Package folder structure (#1417)

* Move files

* Replace imports & paths

* Update relative paths

* Update doc symlinks

* Update instructions paths

* Fix imports

* Update grpc files

* Update more instructions

* Downgrade grpc-tools

* Update manifest

* Update more paths

* Update config paths

* Update CI paths

* Update bandit exclusions

* Remove walkthrough section

src/lerobot/robots/utils.py

@@ -0,0 +1,95 @@
+# 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 pprint import pformat
+
+from lerobot.robots import RobotConfig
+
+from .robot import Robot
+
+
+def make_robot_from_config(config: RobotConfig) -> Robot:
+    if config.type == "koch_follower":
+        from .koch_follower import KochFollower
+
+        return KochFollower(config)
+    elif config.type == "so100_follower":
+        from .so100_follower import SO100Follower
+
+        return SO100Follower(config)
+    elif config.type == "so100_follower_end_effector":
+        from .so100_follower import SO100FollowerEndEffector
+
+        return SO100FollowerEndEffector(config)
+    elif config.type == "so101_follower":
+        from .so101_follower import SO101Follower
+
+        return SO101Follower(config)
+    elif config.type == "lekiwi":
+        from .lekiwi import LeKiwi
+
+        return LeKiwi(config)
+    elif config.type == "stretch3":
+        from .stretch3 import Stretch3Robot
+
+        return Stretch3Robot(config)
+    elif config.type == "viperx":
+        from .viperx import ViperX
+
+        return ViperX(config)
+    elif config.type == "mock_robot":
+        from tests.mocks.mock_robot import MockRobot
+
+        return MockRobot(config)
+    else:
+        raise ValueError(config.type)
+
+
+def ensure_safe_goal_position(
+    goal_present_pos: dict[str, tuple[float, float]], max_relative_target: float | dict[float]
+) -> dict[str, float]:
+    """Caps relative action target magnitude for safety."""
+
+    if isinstance(max_relative_target, float):
+        diff_cap = dict.fromkeys(goal_present_pos, max_relative_target)
+    elif isinstance(max_relative_target, dict):
+        if not set(goal_present_pos) == set(max_relative_target):
+            raise ValueError("max_relative_target keys must match those of goal_present_pos.")
+        diff_cap = max_relative_target
+    else:
+        raise TypeError(max_relative_target)
+
+    warnings_dict = {}
+    safe_goal_positions = {}
+    for key, (goal_pos, present_pos) in goal_present_pos.items():
+        diff = goal_pos - present_pos
+        max_diff = diff_cap[key]
+        safe_diff = min(diff, max_diff)
+        safe_diff = max(safe_diff, -max_diff)
+        safe_goal_pos = present_pos + safe_diff
+        safe_goal_positions[key] = safe_goal_pos
+        if abs(safe_goal_pos - goal_pos) > 1e-4:
+            warnings_dict[key] = {
+                "original goal_pos": goal_pos,
+                "safe goal_pos": safe_goal_pos,
+            }
+
+    if warnings_dict:
+        logging.warning(
+            "Relative goal position magnitude had to be clamped to be safe.\n"
+            f"{pformat(warnings_dict, indent=4)}"
+        )
+
+    return safe_goal_positions