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Reorganize files

This commit is contained in:
Simon Alibert 2025-02-26 16:22:07 +01:00
parent eecf32e77a
commit 21cd2940a9
34 changed files with 90 additions and 90 deletions
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0
lerobot/common/robot_devices/cameras/configs.py → lerobot/common/cameras/configs.py
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4
lerobot/common/robot_devices/cameras/intelrealsense.py → lerobot/common/cameras/intelrealsense.py
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@ -17,8 +17,8 @@ from threading import Thread
import numpy as np import numpy as np
from PIL import Image from PIL import Image
from lerobot.common.robot_devices.cameras.configs import IntelRealSenseCameraConfig from lerobot.common.cameras.configs import IntelRealSenseCameraConfig
from lerobot.common.robot_devices.utils import ( from lerobot.common.utils.robot_utils import (
RobotDeviceAlreadyConnectedError, RobotDeviceAlreadyConnectedError,
RobotDeviceNotConnectedError, RobotDeviceNotConnectedError,
busy_wait, busy_wait,

4
lerobot/common/robot_devices/cameras/opencv.py → lerobot/common/cameras/opencv.py
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@ -15,8 +15,8 @@ from threading import Thread
import numpy as np import numpy as np
from PIL import Image from PIL import Image
from lerobot.common.robot_devices.cameras.configs import OpenCVCameraConfig from lerobot.common.cameras.configs import OpenCVCameraConfig
from lerobot.common.robot_devices.utils import ( from lerobot.common.utils.robot_utils import (
RobotDeviceAlreadyConnectedError, RobotDeviceAlreadyConnectedError,
RobotDeviceNotConnectedError, RobotDeviceNotConnectedError,
busy_wait, busy_wait,

10
lerobot/common/robot_devices/cameras/utils.py → lerobot/common/cameras/utils.py
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@ -2,7 +2,7 @@ from typing import Protocol
import numpy as np import numpy as np
from lerobot.common.robot_devices.cameras.configs import ( from lerobot.common.cameras.configs import (
CameraConfig, CameraConfig,
IntelRealSenseCameraConfig, IntelRealSenseCameraConfig,
OpenCVCameraConfig, OpenCVCameraConfig,
@ -22,12 +22,12 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> list[C
for key, cfg in camera_configs.items(): for key, cfg in camera_configs.items():
if cfg.type == "opencv": if cfg.type == "opencv":
from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera from lerobot.common.cameras.opencv import OpenCVCamera
cameras[key] = OpenCVCamera(cfg) cameras[key] = OpenCVCamera(cfg)
elif cfg.type == "intelrealsense": elif cfg.type == "intelrealsense":
from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera from lerobot.common.cameras.intelrealsense import IntelRealSenseCamera
cameras[key] = IntelRealSenseCamera(cfg) cameras[key] = IntelRealSenseCamera(cfg)
else: else:
@ -38,13 +38,13 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> list[C
def make_camera(camera_type, **kwargs) -> Camera: def make_camera(camera_type, **kwargs) -> Camera:
if camera_type == "opencv": if camera_type == "opencv":
from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera from lerobot.common.cameras.opencv import OpenCVCamera
config = OpenCVCameraConfig(**kwargs) config = OpenCVCameraConfig(**kwargs)
return OpenCVCamera(config) return OpenCVCamera(config)
elif camera_type == "intelrealsense": elif camera_type == "intelrealsense":
from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera from lerobot.common.cameras.intelrealsense import IntelRealSenseCamera
config = IntelRealSenseCameraConfig(**kwargs) config = IntelRealSenseCameraConfig(**kwargs)
return IntelRealSenseCamera(config) return IntelRealSenseCamera(config)

2
lerobot/common/datasets/lerobot_dataset.py
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@ -69,7 +69,7 @@ from lerobot.common.datasets.video_utils import (
encode_video_frames, encode_video_frames,
get_video_info, get_video_info,
) )
from lerobot.common.robot_devices.robots.utils import Robot from lerobot.common.robots.utils import Robot
CODEBASE_VERSION = "v2.1" CODEBASE_VERSION = "v2.1"

2
lerobot/common/datasets/utils.py
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@ -39,7 +39,7 @@ from lerobot.common.datasets.backward_compatibility import (
BackwardCompatibilityError, BackwardCompatibilityError,
ForwardCompatibilityError, ForwardCompatibilityError,
) )
from lerobot.common.robot_devices.robots.utils import Robot from lerobot.common.robots.utils import Robot
from lerobot.common.utils.utils import is_valid_numpy_dtype_string from lerobot.common.utils.utils import is_valid_numpy_dtype_string
from lerobot.configs.types import DictLike, FeatureType, PolicyFeature from lerobot.configs.types import DictLike, FeatureType, PolicyFeature

2
lerobot/common/datasets/v2/batch_convert_dataset_v1_to_v2.py
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@ -27,7 +27,7 @@ from textwrap import dedent
from lerobot import available_datasets from lerobot import available_datasets
from lerobot.common.datasets.v2.convert_dataset_v1_to_v2 import convert_dataset from lerobot.common.datasets.v2.convert_dataset_v1_to_v2 import convert_dataset
from lerobot.common.robot_devices.robots.configs import AlohaRobotConfig from lerobot.common.robots.configs import AlohaRobotConfig
LOCAL_DIR = Path("data/") LOCAL_DIR = Path("data/")

4
lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py
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@ -141,8 +141,8 @@ from lerobot.common.datasets.video_utils import (
get_image_pixel_channels, get_image_pixel_channels,
get_video_info, get_video_info,
) )
from lerobot.common.robot_devices.robots.configs import RobotConfig from lerobot.common.robots.configs import RobotConfig
from lerobot.common.robot_devices.robots.utils import make_robot_config from lerobot.common.robots.utils import make_robot_config
V16 = "v1.6" V16 = "v1.6"
V20 = "v2.0" V20 = "v2.0"

0
lerobot/common/robot_devices/motors/configs.py → lerobot/common/motors/configs.py
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4
lerobot/common/robot_devices/motors/dynamixel.py → lerobot/common/motors/dynamixel.py
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@ -8,8 +8,8 @@ from copy import deepcopy
import numpy as np import numpy as np
import tqdm import tqdm
from lerobot.common.robot_devices.motors.configs import DynamixelMotorsBusConfig from lerobot.common.motors.configs import DynamixelMotorsBusConfig
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from lerobot.common.utils.utils import capture_timestamp_utc from lerobot.common.utils.utils import capture_timestamp_utc
PROTOCOL_VERSION = 2.0 PROTOCOL_VERSION = 2.0

4
lerobot/common/robot_devices/robots/dynamixel_calibration.py → lerobot/common/motors/dynamixel_calibration.py
View File

@ -3,12 +3,12 @@
import numpy as np import numpy as np
from lerobot.common.robot_devices.motors.dynamixel import ( from lerobot.common.motors.dynamixel import (
CalibrationMode, CalibrationMode,
TorqueMode, TorqueMode,
convert_degrees_to_steps, convert_degrees_to_steps,
) )
from lerobot.common.robot_devices.motors.utils import MotorsBus from lerobot.common.motors.utils import MotorsBus
URL_TEMPLATE = ( URL_TEMPLATE = (
"https://raw.githubusercontent.com/huggingface/lerobot/main/media/{robot}/{arm}_{position}.webp" "https://raw.githubusercontent.com/huggingface/lerobot/main/media/{robot}/{arm}_{position}.webp"

4
lerobot/common/robot_devices/motors/feetech.py → lerobot/common/motors/feetech.py
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@ -8,8 +8,8 @@ from copy import deepcopy
import numpy as np import numpy as np
import tqdm import tqdm
from lerobot.common.robot_devices.motors.configs import FeetechMotorsBusConfig from lerobot.common.motors.configs import FeetechMotorsBusConfig
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from lerobot.common.utils.utils import capture_timestamp_utc from lerobot.common.utils.utils import capture_timestamp_utc
PROTOCOL_VERSION = 0 PROTOCOL_VERSION = 0

4
lerobot/common/robot_devices/robots/feetech_calibration.py → lerobot/common/motors/feetech_calibration.py
View File

@ -5,12 +5,12 @@ import time
import numpy as np import numpy as np
from lerobot.common.robot_devices.motors.feetech import ( from lerobot.common.motors.feetech import (
CalibrationMode, CalibrationMode,
TorqueMode, TorqueMode,
convert_degrees_to_steps, convert_degrees_to_steps,
) )
from lerobot.common.robot_devices.motors.utils import MotorsBus from lerobot.common.motors.utils import MotorsBus
URL_TEMPLATE = ( URL_TEMPLATE = (
"https://raw.githubusercontent.com/huggingface/lerobot/main/media/{robot}/{arm}_{position}.webp" "https://raw.githubusercontent.com/huggingface/lerobot/main/media/{robot}/{arm}_{position}.webp"

10
lerobot/common/robot_devices/motors/utils.py → lerobot/common/motors/utils.py
View File

@ -1,6 +1,6 @@
from typing import Protocol from typing import Protocol
from lerobot.common.robot_devices.motors.configs import ( from lerobot.common.motors.configs import (
DynamixelMotorsBusConfig, DynamixelMotorsBusConfig,
FeetechMotorsBusConfig, FeetechMotorsBusConfig,
MotorsBusConfig, MotorsBusConfig,
@ -21,12 +21,12 @@ def make_motors_buses_from_configs(motors_bus_configs: dict[str, MotorsBusConfig
for key, cfg in motors_bus_configs.items(): for key, cfg in motors_bus_configs.items():
if cfg.type == "dynamixel": if cfg.type == "dynamixel":
from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus from lerobot.common.motors.dynamixel import DynamixelMotorsBus
motors_buses[key] = DynamixelMotorsBus(cfg) motors_buses[key] = DynamixelMotorsBus(cfg)
elif cfg.type == "feetech": elif cfg.type == "feetech":
from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus from lerobot.common.motors.feetech import FeetechMotorsBus
motors_buses[key] = FeetechMotorsBus(cfg) motors_buses[key] = FeetechMotorsBus(cfg)
@ -38,13 +38,13 @@ def make_motors_buses_from_configs(motors_bus_configs: dict[str, MotorsBusConfig
def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus: def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
if motor_type == "dynamixel": if motor_type == "dynamixel":
from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus from lerobot.common.motors.dynamixel import DynamixelMotorsBus
config = DynamixelMotorsBusConfig(**kwargs) config = DynamixelMotorsBusConfig(**kwargs)
return DynamixelMotorsBus(config) return DynamixelMotorsBus(config)
elif motor_type == "feetech": elif motor_type == "feetech":
from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus from lerobot.common.motors.feetech import FeetechMotorsBus
config = FeetechMotorsBusConfig(**kwargs) config = FeetechMotorsBusConfig(**kwargs)
return FeetechMotorsBus(config) return FeetechMotorsBus(config)

4
lerobot/common/robot_devices/robots/configs.py → lerobot/common/robots/configs.py
View File

@ -4,12 +4,12 @@ from typing import Sequence
import draccus import draccus
from lerobot.common.robot_devices.cameras.configs import ( from lerobot.common.cameras.configs import (
CameraConfig, CameraConfig,
IntelRealSenseCameraConfig, IntelRealSenseCameraConfig,
OpenCVCameraConfig, OpenCVCameraConfig,
) )
from lerobot.common.robot_devices.motors.configs import ( from lerobot.common.motors.configs import (
DynamixelMotorsBusConfig, DynamixelMotorsBusConfig,
FeetechMotorsBusConfig, FeetechMotorsBusConfig,
MotorsBusConfig, MotorsBusConfig,

8
lerobot/common/robot_devices/robots/lekiwi_remote.py → lerobot/common/robots/lekiwi/lekiwi_remote.py
View File

@ -7,7 +7,7 @@ from pathlib import Path
import cv2 import cv2
import zmq import zmq
from lerobot.common.robot_devices.robots.mobile_manipulator import LeKiwi from lerobot.common.robots.mobile_manipulator import LeKiwi
def setup_zmq_sockets(config): def setup_zmq_sockets(config):
@ -47,7 +47,7 @@ def calibrate_follower_arm(motors_bus, calib_dir_str):
calib_dir.mkdir(parents=True, exist_ok=True) calib_dir.mkdir(parents=True, exist_ok=True)
calib_file = calib_dir / "main_follower.json" calib_file = calib_dir / "main_follower.json"
try: try:
from lerobot.common.robot_devices.robots.feetech_calibration import run_arm_manual_calibration from lerobot.common.motors.feetech_calibration import run_arm_manual_calibration
except ImportError: except ImportError:
print("[WARNING] Calibration function not available. Skipping calibration.") print("[WARNING] Calibration function not available. Skipping calibration.")
return return
@ -79,8 +79,8 @@ def run_lekiwi(robot_config):
- Processes incoming commands (arm and wheel commands) and sends back sensor and camera data. - Processes incoming commands (arm and wheel commands) and sends back sensor and camera data.
""" """
# Import helper functions and classes # Import helper functions and classes
from lerobot.common.robot_devices.cameras.utils import make_cameras_from_configs from lerobot.common.cameras.utils import make_cameras_from_configs
from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus, TorqueMode from lerobot.common.motors.feetech import FeetechMotorsBus, TorqueMode
# Initialize cameras from the robot configuration. # Initialize cameras from the robot configuration.
cameras = make_cameras_from_configs(robot_config.cameras) cameras = make_cameras_from_configs(robot_config.cameras)

20
lerobot/common/robot_devices/robots/manipulator.py → lerobot/common/robots/manipulator.py
View File

@ -13,11 +13,11 @@ from pathlib import Path
import numpy as np import numpy as np
import torch import torch
from lerobot.common.robot_devices.cameras.utils import make_cameras_from_configs from lerobot.common.cameras.utils import make_cameras_from_configs
from lerobot.common.robot_devices.motors.utils import MotorsBus, make_motors_buses_from_configs from lerobot.common.motors.utils import MotorsBus, make_motors_buses_from_configs
from lerobot.common.robot_devices.robots.configs import ManipulatorRobotConfig from lerobot.common.robots.configs import ManipulatorRobotConfig
from lerobot.common.robot_devices.robots.utils import get_arm_id from lerobot.common.robots.utils import get_arm_id
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
def ensure_safe_goal_position( def ensure_safe_goal_position(
@ -228,9 +228,9 @@ class ManipulatorRobot:
self.leader_arms[name].connect() self.leader_arms[name].connect()
if self.robot_type in ["koch", "koch_bimanual", "aloha"]: if self.robot_type in ["koch", "koch_bimanual", "aloha"]:
from lerobot.common.robot_devices.motors.dynamixel import TorqueMode from lerobot.common.motors.dynamixel import TorqueMode
elif self.robot_type in ["so100", "moss", "lekiwi"]: elif self.robot_type in ["so100", "moss", "lekiwi"]:
from lerobot.common.robot_devices.motors.feetech import TorqueMode from lerobot.common.motors.feetech import TorqueMode
# We assume that at connection time, arms are in a rest position, and torque can # We assume that at connection time, arms are in a rest position, and torque can
# be safely disabled to run calibration and/or set robot preset configurations. # be safely disabled to run calibration and/or set robot preset configurations.
@ -295,12 +295,12 @@ class ManipulatorRobot:
print(f"Missing calibration file '{arm_calib_path}'") print(f"Missing calibration file '{arm_calib_path}'")
if self.robot_type in ["koch", "koch_bimanual", "aloha"]: if self.robot_type in ["koch", "koch_bimanual", "aloha"]:
from lerobot.common.robot_devices.robots.dynamixel_calibration import run_arm_calibration from lerobot.common.motors.dynamixel_calibration import run_arm_calibration
calibration = run_arm_calibration(arm, self.robot_type, name, arm_type) calibration = run_arm_calibration(arm, self.robot_type, name, arm_type)
elif self.robot_type in ["so100", "moss", "lekiwi"]: elif self.robot_type in ["so100", "moss", "lekiwi"]:
from lerobot.common.robot_devices.robots.feetech_calibration import ( from lerobot.common.motors.feetech_calibration import (
run_arm_manual_calibration, run_arm_manual_calibration,
) )
@ -322,7 +322,7 @@ class ManipulatorRobot:
def set_koch_robot_preset(self): def set_koch_robot_preset(self):
def set_operating_mode_(arm): def set_operating_mode_(arm):
from lerobot.common.robot_devices.motors.dynamixel import TorqueMode from lerobot.common.motors.dynamixel import TorqueMode
if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any(): if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
raise ValueError("To run set robot preset, the torque must be disabled on all motors.") raise ValueError("To run set robot preset, the torque must be disabled on all motors.")

14
lerobot/common/robot_devices/robots/mobile_manipulator.py → lerobot/common/robots/mobile_manipulator.py
View File

@ -9,13 +9,13 @@ import numpy as np
import torch import torch
import zmq import zmq
from lerobot.common.robot_devices.cameras.utils import make_cameras_from_configs from lerobot.common.cameras.utils import make_cameras_from_configs
from lerobot.common.robot_devices.motors.feetech import TorqueMode from lerobot.common.motors.feetech import TorqueMode
from lerobot.common.robot_devices.motors.utils import MotorsBus, make_motors_buses_from_configs from lerobot.common.motors.feetech_calibration import run_arm_manual_calibration
from lerobot.common.robot_devices.robots.configs import LeKiwiRobotConfig from lerobot.common.motors.utils import MotorsBus, make_motors_buses_from_configs
from lerobot.common.robot_devices.robots.feetech_calibration import run_arm_manual_calibration from lerobot.common.robots.configs import LeKiwiRobotConfig
from lerobot.common.robot_devices.robots.utils import get_arm_id from lerobot.common.robots.utils import get_arm_id
from lerobot.common.robot_devices.utils import RobotDeviceNotConnectedError from lerobot.common.utils.robot_utils import RobotDeviceNotConnectedError
PYNPUT_AVAILABLE = True PYNPUT_AVAILABLE = True
try: try:

0
lerobot/common/robots/robot_abstraction.py Normal file
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2
lerobot/common/robot_devices/robots/stretch.py → lerobot/common/robots/stretch3/stretch3_robot.py
View File

@ -22,7 +22,7 @@ from stretch_body.gamepad_teleop import GamePadTeleop
from stretch_body.robot import Robot as StretchAPI from stretch_body.robot import Robot as StretchAPI
from stretch_body.robot_params import RobotParams from stretch_body.robot_params import RobotParams
from lerobot.common.robot_devices.robots.configs import StretchRobotConfig from lerobot.common.robots.configs import StretchRobotConfig
class StretchRobot(StretchAPI): class StretchRobot(StretchAPI):

8
lerobot/common/robot_devices/robots/utils.py → lerobot/common/robots/utils.py
View File

@ -1,6 +1,6 @@
from typing import Protocol from typing import Protocol
from lerobot.common.robot_devices.robots.configs import ( from lerobot.common.robots.configs import (
AlohaRobotConfig, AlohaRobotConfig,
KochBimanualRobotConfig, KochBimanualRobotConfig,
KochRobotConfig, KochRobotConfig,
@ -54,15 +54,15 @@ def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
def make_robot_from_config(config: RobotConfig): def make_robot_from_config(config: RobotConfig):
if isinstance(config, ManipulatorRobotConfig): if isinstance(config, ManipulatorRobotConfig):
from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot from lerobot.common.robots.manipulator import ManipulatorRobot
return ManipulatorRobot(config) return ManipulatorRobot(config)
elif isinstance(config, LeKiwiRobotConfig): elif isinstance(config, LeKiwiRobotConfig):
from lerobot.common.robot_devices.robots.mobile_manipulator import MobileManipulator from lerobot.common.robots.mobile_manipulator import MobileManipulator
return MobileManipulator(config) return MobileManipulator(config)
else: else:
from lerobot.common.robot_devices.robots.stretch import StretchRobot from lerobot.common.robots.stretch3.stretch3_robot import StretchRobot
return StretchRobot(config) return StretchRobot(config)

4
lerobot/common/robot_devices/control_utils.py → lerobot/common/utils/control_utils.py
View File

@ -19,8 +19,8 @@ from termcolor import colored
from lerobot.common.datasets.image_writer import safe_stop_image_writer from lerobot.common.datasets.image_writer import safe_stop_image_writer
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.datasets.utils import get_features_from_robot from lerobot.common.datasets.utils import get_features_from_robot
from lerobot.common.robot_devices.robots.utils import Robot from lerobot.common.robots.utils import Robot
from lerobot.common.robot_devices.utils import busy_wait from lerobot.common.utils.robot_utils import busy_wait
from lerobot.common.utils.utils import get_safe_torch_device, has_method from lerobot.common.utils.utils import get_safe_torch_device, has_method

0
lerobot/common/robot_devices/utils.py → lerobot/common/utils/robot_utils.py
View File

2
lerobot/common/robot_devices/control_configs.py → lerobot/configs/control.py
View File

@ -4,7 +4,7 @@ from pathlib import Path
import draccus import draccus
from lerobot.common.robot_devices.robots.configs import RobotConfig from lerobot.common.robots.configs import RobotConfig
from lerobot.common.utils.utils import auto_select_torch_device, is_amp_available, is_torch_device_available from lerobot.common.utils.utils import auto_select_torch_device, is_amp_available, is_torch_device_available
from lerobot.configs import parser from lerobot.configs import parser
from lerobot.configs.policies import PreTrainedConfig from lerobot.configs.policies import PreTrainedConfig

8
lerobot/scripts/configure_motor.py
View File

@ -18,8 +18,8 @@ import time
def get_motor_bus_cls(brand: str) -> tuple: def get_motor_bus_cls(brand: str) -> tuple:
if brand == "feetech": if brand == "feetech":
from lerobot.common.robot_devices.motors.configs import FeetechMotorsBusConfig from lerobot.common.motors.configs import FeetechMotorsBusConfig
from lerobot.common.robot_devices.motors.feetech import ( from lerobot.common.motors.feetech import (
MODEL_BAUDRATE_TABLE, MODEL_BAUDRATE_TABLE,
SCS_SERIES_BAUDRATE_TABLE, SCS_SERIES_BAUDRATE_TABLE,
FeetechMotorsBus, FeetechMotorsBus,
@ -28,8 +28,8 @@ def get_motor_bus_cls(brand: str) -> tuple:
return FeetechMotorsBusConfig, FeetechMotorsBus, MODEL_BAUDRATE_TABLE, SCS_SERIES_BAUDRATE_TABLE return FeetechMotorsBusConfig, FeetechMotorsBus, MODEL_BAUDRATE_TABLE, SCS_SERIES_BAUDRATE_TABLE
elif brand == "dynamixel": elif brand == "dynamixel":
from lerobot.common.robot_devices.motors.configs import DynamixelMotorsBusConfig from lerobot.common.motors.configs import DynamixelMotorsBusConfig
from lerobot.common.robot_devices.motors.dynamixel import ( from lerobot.common.motors.dynamixel import (
MODEL_BAUDRATE_TABLE, MODEL_BAUDRATE_TABLE,
X_SERIES_BAUDRATE_TABLE, X_SERIES_BAUDRATE_TABLE,
DynamixelMotorsBus, DynamixelMotorsBus,

24
lerobot/scripts/control_robot.py
View File

@ -129,15 +129,8 @@ from pprint import pformat
# from safetensors.torch import load_file, save_file # from safetensors.torch import load_file, save_file
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.policies.factory import make_policy from lerobot.common.policies.factory import make_policy
from lerobot.common.robot_devices.control_configs import ( from lerobot.common.robots.utils import Robot, make_robot_from_config
CalibrateControlConfig, from lerobot.common.utils.control_utils import (
ControlPipelineConfig,
RecordControlConfig,
RemoteRobotConfig,
ReplayControlConfig,
TeleoperateControlConfig,
)
from lerobot.common.robot_devices.control_utils import (
control_loop, control_loop,
init_keyboard_listener, init_keyboard_listener,
log_control_info, log_control_info,
@ -148,10 +141,17 @@ from lerobot.common.robot_devices.control_utils import (
stop_recording, stop_recording,
warmup_record, warmup_record,
) )
from lerobot.common.robot_devices.robots.utils import Robot, make_robot_from_config from lerobot.common.utils.robot_utils import busy_wait, safe_disconnect
from lerobot.common.robot_devices.utils import busy_wait, safe_disconnect
from lerobot.common.utils.utils import has_method, init_logging, log_say from lerobot.common.utils.utils import has_method, init_logging, log_say
from lerobot.configs import parser from lerobot.configs import parser
from lerobot.configs.control import (
CalibrateControlConfig,
ControlPipelineConfig,
RecordControlConfig,
RemoteRobotConfig,
ReplayControlConfig,
TeleoperateControlConfig,
)
######################################################################################## ########################################################################################
# Control modes # Control modes
@ -368,7 +368,7 @@ def control_robot(cfg: ControlPipelineConfig):
elif isinstance(cfg.control, ReplayControlConfig): elif isinstance(cfg.control, ReplayControlConfig):
replay(robot, cfg.control) replay(robot, cfg.control)
elif isinstance(cfg.control, RemoteRobotConfig): elif isinstance(cfg.control, RemoteRobotConfig):
from lerobot.common.robot_devices.robots.lekiwi_remote import run_lekiwi from lerobot.common.robots.lekiwi.lekiwi_remote import run_lekiwi
run_lekiwi(cfg.robot) run_lekiwi(cfg.robot)

6
lerobot/scripts/control_sim_robot.py
View File

@ -80,7 +80,8 @@ import numpy as np
import torch import torch
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.robot_devices.control_utils import ( from lerobot.common.robots.utils import Robot, make_robot
from lerobot.common.utils.control_utils import (
init_keyboard_listener, init_keyboard_listener,
init_policy, init_policy,
is_headless, is_headless,
@ -90,8 +91,7 @@ from lerobot.common.robot_devices.control_utils import (
sanity_check_dataset_robot_compatibility, sanity_check_dataset_robot_compatibility,
stop_recording, stop_recording,
) )
from lerobot.common.robot_devices.robots.utils import Robot, make_robot from lerobot.common.utils.robot_utils import busy_wait
from lerobot.common.robot_devices.utils import busy_wait
from lerobot.common.utils.utils import init_hydra_config, init_logging, log_say from lerobot.common.utils.utils import init_hydra_config, init_logging, log_say
raise NotImplementedError("This script is currently deactivated") raise NotImplementedError("This script is currently deactivated")

2
tests/conftest.py
View File

@ -20,7 +20,7 @@ import pytest
from serial import SerialException from serial import SerialException
from lerobot import available_cameras, available_motors, available_robots from lerobot import available_cameras, available_motors, available_robots
from lerobot.common.robot_devices.robots.utils import make_robot from lerobot.common.robots.utils import make_robot
from tests.utils import DEVICE, make_camera, make_motors_bus from tests.utils import DEVICE, make_camera, make_motors_bus
# Import fixture modules as plugins # Import fixture modules as plugins

6
tests/test_cameras.py
View File

@ -24,7 +24,7 @@ pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-True]'
import numpy as np import numpy as np
import pytest import pytest
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import TEST_CAMERA_TYPES, make_camera, require_camera from tests.utils import TEST_CAMERA_TYPES, make_camera, require_camera
# Maximum absolute difference between two consecutive images recored by a camera. # Maximum absolute difference between two consecutive images recored by a camera.
@ -185,9 +185,9 @@ def test_camera(request, camera_type, mock):
def test_save_images_from_cameras(tmp_path, request, camera_type, mock): def test_save_images_from_cameras(tmp_path, request, camera_type, mock):
# TODO(rcadene): refactor # TODO(rcadene): refactor
if camera_type == "opencv": if camera_type == "opencv":
from lerobot.common.robot_devices.cameras.opencv import save_images_from_cameras from lerobot.common.cameras.opencv import save_images_from_cameras
elif camera_type == "intelrealsense": elif camera_type == "intelrealsense":
from lerobot.common.robot_devices.cameras.intelrealsense import save_images_from_cameras from lerobot.common.cameras.intelrealsense import save_images_from_cameras
# Small `record_time_s` to speedup unit tests # Small `record_time_s` to speedup unit tests
save_images_from_cameras(tmp_path, record_time_s=0.02, mock=mock) save_images_from_cameras(tmp_path, record_time_s=0.02, mock=mock)

2
tests/test_control_robot.py
View File

@ -30,7 +30,7 @@ import pytest
from lerobot.common.policies.act.configuration_act import ACTConfig from lerobot.common.policies.act.configuration_act import ACTConfig
from lerobot.common.policies.factory import make_policy from lerobot.common.policies.factory import make_policy
from lerobot.common.robot_devices.control_configs import ( from lerobot.configs.control import (
CalibrateControlConfig, CalibrateControlConfig,
RecordControlConfig, RecordControlConfig,
ReplayControlConfig, ReplayControlConfig,

2
tests/test_datasets.py
View File

@ -41,7 +41,7 @@ from lerobot.common.datasets.utils import (
) )
from lerobot.common.envs.factory import make_env_config from lerobot.common.envs.factory import make_env_config
from lerobot.common.policies.factory import make_policy_config from lerobot.common.policies.factory import make_policy_config
from lerobot.common.robot_devices.robots.utils import make_robot from lerobot.common.robots.utils import make_robot
from lerobot.configs.default import DatasetConfig from lerobot.configs.default import DatasetConfig
from lerobot.configs.train import TrainPipelineConfig from lerobot.configs.train import TrainPipelineConfig
from tests.fixtures.constants import DUMMY_CHW, DUMMY_HWC, DUMMY_REPO_ID from tests.fixtures.constants import DUMMY_CHW, DUMMY_HWC, DUMMY_REPO_ID

2
tests/test_motors.py
View File

@ -30,7 +30,7 @@ import time
import numpy as np import numpy as np
import pytest import pytest
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from lerobot.scripts.find_motors_bus_port import find_port from lerobot.scripts.find_motors_bus_port import find_port
from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, require_motor from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, require_motor

4
tests/test_robots.py
View File

@ -26,8 +26,8 @@ pytest -sx 'tests/test_robots.py::test_robot[aloha-True]'
import pytest import pytest
import torch import torch
from lerobot.common.robot_devices.robots.utils import make_robot from lerobot.common.robots.utils import make_robot
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError from lerobot.common.utils.robot_utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import TEST_ROBOT_TYPES, mock_calibration_dir, require_robot from tests.utils import TEST_ROBOT_TYPES, mock_calibration_dir, require_robot

8
tests/utils.py
View File

@ -23,10 +23,10 @@ import pytest
import torch import torch
from lerobot import available_cameras, available_motors, available_robots from lerobot import available_cameras, available_motors, available_robots
from lerobot.common.robot_devices.cameras.utils import Camera from lerobot.common.cameras.utils import Camera
from lerobot.common.robot_devices.cameras.utils import make_camera as make_camera_device from lerobot.common.cameras.utils import make_camera as make_camera_device
from lerobot.common.robot_devices.motors.utils import MotorsBus from lerobot.common.motors.utils import MotorsBus
from lerobot.common.robot_devices.motors.utils import make_motors_bus as make_motors_bus_device from lerobot.common.motors.utils import make_motors_bus as make_motors_bus_device
from lerobot.common.utils.import_utils import is_package_available from lerobot.common.utils.import_utils import is_package_available
DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", "cuda") if torch.cuda.is_available() else "cpu" DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", "cuda") if torch.cuda.is_available() else "cpu"