴非线性映射: {right_y} -> {z_mapping}")
-        self.pose_speeds[2] = z_mapping * current_linear_step  # Z
-        
-        # L1/R1控制RX旋转
-        LB = self.joystick.get_button(4)  # RX-
-        RB = self.joystick.get_button(5)  # RX+
-        self.pose_speeds[3] = (-current_angular_step if LB else (current_angular_step if RB else 0.0))
-        
-        # △/□控制RY旋转
-        triangle = self.joystick.get_button(2)  # RY+
-        square = self.joystick.get_button(3)    # RY-
-        self.pose_speeds[4] = (current_angular_step if triangle else (-current_angular_step if square else 0.0))
-        
-        # 左摇杆Y轴控制RZ旋转
-        rz_mapping = self._apply_nonlinear_mapping(left_y)
-        # print(f"RZ轴非线性映射: {left_y} -> {rz_mapping}")
-        self.pose_speeds[5] = rz_mapping * current_angular_step * 2  # RZ
-        
-        # print(f"计算出的速度: {self.pose_speeds}")
-        
-        # 更新末端位姿
-        old_pose = self.pose.copy()
-        for i in range(6):
-            self.pose[i] += self.pose_speeds[i]
-        
-        # print(f"位姿更新: {old_pose} -> {self.pose}")
-        
-        # 位置限制
-        # pose_before_limit = self.pose.copy()
-        # for i in range(3):
-        #     min_val, max_val = self.pose_limits[i]
-        #     self.pose[i] = max(min_val, min(max_val, self.pose[i]))
-        
-        # if pose_before_limit != self.pose:
-        #     print(f"位置限制生效: {pose_before_limit} -> {self.pose}")
-        
-        # 角度归一化处理
-        pose_before_normalize = self.pose.copy()
-        for i in range(3, 6):
-            self.pose[i] = self._normalize_angle(self.pose[i])
-
-        # if pose_before_normalize != self.pose:
-        #     print(f"角度归一化生效: {pose_before_normalize} -> {self.pose}")
-
-        # print("2", self.pose)
-        # print("=" * 50)
-
-
-
-    def update_state(self, end_pose, joint_state):
-        """更新状态信息（从机械臂获取当前状态）"""
-        # 这里可以选择是否要同步机械臂的实际位置到控制器
-        # 如果需要严格同步，可以取消下面的注释
-        # self.pose = end_pose.copy()
-        pass
-            
-    def get_action(self) -> Dict:
-        """获取当前控制命令"""
-        return {
-            'X': self.pose[0],
-            'Y': self.pose[1],
-            'Z': self.pose[2],
-            'RX': self.pose[3],
-            'RY': self.pose[4],
-            'RZ': self.pose[5],
-            'gripper_speed': self.gripper_speed,
-            'gripper_open': self.gripper_open
-        }
-    
-    def stop(self):
-        """停止控制器"""
-        self.running = False
-        if self.thread.is_alive():
-            self.thread.join()
-        pygame.quit()
-        print("控制器已退出")
-    
-    def reset(self):
-        """重置到初始状态"""
-        self.joint = self.init_joint
-        self.pose = self.init_pose
-        self.pose_speeds = [0.0] * 6
-        self.gripper_open = False
-        self.gripper_speed = 10
-        print("已重置到初始状态")
-
-
-if __name__ == "__main__":
-    # 初始化睿尔曼机械臂
-    arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
-    
-    init_joint = [-90, 90, 90, 90, -90, -90, 90]
-    init_pose = [-0.030, 0.255, 0.161, 3.142, 0, -1.57]
-
-    # 创建机械臂连接
-    handle = arm.rm_create_robot_arm("192.168.3.18", 8080)
-    print(f"机械臂连接ID: {handle.id}")
-    
-    # 使能机械臂
-    enable_fun(arm=arm)
-    
-    teleop = EndPoseController(init_joint, init_pose)
-    
-    try:
-        while True:
-            # 获取当前控制命令
-            action = teleop.get_action()
-            
-            # 构建目标位姿列表 [X, Y, Z, RX, RY, RZ]
-            target_pose = [
-                action['X'],    # X (m)
-                action['Y'],    # Y (m) 
-                action['Z'],    # Z (m)
-                action['RX'],   # RX (rad)
-                action['RY'],   # RY (rad)
-                action['RZ']    # RZ (rad)
-            ]
-            
-            # 使用笛卡尔空间直线运动控制末端位姿
-            # 参数: 目标位姿, 速度比例(20%), 交融半径(0), 连接标志(0), 阻塞模式(0-非阻塞)
-            result = arm.rm_movej_p(target_pose, 50, 0, 0, 1)
-            
-            if result != 0:
-                print(f"运动控制错误，错误码: {result}")
-            
-            if action['gripper_open']:
-                # arm.rm_set_gripper_release(action['gripper_speed'], block=True)
-                arm.rm_set_gripper_position(1000, True, 1)
-            else:
-                # arm.rm_set_gripper_pick(action['gripper_speed'], force=50, block=True)
-                arm.rm_set_gripper_position(1, True, 1)
-
-            # 获取当前机械臂状态
-            ret = arm.rm_get_current_arm_state()
-            if ret[0] == 0:  # 成功获取状态
-                current_pose = ret[1].get('pose', target_pose)
-                current_joint = ret[1].get('joint', [0]*7)
-                
-                teleop.update_state(current_pose, current_joint)
-                
-                print("控制模式: 末端控制")
-                print(f"目标位姿: {target_pose}")
-                print(f"当前位姿: {current_pose}")
-                print(f"关节位置: {current_joint}")
-            else:
-                print(f"获取机械臂状态失败，错误码: {ret[0]}")
-                
-            time.sleep(0.1)
-            
-    except KeyboardInterrupt:
-        print("程序被用户中断")
-    finally:
-        # 清理资源
-        teleop.stop()
-        arm.rm_delete_robot_arm()
-        print("程序退出完成")

realman_src/single_arm_connect_test.py

@@ -1,23 +0,0 @@
-from Robotic_Arm.rm_robot_interface import *
-
-robot = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
-handle = robot.rm_create_robot_arm("192.168.3.18", 8080)
-print("机械臂ID：", handle.id)
-
-software_info = robot.rm_get_arm_software_info()
-if software_info[0] == 0:
-    print("\n================== Arm Software Information ==================")
-    print("Arm Model: ", software_info[1]['product_version'])
-    print("Algorithm Library Version: ", software_info[1]['algorithm_info']['version'])
-    print("Control Layer Software Version: ", software_info[1]['ctrl_info']['version'])
-    print("Dynamics Version: ", software_info[1]['dynamic_info']['model_version'])
-    print("Planning Layer Software Version: ", software_info[1]['plan_info']['version'])
-    print("==============================================================\n")
-else:
-    print("\nFailed to get arm software information, Error code: ", software_info[0], "\n")
-
-print("Left: ", robot.rm_get_current_arm_state())
-print("Left: ", robot.rm_get_arm_all_state())
-
-# 断开所有连接，销毁线程
-RoboticArm.rm_destory()

realman_src/single_arm_control_test.py

@@ -1,21 +0,0 @@
-from Robotic_Arm.rm_robot_interface import *
-
-armleft = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
-
-lefthandle = armleft.rm_create_robot_arm("192.168.3.18", 8080)
-print("机械臂ID：", lefthandle.id)
-
-
-print("Left: ", armleft.rm_get_current_arm_state())
-print("Left: ", armleft.rm_get_arm_all_state())
-# armleft.rm_movej([-90, 90, 90, -90, -90, 90], 50, 0, 0, 1)
-# armleft.rm_movej([-90, 90, 90, -90, -90, 90], 50, 0, 0, 1)
-# armleft.rm_movej_p([-0.185, 0.315, 0.080, -1.500, -0.800, -0.000], 50, 0, 0, 1)s
-# armleft.rm_movel([-0.185, 0.315, 0.080, -1.500, -0.800, -0.000], 50, 0, 0, 1)
-armleft.rm_set_gripper_position(1000, True, 2)
-import time
-time.sleep(3)
-armleft.rm_set_gripper_position(1, True, 2)
-
-# 断开所有连接，销毁线程
-RoboticArm.rm_destory()

tests/test_available.py

@@ -21,6 +21,7 @@ import pytest
 import lerobot
 from lerobot.common.policies.act.modeling_act import ACTPolicy
 from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
+from lerobot.common.policies.smolvla.modeling_smolvla import SmolVLAPolicy
 from lerobot.common.policies.tdmpc.modeling_tdmpc import TDMPCPolicy
 from lerobot.common.policies.vqbet.modeling_vqbet import VQBeTPolicy
 from tests.utils import require_env
@@ -45,7 +46,7 @@ def test_available_policies():
     This test verifies that the class attribute `name` for all policies is
     consistent with those listed in `lerobot/__init__.py`.
     """
-    policy_classes = [ACTPolicy, DiffusionPolicy, TDMPCPolicy, VQBeTPolicy]
+    policy_classes = [ACTPolicy, DiffusionPolicy, TDMPCPolicy, VQBeTPolicy, SmolVLAPolicy]
     policies = [pol_cls.name for pol_cls in policy_classes]
     assert set(policies) == set(lerobot.available_policies), policies