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4 Commits

Author SHA1 Message Date
Michel Aractingi
0053defa2e Refactorgym_manipulator.py using the universal pipeline (#1650) 
* Migrate gym_manipulator to use the pipeline
Added get_teleop_events function to capture relevant events from teleop devices unrelated to actions

* Added the capability to record a dataset

* Added the replay functionality with the pipeline

* Refactored `actor.py` to use the pipeline

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* RL works at this commit - fixed actor.py and bugs in gym_manipulator

* change folder structure to reduce the size of gym_manip

* Refactored hilserl config

* Remove dataset and mode from HilSerlEnvConfig to a GymManipulatorConfig to reduce verbose of configs during training

* format docs

* removed get_teleop_events from abc

* Refactor environment configuration and processing pipeline for GymHIL support. Removed device attribute from HILSerlRobotEnvConfig, added DummyTeleopDevice for simulation, and updated processor creation to accommodate GymHIL environments.

* Improved typing for HILRobotEnv config and GymManipulator config

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* Migrated `gym_manipulator` to use a more modular structure similar to phone teleop

* Refactor gripper handling and transition processing in HIL and robot kinematic processors

- Updated gripper position handling to use a consistent key format across processors
- Improved the EEReferenceAndDelta class to handle reference joint positions.
- Added support for discrete gripper actions in the GripperVelocityToJoint processor.
- Refactored the gym manipulator to improve modularity and clarity in processing steps.

* Added delta_action_processor mapping wrapper

* Added missing file delta_action_processor and improved imports in `gym_manipulator`

* nit

* Added missing file joint_observation_processor

* Enhance processing architecture with new teleoperation processors

- Introduced `AddTeleopActionAsComplimentaryData` and `AddTeleopEventsAsInfo` for integrating teleoperator actions and events into transitions.
- Added `Torch2NumpyActionProcessor` and `Numpy2TorchActionProcessor` for seamless conversion between PyTorch tensors and NumPy arrays.
- Updated `__init__.py` to include new processors in module exports, improving modularity and clarity in the processing pipeline.
- GymHIL is now fully supported with HIL using the pipeline

* Refactor configuration structure for gym_hil integration

- Renamed sections for better readability, such as changing "Gym Wrappers Configuration" to "Processor Configuration."
- Enhanced documentation with clear examples for dataset collection and policy evaluation configurations.

* Enhance reset configuration and teleoperation event handling

- Added `terminate_on_success` parameter to `ResetConfig` and `InterventionActionProcessor` for controlling episode termination behavior upon success detection.
- Updated documentation to clarify the impact of `terminate_on_success` on data collection for reward classifier training.
- Refactored teleoperation event handling to use `TeleopEvents` constants for improved readability and maintainability across various modules.

* fix(keyboard teleop), delta action keys

* Added transform features and feature contract

* Added transform features for image crop

* Enum for TeleopEvents

* Update tranform_features delta action proc

---------

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 2025-08-11 11:07:55 +02:00
Pepijn
0938a1d816 Feat/add bimanual so100 robot (#1509) 2025-07-16 17:50:36 +02:00
Simon Alibert
039de254ea Add Hope Jr (#935) 
* Fix imports

* Add feetech write tests

* Nit

* Add autoclosing fixture

* Assert ping stub called

* Add CalibrationMode

* Add Motor in dxl robots

* Simplify split_int_bytes

* Rename read/write -> sync_read/write, refactor, add write

* Rename tests

* Refactor dxl tests by functionality

* Add dxl write test

* Refactor _is_comm_success

* Refactor feetech tests by functionality

* Add feetech write test

* Simplify _is_comm_success & _is_error

* Move mock_serial patch to dedicated file

* Remove test skips & fix docstrings

* Nit

* Add dxl operating modes

* Add is_connected in robots and teleops

* Update Koch

* Add feetech operating modes

* Caps dxl OperatingMode

* Update ensure_safe_goal_position

* Update so100

* Privatize methods & renames

* Fix dict

* Add _configure_motors & move ping methods

* Return models (str) with pings

* Implement feetech broadcast ping

* Add raw_values option

* Rename idx -> id_

* Improve errors

* Fix feetech ping tests

* Ensure motors exist at connection time

* Update tests

* Add test_motors_bus

* Move DriveMode & TorqueMode

* Update Koch imports

* Update so100 imports

* Fix visualize_motors_bus

* Fix imports

* Add calibration

* Rename idx -> id_

* Rename idx -> id_

* (WIP) _async_read

* Add new calibration method for robot refactor (#896)

Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>

* Remove deprecated scripts

* Rename CalibrationMode -> MotorNormMode

* Fix calibration functions

* Remove todo

* Add scan_port utility

* Add calibration utilities

* Move encoding functions to encoding_utils

* Add test_encoding_utils

* Rename test

* Add more calibration utilities

* Format baudrate tables

* Implement SO-100 leader calibration

* Implement SO-100 follower calibration

* Implement Koch calibration

* Add test_scan_port (TODO)

* Fix calibration

* Hack feetech firmware bug

* Update tests

* Update Koch & SO-100

* Improve format

* Rename SO-100 classes

* Rename Koch classes

* Add calibration tests

* Remove old calibration tests

* Revert feetech hack and monkeypatch instead

* Simplify motors mocks

* Add is_calibrated test

* Update viperx & widowx

* Rename viperx & widowx

* Remove old calibration

* feat(teleop): thread-safe keyboard teleop implementation (#869)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

* Add support for feetech scs series + various fixes

* Update dynamixel with motors bus & tables changes

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* (WIP) Add Hope Jr

* Rename arm -> hand

* (WIP) Add homonculus arm & glove

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* Add Feetech protocol version

* Implement read

* Use constants from sdks

* (nit) move write

* Fix broadcast ping type hint

* Add protocol 1 broadcast ping

* Refactor & add _serialize_data

* Add feetech sm8512bl

* Make feetech broadcast ping faster in protocol 1

* Cleanup

* Add support for feetech protocol 1 to _split_into_byte_chunks

* Fix unormalize

* Remove test_motors_bus fixtures

* Add more segmented tests (base motor bus & feetech), add feetech protocol 1 support

* Add more segmented tests (dynamixel)

* Refactor tests

* Add handshake, fix feetech _read_firmware_version

* Fix tests

* Motors config & disconnect fixes

* Add torque_disabled context

* Update branch & fix pre-commit errors

* Fix hand & glove readings

* Update feetech tables

* Move read/write_calibration implementations

* Add setup_motor

* Fix calibration msg display

* Fix setup_motor & add it to robots

* Fix _find_single_motor

* Remove deprecated configure_motor

* Remove deprecated dynamixel_calibration

* Remove names

* Remove deprecated import

* refactor/lekiwi robot (#863)

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* fix(teleoperators): use property is_connected (#1075)

* Remove deprecated manipulator

* Update robot features & naming

* Update teleop features & naming

* Add make_teleoperator_from_config

* Rename find_port

* Fix config parsing

* Remove app script

* Add setup_motors

* Add teleoperate

* Add record

* Add replay

* Fix test_datasets

* Add mock robot & teleop

* Add new test_control_robot

* Add test_record_and_resume

* Remove deprecated scripts & tests

* Add calibrate

* Add docstrings

* Fix tests (no-extras install)

* Add SO101

* Remove pynput from optional deps

* Rename example 7

* Remove unecessary id

* Add MotorsBus docstrings

* Rename arm -> bus

* Remove Moss arm

* Fix setup_motors & calibrate configs

* Fix test_calibrate

* Add copyrights

* Update hand & arm

* Update homonculus hand & arm

* Fix dxl _find_single_motor

* Update glove

* Add setup_motors for lekiwi

* Fix glove calibration

* Complete docstring

* Add check for same min and max during calibration

* Move MockMotorsBus

* Add so100_follower tests

* (WIP) add calibration gui

* Fix test

* Add setup_motors

* Update calibration gui

* Remove old .cache folder

* Replace deprecated abc.abstractproperty

* Fix feetech protocol 1 configure

* Cleanup gui & add copyrights

* Anatomically precise joint names

* (WIP) Add glove to hand joints translation

* Move make_robot_config

* Add drive_mode & norm_mode in glove calibration

* Fix joints translation

* Fix normalization drive_mode

* nit

* Fix glove to hand conversion

* Adapt feetech calibration

* Remove pygame prompt

* Implement arm calibration (hacks)

* Better MotorsBus error messages

* Update feetech read_calibration

* Fix feetech test_is_calibrated

* Cleanup glove

* (WIP) Update arm

* Add changes from #1117

* refactor(cameras): cameras implementations + tests improvements (#1108)

Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
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* Fix arm joints order

* Add timeout/event logic

* Fix arm & glove

* Fix predict_action from record

* fix(cameras): update docstring + handle sn when starts with 0 + update timeouts to more reasonable value (#1154)

* fix(scripts): parser instead of draccus in record + add __get_path_fields__() to RecordConfig (#1155)

* Left/Right sides + other fixes

* Arm fixes and add config

* More hacks

* Add control scripts

* Fix merge errors

* push changes to calibration, teleop and docs

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* Move readme to docs

* update readme

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* Add files via upload

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* Update image sources

* Symlink doc

* Compress image

* Move image

* Update docs link

* fix docs

* simplify teleop scripts

* fix variable names

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* Address code review

* add EMA to glove

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* integrate teleoperation for hand

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* update docs

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* import hopejr/homunculus in teleoperate

* update docs for teleoperate, record, replay, train and inference

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* chore(hopejr): address comments

* chore(hopejr): address coments 2

* chore(docs): update teleoperation instructions for the hand/glove

* fix(hopejr): calibration int + update docs

---------

Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com>
Signed-off-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
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 2025-07-08 15:47:11 +02:00
Simon Alibert
d4ee470b00 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
 2025-07-01 16:34:46 +02:00