From 03f49ceaf0b740445ba9521da420feeec08dbfe5 Mon Sep 17 00:00:00 2001
From: berjaoui <berjaoui@gmail.com>
Date: Mon, 9 Dec 2024 00:17:49 +0100
Subject: [PATCH 1/4] Update 7_get_started_with_real_robot.md (#559)
---
examples/7_get_started_with_real_robot.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/examples/7_get_started_with_real_robot.md b/examples/7_get_started_with_real_robot.md
index 76408275..1c5cd104 100644
--- a/examples/7_get_started_with_real_robot.md
+++ b/examples/7_get_started_with_real_robot.md
@@ -29,7 +29,7 @@ For a visual walkthrough of the assembly process, you can refer to [this video t
## 2. Configure motors, calibrate arms, teleoperate your Koch v1.1
-First, install the additional dependencies required for robots built with dynamixel motors like Koch v1.1 by running one of the following commands.
+First, install the additional dependencies required for robots built with dynamixel motors like Koch v1.1 by running one of the following commands (make sure gcc is installed).
Using `pip`:
```bash
From 44f9b21e74936c366b55609d1847b843bd04f3ab Mon Sep 17 00:00:00 2001
From: Claudio Coppola <Claudiocoppola90@gmail.com>
Date: Mon, 9 Dec 2024 10:32:25 +0000
Subject: [PATCH 2/4] LerobotDataset pushable to HF from any folder (#563)
---
lerobot/common/datasets/utils.py | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/lerobot/common/datasets/utils.py b/lerobot/common/datasets/utils.py
index 5f088b11..af5b03cc 100644
--- a/lerobot/common/datasets/utils.py
+++ b/lerobot/common/datasets/utils.py
@@ -13,6 +13,7 @@
# 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 importlib.resources
import json
import logging
import textwrap
@@ -476,6 +477,8 @@ def create_lerobot_dataset_card(
Note: If specified, license must be one of https://huggingface.co/docs/hub/repositories-licenses.
"""
card_tags = ["LeRobot"]
+ card_template_path = importlib.resources.path("lerobot.common.datasets", "card_template.md")
+
if tags:
card_tags += tags
if dataset_info:
@@ -493,8 +496,9 @@ def create_lerobot_dataset_card(
}
],
)
+
return DatasetCard.from_template(
card_data=card_data,
- template_path="./lerobot/common/datasets/card_template.md",
+ template_path=str(card_template_path),
**kwargs,
)
From 4c41f6fcc624e1e495daf1d319034148df3f6793 Mon Sep 17 00:00:00 2001
From: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Date: Wed, 11 Dec 2024 10:32:18 +0100
Subject: [PATCH 3/4] Fix example 6 (#572)
---
.pre-commit-config.yaml | 8 ++++----
examples/6_add_image_transforms.py | 7 ++++---
lerobot/common/datasets/image_writer.py | 2 +-
lerobot/scripts/control_sim_robot.py | 2 +-
4 files changed, 10 insertions(+), 9 deletions(-)
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 1637151b..58eca320 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -3,7 +3,7 @@ default_language_version:
python: python3.10
repos:
- repo: https://github.com/pre-commit/pre-commit-hooks
- rev: v4.6.0
+ rev: v5.0.0
hooks:
- id: check-added-large-files
- id: debug-statements
@@ -14,11 +14,11 @@ repos:
- id: end-of-file-fixer
- id: trailing-whitespace
- repo: https://github.com/asottile/pyupgrade
- rev: v3.16.0
+ rev: v3.19.0
hooks:
- id: pyupgrade
- repo: https://github.com/astral-sh/ruff-pre-commit
- rev: v0.5.2
+ rev: v0.8.2
hooks:
- id: ruff
args: [--fix]
@@ -32,6 +32,6 @@ repos:
- "--check"
- "--no-update"
- repo: https://github.com/gitleaks/gitleaks
- rev: v8.18.4
+ rev: v8.21.2
hooks:
- id: gitleaks
diff --git a/examples/6_add_image_transforms.py b/examples/6_add_image_transforms.py
index 82b70f5c..882710e3 100644
--- a/examples/6_add_image_transforms.py
+++ b/examples/6_add_image_transforms.py
@@ -10,10 +10,10 @@ from torchvision.transforms import ToPILImage, v2
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
-dataset_repo_id = "lerobot/aloha_static_tape"
+dataset_repo_id = "lerobot/aloha_static_screw_driver"
# Create a LeRobotDataset with no transformations
-dataset = LeRobotDataset(dataset_repo_id)
+dataset = LeRobotDataset(dataset_repo_id, episodes=[0])
# This is equivalent to `dataset = LeRobotDataset(dataset_repo_id, image_transforms=None)`
# Get the index of the first observation in the first episode
@@ -28,12 +28,13 @@ transforms = v2.Compose(
[
v2.ColorJitter(brightness=(0.5, 1.5)),
v2.ColorJitter(contrast=(0.5, 1.5)),
+ v2.ColorJitter(hue=(-0.1, 0.1)),
v2.RandomAdjustSharpness(sharpness_factor=2, p=1),
]
)
# Create another LeRobotDataset with the defined transformations
-transformed_dataset = LeRobotDataset(dataset_repo_id, image_transforms=transforms)
+transformed_dataset = LeRobotDataset(dataset_repo_id, episodes=[0], image_transforms=transforms)
# Get a frame from the transformed dataset
transformed_frame = transformed_dataset[first_idx][transformed_dataset.meta.camera_keys[0]]
diff --git a/lerobot/common/datasets/image_writer.py b/lerobot/common/datasets/image_writer.py
index 9564fb59..85dd6830 100644
--- a/lerobot/common/datasets/image_writer.py
+++ b/lerobot/common/datasets/image_writer.py
@@ -28,7 +28,7 @@ def safe_stop_image_writer(func):
try:
return func(*args, **kwargs)
except Exception as e:
- dataset = kwargs.get("dataset", None)
+ dataset = kwargs.get("dataset")
image_writer = getattr(dataset, "image_writer", None) if dataset else None
if image_writer is not None:
print("Waiting for image writer to terminate...")
diff --git a/lerobot/scripts/control_sim_robot.py b/lerobot/scripts/control_sim_robot.py
index 85dfca64..4fffa8c7 100644
--- a/lerobot/scripts/control_sim_robot.py
+++ b/lerobot/scripts/control_sim_robot.py
@@ -35,7 +35,7 @@ python lerobot/scripts/visualize_dataset.py \
--episode-index 0
```
-- Replay a sequence of test episodes:
+- Replay a sequence of test episodes:
```bash
python lerobot/scripts/control_sim_robot.py replay \
--robot-path lerobot/configs/robot/your_robot_config.yaml \
From 66f87365988cb5424435ea03b428426b4ede98cb Mon Sep 17 00:00:00 2001
From: s1lent4gnt <kmeftah.khalil@gmail.com>
Date: Wed, 11 Dec 2024 14:57:52 +0100
Subject: [PATCH 4/4] fixing typo from 'teloperation' to 'teleoperation' (#566)
---
examples/9_use_aloha.md | 2 +-
lerobot/common/robot_devices/control_utils.py | 4 ++--
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/examples/9_use_aloha.md b/examples/9_use_aloha.md
index 1abf7c49..f531a2c1 100644
--- a/examples/9_use_aloha.md
+++ b/examples/9_use_aloha.md
@@ -56,7 +56,7 @@ python lerobot/scripts/control_robot.py teleoperate \
--robot-overrides max_relative_target=5
```
-By adding `--robot-overrides max_relative_target=5`, we override the default value for `max_relative_target` defined in `lerobot/configs/robot/aloha.yaml`. It is expected to be `5` to limit the magnitude of the movement for more safety, but the teloperation won't be smooth. When you feel confident, you can disable this limit by adding `--robot-overrides max_relative_target=null` to the command line:
+By adding `--robot-overrides max_relative_target=5`, we override the default value for `max_relative_target` defined in `lerobot/configs/robot/aloha.yaml`. It is expected to be `5` to limit the magnitude of the movement for more safety, but the teleoperation won't be smooth. When you feel confident, you can disable this limit by adding `--robot-overrides max_relative_target=null` to the command line:
```bash
python lerobot/scripts/control_robot.py teleoperate \
--robot-path lerobot/configs/robot/aloha.yaml \
diff --git a/lerobot/common/robot_devices/control_utils.py b/lerobot/common/robot_devices/control_utils.py
index 9b9649dd..8cc0f326 100644
--- a/lerobot/common/robot_devices/control_utils.py
+++ b/lerobot/common/robot_devices/control_utils.py
@@ -184,7 +184,7 @@ def init_policy(pretrained_policy_name_or_path, policy_overrides):
def warmup_record(
robot,
events,
- enable_teloperation,
+ enable_teleoperation,
warmup_time_s,
display_cameras,
fps,
@@ -195,7 +195,7 @@ def warmup_record(
display_cameras=display_cameras,
events=events,
fps=fps,
- teleoperate=enable_teloperation,
+ teleoperate=enable_teleoperation,
)