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42 Commits

Author SHA1 Message Date
Michel Aractingi 5d6879d93a Added possiblity to record and replay delta actions during teleoperation rather than absolute actions 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-04-18 15:04:42 +02:00
Michel Aractingi 12c13e320e - Added `lerobot/scripts/server/gym_manipulator.py` that contains all the necessary wrappers to run a gym-style env around the real robot. 
- Added `lerobot/scripts/server/find_joint_limits.py` to test the min and max angles of the motion you wish the robot to explore during RL training.
- Added logic in `manipulator.py` to limit the maximum possible joint angles to allow motion within a predefined joint position range. The limits are specified in the yaml config for each robot. Checkout the so100.yaml.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-04-18 15:04:13 +02:00
Michel Aractingi 181727c0fe Extend reward classifier for multiple camera views (#626) 2025-04-18 15:03:50 +02:00
Eugene Mironov d1d6ffd23c [Port HIL_SERL] Final fixes for the Reward Classifier (#598) 2025-04-18 15:03:01 +02:00
Eugene Mironov d78cef1fee Fixup 2025-04-18 15:02:13 +02:00
Yoel 4a7f85a6ec Reward classifier and training (#528) 
Co-authored-by: Daniel Ritchie <daniel@brainwavecollective.ai>
Co-authored-by: resolver101757 <kelster101757@hotmail.com>
Co-authored-by: Jannik Grothusen <56967823+J4nn1K@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2025-04-18 15:02:13 +02:00
Alex Thiele c10c5a0e64
Fix --width --height type parsing on opencv and intelrealsense scripts (#556) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-04-17 15:19:23 +02:00
Steven Palma 4041f57943
feat(visualization): replace cv2 GUI with Rerun (and solves ffmpeg versioning issues) (#903) 2025-04-09 17:33:01 +02:00
Pepijn 952e892fe5
Use float32 instead of int (#877) 2025-03-18 16:36:37 +01:00
Simon Alibert 974028bd28
Organize test folders (#856) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-03-13 14:05:55 +01:00
Pepijn 84565c7c2e
Fix camera rotation error (#839) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-03-10 17:02:19 +01:00
Joe Clinton 32fffd4bbb
Fix delay in teleoperation start time (#676) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-03-08 11:40:07 +01:00
Steven Palma 5e9473806c
refactor(config): Move device & amp args to PreTrainedConfig (#812) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-06 17:59:28 +01:00
Steven Palma 5d24ce3160
chore(doc): add license header to all files (#818) 2025-03-05 17:56:51 +01:00
yadunund 2feb5edc65
Fix printout in make_cameras_from_configs (#796) 
Signed-off-by: Yadunund <yadunund@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-03-05 10:01:24 +01:00
Pepijn a003e7c081
change wheel setup in kinematics (#811) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-03-04 18:42:45 +01:00
Simon Alibert a1809ad3de
Add typos checks (#770) 2025-02-25 23:51:15 +01:00
Jannik Grothusen 8699a28be0
[QOL] Enable teleoperation during environment reset (#725) 2025-02-25 19:28:26 +01:00
Simon Alibert 3354d919fc
LeRobotDataset v2.1 (#711) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
 2025-02-25 15:27:29 +01:00
Pepijn aca464ca72
Add mobile so100 (#724) 2025-02-25 09:06:50 +01:00
Simon Alibert c4c2ce04e7
Update pre-commits (#733) 2025-02-15 15:51:17 +01:00
Pepijn dd974529cf
User/pepijn/2025 01 31 improved tutorial so100 (#666) 2025-02-03 18:27:55 +01:00
Simon Alibert 3c0a209f9f
Simplify configs (#550) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
 2025-01-31 13:57:37 +01:00
s1lent4gnt 66f8736598
fixing typo from 'teloperation' to 'teleoperation' (#566) 2024-12-11 05:57:52 -08:00
Simon Alibert 32eb0cec8f
Dataset v2.0 (#461) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-11-29 19:04:00 +01:00
Jannik Grothusen 975c1c25c3
Add distinction between two unallowed cases in name check "eval_" (#489) 2024-11-22 19:19:57 +01:00
Remi 172809a502
[Fix] Move back to manual calibration (#488) 2024-10-26 15:27:21 +02:00
Remi 55e4ff6742
Fix autocalib moss (#486) 2024-10-26 12:15:17 +02:00
Remi 07e8716315
Add FeetechMotorsBus, SO-100, Moss-v1 (#419) 
Co-authored-by: jess-moss <jess.moss@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-25 11:23:55 +02:00
Remi 77478d50e5
Refactor `record` with `add_frame` (#468) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-16 20:51:35 +02:00
Remi 97b1feb0b3
Add policy/act_aloha_real.yaml + env/act_real.yaml (#429) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-10 17:12:45 +02:00
Eugene Mironov c29e70e5a1
Fix issue with wrong using index instead of camera_index in opencv (#466) 2024-10-09 11:35:19 +02:00
Simon Alibert 1a343c3591
Add support for Stretch (hello-robot) (#409) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
 2024-10-04 18:56:42 +02:00
Remi 26f97cfd17
Enable CI for robot devices with mocked versions (#398) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-03 17:05:23 +02:00
Remi 9ff829a3a1
Add comments for Aloha (#417) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-09-06 21:07:52 +02:00
Remi 9c9f5cac90
Add IntelRealSenseCamera (#410) 
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: shantanuparab-tr <shantanu@trossenrobotics.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-09-05 23:59:41 +02:00
Remi 429a463aff
Control aloha robot natively (#316) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-09-04 19:28:05 +02:00
Simon Alibert 04a995e7d1
Fix safe_action (#395) 2024-08-30 10:36:05 +02:00
Alexander Soare 9ce98bb93c
Add safety limits on relative action target (#373) 2024-08-26 14:30:18 +01:00
Alexander Soare 97086cdcdf
Make gripper_open_degree a config param (#379) 2024-08-26 12:28:16 +01:00
Remi bbe9057225
Improve control robot ; Add process to configure motor indices (#326) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com>
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-08-15 18:11:33 +02:00
Remi 5e54e39795
Add real robot devices and scripts to control real robot (#288) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-07-15 17:43:10 +02:00