From 55198de096f46a8e0447a8795129dd9ee84c088c Mon Sep 17 00:00:00 2001 From: Steven Palma Date: Thu, 14 Aug 2025 11:12:06 +0200 Subject: [PATCH 1/4] fix(ci): rename libegl1-mesa in deb13 trixie (#1735) --- docker/Dockerfile.user | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/Dockerfile.user b/docker/Dockerfile.user index 4cfbb437a..bcd067637 100644 --- a/docker/Dockerfile.user +++ b/docker/Dockerfile.user @@ -29,7 +29,7 @@ ENV DEBIAN_FRONTEND=noninteractive \ # Install system dependencies and uv (as root) RUN apt-get update && apt-get install -y --no-install-recommends \ - build-essential git curl libglib2.0-0 libegl1-mesa ffmpeg \ + build-essential git curl libglib2.0-0 libegl1-mesa-dev ffmpeg \ libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \ && curl -LsSf https://astral.sh/uv/install.sh | sh \ && mv /root/.local/bin/uv /usr/local/bin/uv \ From 7f70b78f3221a2fa64ae09795b5989a58a61931d Mon Sep 17 00:00:00 2001 From: Jack Vial Date: Wed, 20 Aug 2025 11:24:05 -0400 Subject: [PATCH 2/4] Add missing encoding table entries for Koch arm (#1534) --- src/lerobot/motors/dynamixel/tables.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/lerobot/motors/dynamixel/tables.py b/src/lerobot/motors/dynamixel/tables.py index 8b67bbf38..5417d8cee 100644 --- a/src/lerobot/motors/dynamixel/tables.py +++ b/src/lerobot/motors/dynamixel/tables.py @@ -107,6 +107,8 @@ X_SERIES_ENCODINGS_TABLE = { "Goal_PWM": X_SERIES_CONTROL_TABLE["Goal_PWM"][1], "Goal_Current": X_SERIES_CONTROL_TABLE["Goal_Current"][1], "Goal_Velocity": X_SERIES_CONTROL_TABLE["Goal_Velocity"][1], + "Goal_Position": X_SERIES_CONTROL_TABLE["Goal_Position"][1], + "Present_Position": X_SERIES_CONTROL_TABLE["Present_Position"][1], "Present_PWM": X_SERIES_CONTROL_TABLE["Present_PWM"][1], "Present_Current": X_SERIES_CONTROL_TABLE["Present_Current"][1], "Present_Velocity": X_SERIES_CONTROL_TABLE["Present_Velocity"][1], From b0923ab74b7fb7ed688ef2abbe79607f3dee390a Mon Sep 17 00:00:00 2001 From: lxk <53181378+lxk-221@users.noreply.github.com> Date: Fri, 22 Aug 2025 21:24:02 +0800 Subject: [PATCH 3/4] fix(dataset): Use provided episode_data in save_episode (#1740) The 'episode_data' parameter was previously ignored, causing an error if provided. This change ensures it is correctly used, which allows for asynchronous episode saving by passing a copy of the episode buffer, preventing conflicts with the main data collection loop. --- src/lerobot/datasets/lerobot_dataset.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/lerobot/datasets/lerobot_dataset.py b/src/lerobot/datasets/lerobot_dataset.py index 617ac297f..a869cb920 100644 --- a/src/lerobot/datasets/lerobot_dataset.py +++ b/src/lerobot/datasets/lerobot_dataset.py @@ -825,6 +825,8 @@ class LeRobotDataset(torch.utils.data.Dataset): """ if not episode_data: episode_buffer = self.episode_buffer + else: + episode_buffer = episode_data validate_episode_buffer(episode_buffer, self.meta.total_episodes, self.features) From 577cd10974b84bea1f06b6472eb9e5e74e07f77a Mon Sep 17 00:00:00 2001 From: mgiac-hexagon Date: Mon, 25 Aug 2025 12:39:32 +0200 Subject: [PATCH 4/4] Removed dupicate lines of code (#1709) --- src/lerobot/scripts/server/robot_client.py | 5 ----- 1 file changed, 5 deletions(-) diff --git a/src/lerobot/scripts/server/robot_client.py b/src/lerobot/scripts/server/robot_client.py index 0599e068e..939d5cea8 100644 --- a/src/lerobot/scripts/server/robot_client.py +++ b/src/lerobot/scripts/server/robot_client.py @@ -302,11 +302,6 @@ class RobotClient: self.logger.debug(f"Current latest action: {latest_action}") - # Get queue state before changes - old_size, old_timesteps = self._inspect_action_queue() - if not old_timesteps: - old_timesteps = [latest_action] # queue was empty - # Get queue state before changes old_size, old_timesteps = self._inspect_action_queue() if not old_timesteps: