From 5d24ce31606eb3e48a0f644530f928c5f119a724 Mon Sep 17 00:00:00 2001 From: Steven Palma Date: Wed, 5 Mar 2025 17:56:51 +0100 Subject: [PATCH] chore(doc): add license header to all files (#818) --- .dockerignore | 14 ++++++ .gitattributes | 14 ++++++ .github/ISSUE_TEMPLATE/bug-report.yml | 14 ++++++ .github/workflows/build-docker-images.yml | 14 ++++++ .github/workflows/nightly-tests.yml | 14 ++++++ .github/workflows/pr_style_bot.yml | 14 ++++++ .github/workflows/quality.yml | 14 ++++++ .github/workflows/test-docker-build.yml | 14 ++++++ .github/workflows/test.yml | 14 ++++++ .github/workflows/trufflehog.yml | 14 ++++++ .gitignore | 14 ++++++ .pre-commit-config.yaml | 14 ++++++ Makefile | 14 ++++++ examples/1_load_lerobot_dataset.py | 14 ++++++ examples/2_evaluate_pretrained_policy.py | 14 ++++++ examples/3_train_policy.py | 14 ++++++ examples/advanced/1_add_image_transforms.py | 14 ++++++ .../advanced/2_calculate_validation_loss.py | 14 ++++++ examples/port_datasets/pusht_zarr.py | 14 ++++++ lerobot/common/constants.py | 13 ++++++ .../common/datasets/backward_compatibility.py | 14 ++++++ .../v21/_remove_language_instruction.py | 14 ++++++ .../v21/convert_dataset_v20_to_v21.py | 14 ++++++ lerobot/common/datasets/v21/convert_stats.py | 14 ++++++ lerobot/common/envs/__init__.py | 14 ++++++ lerobot/common/envs/configs.py | 14 ++++++ lerobot/common/optim/__init__.py | 14 ++++++ lerobot/common/policies/__init__.py | 14 ++++++ .../common/policies/pi0/configuration_pi0.py | 14 ++++++ .../pi0/conversion_scripts/benchmark.py | 14 ++++++ .../conversion_scripts/compare_with_jax.py | 14 ++++++ .../conversion_scripts/conversion_utils.py | 14 ++++++ .../convert_pi0_to_hf_lerobot.py | 14 ++++++ lerobot/common/policies/pi0/flex_attention.py | 14 ++++++ .../policies/pi0/paligemma_with_expert.py | 14 ++++++ lerobot/common/policies/pretrained.py | 13 ++++++ .../common/robot_devices/cameras/configs.py | 14 ++++++ .../robot_devices/cameras/intelrealsense.py | 14 ++++++ .../common/robot_devices/cameras/opencv.py | 14 ++++++ lerobot/common/robot_devices/cameras/utils.py | 14 ++++++ .../common/robot_devices/control_configs.py | 14 ++++++ lerobot/common/robot_devices/control_utils.py | 14 ++++++ .../common/robot_devices/motors/configs.py | 14 ++++++ .../common/robot_devices/motors/dynamixel.py | 14 ++++++ .../common/robot_devices/motors/feetech.py | 14 ++++++ lerobot/common/robot_devices/motors/utils.py | 14 ++++++ .../common/robot_devices/robots/configs.py | 14 ++++++ .../robots/dynamixel_calibration.py | 14 ++++++ .../robots/feetech_calibration.py | 14 ++++++ .../robot_devices/robots/lekiwi_remote.py | 14 ++++++ .../robot_devices/robots/manipulator.py | 14 ++++++ .../robots/mobile_manipulator.py | 14 ++++++ lerobot/common/robot_devices/robots/utils.py | 14 ++++++ lerobot/common/robot_devices/utils.py | 14 ++++++ lerobot/common/utils/hub.py | 14 ++++++ lerobot/configs/eval.py | 14 ++++++ lerobot/configs/parser.py | 13 ++++++ lerobot/configs/policies.py | 13 ++++++ lerobot/configs/train.py | 13 ++++++ lerobot/configs/types.py | 13 ++++++ lerobot/scripts/configure_motor.py | 13 ++++++ lerobot/scripts/control_robot.py | 13 ++++++ lerobot/scripts/control_sim_robot.py | 13 ++++++ lerobot/scripts/find_motors_bus_port.py | 13 ++++++ pyproject.toml | 43 +++++++++++++------ tests/__init__.py | 13 ++++++ tests/fixtures/constants.py | 13 ++++++ tests/fixtures/dataset_factories.py | 13 ++++++ tests/fixtures/files.py | 13 ++++++ tests/fixtures/hub.py | 13 ++++++ tests/fixtures/optimizers.py | 13 ++++++ tests/mock_cv2.py | 13 ++++++ tests/mock_dynamixel_sdk.py | 13 ++++++ tests/mock_pyrealsense2.py | 13 ++++++ tests/mock_scservo_sdk.py | 13 ++++++ tests/test_cameras.py | 13 ++++++ tests/test_control_robot.py | 13 ++++++ tests/test_delta_timestamps.py | 13 ++++++ tests/test_image_writer.py | 13 ++++++ tests/test_io_utils.py | 13 ++++++ tests/test_logging_utils.py | 13 ++++++ tests/test_motors.py | 13 ++++++ tests/test_optimizers.py | 13 ++++++ tests/test_random_utils.py | 13 ++++++ tests/test_robots.py | 13 ++++++ tests/test_schedulers.py | 13 ++++++ tests/test_train_utils.py | 13 ++++++ tests/test_utils.py | 13 ++++++ 88 files changed, 1215 insertions(+), 13 deletions(-) diff --git a/.dockerignore b/.dockerignore index b8c1be15..4f074d44 100644 --- a/.dockerignore +++ b/.dockerignore @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + # Misc .git tmp diff --git a/.gitattributes b/.gitattributes index 7da36424..44e16cf1 100644 --- a/.gitattributes +++ b/.gitattributes @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + *.memmap filter=lfs diff=lfs merge=lfs -text *.stl filter=lfs diff=lfs merge=lfs -text *.safetensors filter=lfs diff=lfs merge=lfs -text diff --git a/.github/ISSUE_TEMPLATE/bug-report.yml b/.github/ISSUE_TEMPLATE/bug-report.yml index 7cbed673..2fb23051 100644 --- a/.github/ISSUE_TEMPLATE/bug-report.yml +++ b/.github/ISSUE_TEMPLATE/bug-report.yml @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + name: "\U0001F41B Bug Report" description: Submit a bug report to help us improve LeRobot body: diff --git a/.github/workflows/build-docker-images.yml b/.github/workflows/build-docker-images.yml index 3c63fa11..0cb11d57 100644 --- a/.github/workflows/build-docker-images.yml +++ b/.github/workflows/build-docker-images.yml @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + # Inspired by # https://github.com/huggingface/peft/blob/main/.github/workflows/build_docker_images.yml name: Builds diff --git a/.github/workflows/nightly-tests.yml b/.github/workflows/nightly-tests.yml index 210a690c..adac9f20 100644 --- a/.github/workflows/nightly-tests.yml +++ b/.github/workflows/nightly-tests.yml @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + # Inspired by # https://github.com/huggingface/peft/blob/main/.github/workflows/nightly.yml name: Nightly diff --git a/.github/workflows/pr_style_bot.yml b/.github/workflows/pr_style_bot.yml index 68530645..dc4974c2 100644 --- a/.github/workflows/pr_style_bot.yml +++ b/.github/workflows/pr_style_bot.yml @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + # Adapted from https://github.com/huggingface/diffusers/blob/main/.github/workflows/pr_style_bot.yml name: PR Style Bot diff --git a/.github/workflows/quality.yml b/.github/workflows/quality.yml index f785d52f..332b543c 100644 --- a/.github/workflows/quality.yml +++ b/.github/workflows/quality.yml @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + name: Quality on: diff --git a/.github/workflows/test-docker-build.yml b/.github/workflows/test-docker-build.yml index 3ee84a27..e77c570e 100644 --- a/.github/workflows/test-docker-build.yml +++ b/.github/workflows/test-docker-build.yml @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + # Inspired by # https://github.com/huggingface/peft/blob/main/.github/workflows/test-docker-build.yml name: Test Dockerfiles diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 9c3f5756..3ef47887 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + name: Tests on: diff --git a/.github/workflows/trufflehog.yml b/.github/workflows/trufflehog.yml index 487ccea5..166e0590 100644 --- a/.github/workflows/trufflehog.yml +++ b/.github/workflows/trufflehog.yml @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + on: push: diff --git a/.gitignore b/.gitignore index 0a0ffe10..da4b1089 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + # Logging logs tmp diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index dba87705..21016efa 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + exclude: ^(tests/data) default_language_version: python: python3.10 diff --git a/Makefile b/Makefile index 772da320..68f07b21 100644 --- a/Makefile +++ b/Makefile @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + .PHONY: tests PYTHON_PATH := $(shell which python) diff --git a/examples/1_load_lerobot_dataset.py b/examples/1_load_lerobot_dataset.py index 96c104b6..c374a375 100644 --- a/examples/1_load_lerobot_dataset.py +++ b/examples/1_load_lerobot_dataset.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + """ This script demonstrates the use of `LeRobotDataset` class for handling and processing robotic datasets from Hugging Face. It illustrates how to load datasets, manipulate them, and apply transformations suitable for machine learning tasks in PyTorch. diff --git a/examples/2_evaluate_pretrained_policy.py b/examples/2_evaluate_pretrained_policy.py index 0a7b8deb..bf3c442a 100644 --- a/examples/2_evaluate_pretrained_policy.py +++ b/examples/2_evaluate_pretrained_policy.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + """ This scripts demonstrates how to evaluate a pretrained policy from the HuggingFace Hub or from your local training outputs directory. In the latter case, you might want to run examples/3_train_policy.py first. diff --git a/examples/3_train_policy.py b/examples/3_train_policy.py index f6eabbfa..6c3af54e 100644 --- a/examples/3_train_policy.py +++ b/examples/3_train_policy.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + """This scripts demonstrates how to train Diffusion Policy on the PushT environment. Once you have trained a model with this script, you can try to evaluate it on diff --git a/examples/advanced/1_add_image_transforms.py b/examples/advanced/1_add_image_transforms.py index 882710e3..f1460926 100644 --- a/examples/advanced/1_add_image_transforms.py +++ b/examples/advanced/1_add_image_transforms.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + """ This script demonstrates how to use torchvision's image transformation with LeRobotDataset for data augmentation purposes. The transformations are passed to the dataset as an argument upon creation, and diff --git a/examples/advanced/2_calculate_validation_loss.py b/examples/advanced/2_calculate_validation_loss.py index 6f234719..47b4dd02 100644 --- a/examples/advanced/2_calculate_validation_loss.py +++ b/examples/advanced/2_calculate_validation_loss.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + """This script demonstrates how to slice a dataset and calculate the loss on a subset of the data. This technique can be useful for debugging and testing purposes, as well as identifying whether a policy diff --git a/examples/port_datasets/pusht_zarr.py b/examples/port_datasets/pusht_zarr.py index eac6f63d..ea2e8b60 100644 --- a/examples/port_datasets/pusht_zarr.py +++ b/examples/port_datasets/pusht_zarr.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import shutil from pathlib import Path diff --git a/lerobot/common/constants.py b/lerobot/common/constants.py index d0c9845a..973595cd 100644 --- a/lerobot/common/constants.py +++ b/lerobot/common/constants.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. # keys import os from pathlib import Path diff --git a/lerobot/common/datasets/backward_compatibility.py b/lerobot/common/datasets/backward_compatibility.py index d1b8926a..cf8e31c4 100644 --- a/lerobot/common/datasets/backward_compatibility.py +++ b/lerobot/common/datasets/backward_compatibility.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import packaging.version V2_MESSAGE = """ diff --git a/lerobot/common/datasets/v21/_remove_language_instruction.py b/lerobot/common/datasets/v21/_remove_language_instruction.py index dd4604cf..643ddd3f 100644 --- a/lerobot/common/datasets/v21/_remove_language_instruction.py +++ b/lerobot/common/datasets/v21/_remove_language_instruction.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import logging import traceback from pathlib import Path diff --git a/lerobot/common/datasets/v21/convert_dataset_v20_to_v21.py b/lerobot/common/datasets/v21/convert_dataset_v20_to_v21.py index 163a6003..176d16d0 100644 --- a/lerobot/common/datasets/v21/convert_dataset_v20_to_v21.py +++ b/lerobot/common/datasets/v21/convert_dataset_v20_to_v21.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + """ This script will help you convert any LeRobot dataset already pushed to the hub from codebase version 2.0 to 2.1. It will: diff --git a/lerobot/common/datasets/v21/convert_stats.py b/lerobot/common/datasets/v21/convert_stats.py index cbf584b7..4a20b427 100644 --- a/lerobot/common/datasets/v21/convert_stats.py +++ b/lerobot/common/datasets/v21/convert_stats.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from concurrent.futures import ThreadPoolExecutor, as_completed import numpy as np diff --git a/lerobot/common/envs/__init__.py b/lerobot/common/envs/__init__.py index a583ffc5..4977d11d 100644 --- a/lerobot/common/envs/__init__.py +++ b/lerobot/common/envs/__init__.py @@ -1 +1,15 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from .configs import AlohaEnv, EnvConfig, PushtEnv, XarmEnv # noqa: F401 diff --git a/lerobot/common/envs/configs.py b/lerobot/common/envs/configs.py index 6259ca94..cf90048a 100644 --- a/lerobot/common/envs/configs.py +++ b/lerobot/common/envs/configs.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import abc from dataclasses import dataclass, field diff --git a/lerobot/common/optim/__init__.py b/lerobot/common/optim/__init__.py index e1e65966..de2c4c99 100644 --- a/lerobot/common/optim/__init__.py +++ b/lerobot/common/optim/__init__.py @@ -1 +1,15 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from .optimizers import OptimizerConfig as OptimizerConfig diff --git a/lerobot/common/policies/__init__.py b/lerobot/common/policies/__init__.py index 2e4486ef..b73ba5f4 100644 --- a/lerobot/common/policies/__init__.py +++ b/lerobot/common/policies/__init__.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from .act.configuration_act import ACTConfig as ACTConfig from .diffusion.configuration_diffusion import DiffusionConfig as DiffusionConfig from .pi0.configuration_pi0 import PI0Config as PI0Config diff --git a/lerobot/common/policies/pi0/configuration_pi0.py b/lerobot/common/policies/pi0/configuration_pi0.py index 8d2eedf6..ac3a62a8 100644 --- a/lerobot/common/policies/pi0/configuration_pi0.py +++ b/lerobot/common/policies/pi0/configuration_pi0.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from dataclasses import dataclass, field from lerobot.common.optim.optimizers import AdamWConfig diff --git a/lerobot/common/policies/pi0/conversion_scripts/benchmark.py b/lerobot/common/policies/pi0/conversion_scripts/benchmark.py index 31bd1b66..35b9a45b 100644 --- a/lerobot/common/policies/pi0/conversion_scripts/benchmark.py +++ b/lerobot/common/policies/pi0/conversion_scripts/benchmark.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import torch from lerobot.common.datasets.lerobot_dataset import LeRobotDataset diff --git a/lerobot/common/policies/pi0/conversion_scripts/compare_with_jax.py b/lerobot/common/policies/pi0/conversion_scripts/compare_with_jax.py index 8b2e1c66..ceb8ada0 100644 --- a/lerobot/common/policies/pi0/conversion_scripts/compare_with_jax.py +++ b/lerobot/common/policies/pi0/conversion_scripts/compare_with_jax.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import json import pickle from pathlib import Path diff --git a/lerobot/common/policies/pi0/conversion_scripts/conversion_utils.py b/lerobot/common/policies/pi0/conversion_scripts/conversion_utils.py index 8e35d0d4..8835da31 100644 --- a/lerobot/common/policies/pi0/conversion_scripts/conversion_utils.py +++ b/lerobot/common/policies/pi0/conversion_scripts/conversion_utils.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from transformers import GemmaConfig, PaliGemmaConfig diff --git a/lerobot/common/policies/pi0/conversion_scripts/convert_pi0_to_hf_lerobot.py b/lerobot/common/policies/pi0/conversion_scripts/convert_pi0_to_hf_lerobot.py index dd8622dd..73ff506f 100644 --- a/lerobot/common/policies/pi0/conversion_scripts/convert_pi0_to_hf_lerobot.py +++ b/lerobot/common/policies/pi0/conversion_scripts/convert_pi0_to_hf_lerobot.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + """ Convert pi0 parameters from Jax to Pytorch diff --git a/lerobot/common/policies/pi0/flex_attention.py b/lerobot/common/policies/pi0/flex_attention.py index 38a5b597..35628cdd 100644 --- a/lerobot/common/policies/pi0/flex_attention.py +++ b/lerobot/common/policies/pi0/flex_attention.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import torch import torch.nn.functional as F # noqa: N812 from packaging.version import Version diff --git a/lerobot/common/policies/pi0/paligemma_with_expert.py b/lerobot/common/policies/pi0/paligemma_with_expert.py index 08c36c11..76e2ce60 100644 --- a/lerobot/common/policies/pi0/paligemma_with_expert.py +++ b/lerobot/common/policies/pi0/paligemma_with_expert.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from typing import List, Optional, Union import torch diff --git a/lerobot/common/policies/pretrained.py b/lerobot/common/policies/pretrained.py index 1729dfb0..549ea92b 100644 --- a/lerobot/common/policies/pretrained.py +++ b/lerobot/common/policies/pretrained.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import abc import logging import os diff --git a/lerobot/common/robot_devices/cameras/configs.py b/lerobot/common/robot_devices/cameras/configs.py index 6acdbd3e..013419a9 100644 --- a/lerobot/common/robot_devices/cameras/configs.py +++ b/lerobot/common/robot_devices/cameras/configs.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import abc from dataclasses import dataclass diff --git a/lerobot/common/robot_devices/cameras/intelrealsense.py b/lerobot/common/robot_devices/cameras/intelrealsense.py index 7e65dba9..29e99ea3 100644 --- a/lerobot/common/robot_devices/cameras/intelrealsense.py +++ b/lerobot/common/robot_devices/cameras/intelrealsense.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + """ This file contains utilities for recording frames from Intel Realsense cameras. """ diff --git a/lerobot/common/robot_devices/cameras/opencv.py b/lerobot/common/robot_devices/cameras/opencv.py index 93c791fa..d15a48f6 100644 --- a/lerobot/common/robot_devices/cameras/opencv.py +++ b/lerobot/common/robot_devices/cameras/opencv.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + """ This file contains utilities for recording frames from cameras. For more info look at `OpenCVCamera` docstring. """ diff --git a/lerobot/common/robot_devices/cameras/utils.py b/lerobot/common/robot_devices/cameras/utils.py index ef6d8266..c6431646 100644 --- a/lerobot/common/robot_devices/cameras/utils.py +++ b/lerobot/common/robot_devices/cameras/utils.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from typing import Protocol import numpy as np diff --git a/lerobot/common/robot_devices/control_configs.py b/lerobot/common/robot_devices/control_configs.py index 2ef1b44b..01908472 100644 --- a/lerobot/common/robot_devices/control_configs.py +++ b/lerobot/common/robot_devices/control_configs.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import logging from dataclasses import dataclass from pathlib import Path diff --git a/lerobot/common/robot_devices/control_utils.py b/lerobot/common/robot_devices/control_utils.py index d2361a64..4782959a 100644 --- a/lerobot/common/robot_devices/control_utils.py +++ b/lerobot/common/robot_devices/control_utils.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + ######################################################################################## # Utilities ######################################################################################## diff --git a/lerobot/common/robot_devices/motors/configs.py b/lerobot/common/robot_devices/motors/configs.py index 37b781f9..0bfbaf83 100644 --- a/lerobot/common/robot_devices/motors/configs.py +++ b/lerobot/common/robot_devices/motors/configs.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import abc from dataclasses import dataclass diff --git a/lerobot/common/robot_devices/motors/dynamixel.py b/lerobot/common/robot_devices/motors/dynamixel.py index 17ea933d..186f7124 100644 --- a/lerobot/common/robot_devices/motors/dynamixel.py +++ b/lerobot/common/robot_devices/motors/dynamixel.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import enum import logging import math diff --git a/lerobot/common/robot_devices/motors/feetech.py b/lerobot/common/robot_devices/motors/feetech.py index cec36d37..7d0d2a00 100644 --- a/lerobot/common/robot_devices/motors/feetech.py +++ b/lerobot/common/robot_devices/motors/feetech.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import enum import logging import math diff --git a/lerobot/common/robot_devices/motors/utils.py b/lerobot/common/robot_devices/motors/utils.py index fc64f050..bd86f4c6 100644 --- a/lerobot/common/robot_devices/motors/utils.py +++ b/lerobot/common/robot_devices/motors/utils.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from typing import Protocol from lerobot.common.robot_devices.motors.configs import ( diff --git a/lerobot/common/robot_devices/robots/configs.py b/lerobot/common/robot_devices/robots/configs.py index 88cb4e6f..e940b442 100644 --- a/lerobot/common/robot_devices/robots/configs.py +++ b/lerobot/common/robot_devices/robots/configs.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import abc from dataclasses import dataclass, field from typing import Sequence diff --git a/lerobot/common/robot_devices/robots/dynamixel_calibration.py b/lerobot/common/robot_devices/robots/dynamixel_calibration.py index 142d5794..98fe8754 100644 --- a/lerobot/common/robot_devices/robots/dynamixel_calibration.py +++ b/lerobot/common/robot_devices/robots/dynamixel_calibration.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + """Logic to calibrate a robot arm built with dynamixel motors""" # TODO(rcadene, aliberts): move this logic into the robot code when refactoring diff --git a/lerobot/common/robot_devices/robots/feetech_calibration.py b/lerobot/common/robot_devices/robots/feetech_calibration.py index d779cd44..2c1e7180 100644 --- a/lerobot/common/robot_devices/robots/feetech_calibration.py +++ b/lerobot/common/robot_devices/robots/feetech_calibration.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + """Logic to calibrate a robot arm built with feetech motors""" # TODO(rcadene, aliberts): move this logic into the robot code when refactoring diff --git a/lerobot/common/robot_devices/robots/lekiwi_remote.py b/lerobot/common/robot_devices/robots/lekiwi_remote.py index fd9491fa..7bf52d21 100644 --- a/lerobot/common/robot_devices/robots/lekiwi_remote.py +++ b/lerobot/common/robot_devices/robots/lekiwi_remote.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import base64 import json import threading diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py index 62e5416e..8a7c7fe6 100644 --- a/lerobot/common/robot_devices/robots/manipulator.py +++ b/lerobot/common/robot_devices/robots/manipulator.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + """Contains logic to instantiate a robot, read information from its motors and cameras, and send orders to its motors. """ diff --git a/lerobot/common/robot_devices/robots/mobile_manipulator.py b/lerobot/common/robot_devices/robots/mobile_manipulator.py index c2cad227..385e218b 100644 --- a/lerobot/common/robot_devices/robots/mobile_manipulator.py +++ b/lerobot/common/robot_devices/robots/mobile_manipulator.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import base64 import json import os diff --git a/lerobot/common/robot_devices/robots/utils.py b/lerobot/common/robot_devices/robots/utils.py index 47e2519b..dab514d5 100644 --- a/lerobot/common/robot_devices/robots/utils.py +++ b/lerobot/common/robot_devices/robots/utils.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from typing import Protocol from lerobot.common.robot_devices.robots.configs import ( diff --git a/lerobot/common/robot_devices/utils.py b/lerobot/common/robot_devices/utils.py index 19bb637e..837c9d2e 100644 --- a/lerobot/common/robot_devices/utils.py +++ b/lerobot/common/robot_devices/utils.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import platform import time diff --git a/lerobot/common/utils/hub.py b/lerobot/common/utils/hub.py index 63fcf918..df7435c0 100644 --- a/lerobot/common/utils/hub.py +++ b/lerobot/common/utils/hub.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from pathlib import Path from tempfile import TemporaryDirectory from typing import Any, Type, TypeVar diff --git a/lerobot/configs/eval.py b/lerobot/configs/eval.py index 11873352..eb2a6df9 100644 --- a/lerobot/configs/eval.py +++ b/lerobot/configs/eval.py @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import datetime as dt import logging from dataclasses import dataclass, field diff --git a/lerobot/configs/parser.py b/lerobot/configs/parser.py index ee784877..476a9b40 100644 --- a/lerobot/configs/parser.py +++ b/lerobot/configs/parser.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import inspect import sys from argparse import ArgumentError diff --git a/lerobot/configs/policies.py b/lerobot/configs/policies.py index 9b5a7c5c..4f52b16c 100644 --- a/lerobot/configs/policies.py +++ b/lerobot/configs/policies.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import abc import os from dataclasses import dataclass, field diff --git a/lerobot/configs/train.py b/lerobot/configs/train.py index 464c11f9..33e98b88 100644 --- a/lerobot/configs/train.py +++ b/lerobot/configs/train.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import datetime as dt import logging import os diff --git a/lerobot/configs/types.py b/lerobot/configs/types.py index 0ca45a19..6b3d92e8 100644 --- a/lerobot/configs/types.py +++ b/lerobot/configs/types.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. # Note: We subclass str so that serialization is straightforward # https://stackoverflow.com/questions/24481852/serialising-an-enum-member-to-json from dataclasses import dataclass diff --git a/lerobot/scripts/configure_motor.py b/lerobot/scripts/configure_motor.py index f7e07070..b0dc8a97 100644 --- a/lerobot/scripts/configure_motor.py +++ b/lerobot/scripts/configure_motor.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """ This script configure a single motor at a time to a given ID and baudrate. diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py index ab5d0e8a..3a82e5c3 100644 --- a/lerobot/scripts/control_robot.py +++ b/lerobot/scripts/control_robot.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """ Utilities to control a robot. diff --git a/lerobot/scripts/control_sim_robot.py b/lerobot/scripts/control_sim_robot.py index 49a88d14..5347822c 100644 --- a/lerobot/scripts/control_sim_robot.py +++ b/lerobot/scripts/control_sim_robot.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """ Utilities to control a robot in simulation. diff --git a/lerobot/scripts/find_motors_bus_port.py b/lerobot/scripts/find_motors_bus_port.py index 67b92ad7..68f2315d 100644 --- a/lerobot/scripts/find_motors_bus_port.py +++ b/lerobot/scripts/find_motors_bus_port.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import os import time from pathlib import Path diff --git a/pyproject.toml b/pyproject.toml index 9a7c9730..a4458eb6 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,3 +1,17 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + [project.urls] homepage = "https://github.com/huggingface/lerobot" issues = "https://github.com/huggingface/lerobot/issues" @@ -8,18 +22,19 @@ name = "lerobot" version = "0.1.0" description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch" authors = [ - {name = "Rémi Cadène", email = "re.cadene@gmail.com"}, - {name = "Simon Alibert", email = "alibert.sim@gmail.com"}, - {name = "Alexander Soare", email = "alexander.soare159@gmail.com"}, - {name = "Quentin Gallouédec", email = "quentin.gallouedec@ec-lyon.fr"}, - {name = "Adil Zouitine", email = "adilzouitinegm@gmail.com"}, - {name = "Thomas Wolf", email = "thomaswolfcontact@gmail.com"}, + { name = "Rémi Cadène", email = "re.cadene@gmail.com" }, + { name = "Simon Alibert", email = "alibert.sim@gmail.com" }, + { name = "Alexander Soare", email = "alexander.soare159@gmail.com" }, + { name = "Quentin Gallouédec", email = "quentin.gallouedec@ec-lyon.fr" }, + { name = "Adil Zouitine", email = "adilzouitinegm@gmail.com" }, + { name = "Thomas Wolf", email = "thomaswolfcontact@gmail.com" }, + { name = "Steven Palma", email = "imstevenpmwork@ieee.org" }, ] readme = "README.md" -license = {text = "Apache-2.0"} +license = { text = "Apache-2.0" } requires-python = ">=3.10" keywords = ["robotics", "deep learning", "pytorch"] -classifiers=[ +classifiers = [ "Development Status :: 3 - Alpha", "Intended Audience :: Developers", "Intended Audience :: Education", @@ -38,7 +53,7 @@ dependencies = [ "einops>=0.8.0", "flask>=3.0.3", "gdown>=5.1.0", - "gymnasium==0.29.1", # TODO(rcadene, aliberts): Make gym 1.0.0 work + "gymnasium==0.29.1", # TODO(rcadene, aliberts): Make gym 1.0.0 work "h5py>=3.10.0", "huggingface-hub[hf-transfer,cli]>=0.27.1 ; python_version < '4.0'", "hydra-core>=1.3.2", @@ -63,7 +78,9 @@ dependencies = [ [project.optional-dependencies] aloha = ["gym-aloha>=0.1.1 ; python_version < '4.0'"] dev = ["pre-commit>=3.7.0", "debugpy>=1.8.1"] -dora = ["gym-dora @ git+https://github.com/dora-rs/dora-lerobot.git#subdirectory=gym_dora ; python_version < '4.0'"] +dora = [ + "gym-dora @ git+https://github.com/dora-rs/dora-lerobot.git#subdirectory=gym_dora ; python_version < '4.0'", +] dynamixel = ["dynamixel-sdk>=3.7.31", "pynput>=1.7.7"] feetech = ["feetech-servo-sdk>=1.0.0", "pynput>=1.7.7"] intelrealsense = ["pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'"] @@ -73,7 +90,7 @@ stretch = [ "hello-robot-stretch-body>=0.7.27 ; python_version < '4.0' and sys_platform == 'linux'", "pyrender @ git+https://github.com/mmatl/pyrender.git ; sys_platform == 'linux'", "pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'", - "pynput>=1.7.7" + "pynput>=1.7.7", ] test = ["pytest>=8.1.0", "pytest-cov>=5.0.0", "pyserial>=3.5"] umi = ["imagecodecs>=2024.1.1"] @@ -127,8 +144,8 @@ skips = ["B101", "B311", "B404", "B603"] [tool.typos] default.extend-ignore-re = [ - "(?Rm)^.*(#|//)\\s*spellchecker:disable-line$", # spellchecker:disable-line - "(?s)(#|//)\\s*spellchecker:off.*?\\n\\s*(#|//)\\s*spellchecker:on" # spellchecker: + "(?Rm)^.*(#|//)\\s*spellchecker:disable-line$", # spellchecker:disable-line + "(?s)(#|//)\\s*spellchecker:off.*?\\n\\s*(#|//)\\s*spellchecker:on", # spellchecker: ] default.extend-ignore-identifiers-re = [ # Add individual words here to ignore them diff --git a/tests/__init__.py b/tests/__init__.py index e69de29b..f52df1bd 100644 --- a/tests/__init__.py +++ b/tests/__init__.py @@ -0,0 +1,13 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. diff --git a/tests/fixtures/constants.py b/tests/fixtures/constants.py index 3201dcf2..5e5c762c 100644 --- a/tests/fixtures/constants.py +++ b/tests/fixtures/constants.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. from lerobot.common.constants import HF_LEROBOT_HOME LEROBOT_TEST_DIR = HF_LEROBOT_HOME / "_testing" diff --git a/tests/fixtures/dataset_factories.py b/tests/fixtures/dataset_factories.py index 2259e0e6..531977da 100644 --- a/tests/fixtures/dataset_factories.py +++ b/tests/fixtures/dataset_factories.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import random from functools import partial from pathlib import Path diff --git a/tests/fixtures/files.py b/tests/fixtures/files.py index 4ef12e49..678d1f38 100644 --- a/tests/fixtures/files.py +++ b/tests/fixtures/files.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import json from pathlib import Path diff --git a/tests/fixtures/hub.py b/tests/fixtures/hub.py index ae309cb4..aa2768e4 100644 --- a/tests/fixtures/hub.py +++ b/tests/fixtures/hub.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. from pathlib import Path import datasets diff --git a/tests/fixtures/optimizers.py b/tests/fixtures/optimizers.py index 1a9b9d11..65488566 100644 --- a/tests/fixtures/optimizers.py +++ b/tests/fixtures/optimizers.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import pytest import torch diff --git a/tests/mock_cv2.py b/tests/mock_cv2.py index 806e35ed..b82e7819 100644 --- a/tests/mock_cv2.py +++ b/tests/mock_cv2.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. from functools import cache import numpy as np diff --git a/tests/mock_dynamixel_sdk.py b/tests/mock_dynamixel_sdk.py index a790dff0..ee399f96 100644 --- a/tests/mock_dynamixel_sdk.py +++ b/tests/mock_dynamixel_sdk.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """Mocked classes and functions from dynamixel_sdk to allow for continuous integration and testing code logic that requires hardware and devices (e.g. robot arms, cameras) diff --git a/tests/mock_pyrealsense2.py b/tests/mock_pyrealsense2.py index 5a39fc2b..c477eb06 100644 --- a/tests/mock_pyrealsense2.py +++ b/tests/mock_pyrealsense2.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import enum import numpy as np diff --git a/tests/mock_scservo_sdk.py b/tests/mock_scservo_sdk.py index ca9233b0..37f6d0d5 100644 --- a/tests/mock_scservo_sdk.py +++ b/tests/mock_scservo_sdk.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """Mocked classes and functions from dynamixel_sdk to allow for continuous integration and testing code logic that requires hardware and devices (e.g. robot arms, cameras) diff --git a/tests/test_cameras.py b/tests/test_cameras.py index cfefc215..3ab74516 100644 --- a/tests/test_cameras.py +++ b/tests/test_cameras.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """ Tests for physical cameras and their mocked versions. If the physical camera is not connected to the computer, or not working, diff --git a/tests/test_control_robot.py b/tests/test_control_robot.py index 1796291f..2f24af82 100644 --- a/tests/test_control_robot.py +++ b/tests/test_control_robot.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """ Tests for physical robots and their mocked versions. If the physical robots are not connected to the computer, or not working, diff --git a/tests/test_delta_timestamps.py b/tests/test_delta_timestamps.py index b27cc1eb..35014642 100644 --- a/tests/test_delta_timestamps.py +++ b/tests/test_delta_timestamps.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. from itertools import accumulate import datasets diff --git a/tests/test_image_writer.py b/tests/test_image_writer.py index c7fc11f2..802fe0d3 100644 --- a/tests/test_image_writer.py +++ b/tests/test_image_writer.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import queue import time from multiprocessing import queues diff --git a/tests/test_io_utils.py b/tests/test_io_utils.py index d14f7adc..c1b776db 100644 --- a/tests/test_io_utils.py +++ b/tests/test_io_utils.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import json from pathlib import Path from typing import Any diff --git a/tests/test_logging_utils.py b/tests/test_logging_utils.py index 72385496..1ba1829e 100644 --- a/tests/test_logging_utils.py +++ b/tests/test_logging_utils.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import pytest from lerobot.common.utils.logging_utils import AverageMeter, MetricsTracker diff --git a/tests/test_motors.py b/tests/test_motors.py index 75793636..da7a5c54 100644 --- a/tests/test_motors.py +++ b/tests/test_motors.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """ Tests for physical motors and their mocked versions. If the physical motors are not connected to the computer, or not working, diff --git a/tests/test_optimizers.py b/tests/test_optimizers.py index cf5c5b18..997e14fe 100644 --- a/tests/test_optimizers.py +++ b/tests/test_optimizers.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import pytest import torch diff --git a/tests/test_random_utils.py b/tests/test_random_utils.py index 8eee2b68..daf08a89 100644 --- a/tests/test_random_utils.py +++ b/tests/test_random_utils.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import random import numpy as np diff --git a/tests/test_robots.py b/tests/test_robots.py index c5734a4c..71343eba 100644 --- a/tests/test_robots.py +++ b/tests/test_robots.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """ Tests for physical robots and their mocked versions. If the physical robots are not connected to the computer, or not working, diff --git a/tests/test_schedulers.py b/tests/test_schedulers.py index e871fee1..17637663 100644 --- a/tests/test_schedulers.py +++ b/tests/test_schedulers.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. from torch.optim.lr_scheduler import LambdaLR from lerobot.common.constants import SCHEDULER_STATE diff --git a/tests/test_train_utils.py b/tests/test_train_utils.py index d6ed0063..b78f6e49 100644 --- a/tests/test_train_utils.py +++ b/tests/test_train_utils.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. from pathlib import Path from unittest.mock import Mock, patch diff --git a/tests/test_utils.py b/tests/test_utils.py index b2f14694..2d0efc5a 100644 --- a/tests/test_utils.py +++ b/tests/test_utils.py @@ -1,3 +1,16 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import torch from datasets import Dataset