improve serial_reading

src/lerobot/async_inference/robot_client.py

@@ -49,18 +49,23 @@ import torch
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
-from lerobot.robots import (
-    RobotConfig,  # noqa: F401
+from lerobot.robots import (  # noqa: F401
+    Robot,
+    RobotConfig,
+    bi_so_follower,
+    koch_follower,
     make_robot_from_config,
+    omx_follower,
+    so_follower,
 )
 from lerobot.transport import (
     services_pb2,  # type: ignore
     services_pb2_grpc,  # type: ignore
 )
 from lerobot.transport.utils import grpc_channel_options, send_bytes_in_chunks
-from lerobot.utils.import_utils import register_third_party_plugins
 
 from .configs import RobotClientConfig
+from .constants import SUPPORTED_ROBOTS
 from .helpers import (
     Action,
     FPSTracker,
@@ -480,9 +485,8 @@ class RobotClient:
 def async_client(cfg: RobotClientConfig):
     logging.info(pformat(asdict(cfg)))
 
-    # TODO: Assert if checking robot support is still needed with the plugin system
-    # if cfg.robot.type not in SUPPORTED_ROBOTS:
-    #     raise ValueError(f"Robot {cfg.robot.type} not yet supported!")
+    if cfg.robot.type not in SUPPORTED_ROBOTS:
+        raise ValueError(f"Robot {cfg.robot.type} not yet supported!")
 
     client = RobotClient(cfg)
 
@@ -508,5 +512,4 @@ def async_client(cfg: RobotClientConfig):
 
 
 if __name__ == "__main__":
-    register_third_party_plugins()
     async_client()  # run the client

src/lerobot/datasets/lerobot_dataset.py

@@ -1771,12 +1771,11 @@ class MultiLeRobotDataset(torch.utils.data.Dataset):
             )
         for repo_id, ds in zip(self.repo_ids, self._datasets, strict=True):
             extra_keys = set(ds.features).difference(intersection_features)
-            if extra_keys:
-                logging.warning(
-                    f"keys {extra_keys} of {repo_id} were disabled as they are not contained in all the "
-                    "other datasets."
-                )
-                self.disabled_features.update(extra_keys)
+            logging.warning(
+                f"keys {extra_keys} of {repo_id} were disabled as they are not contained in all the "
+                "other datasets."
+            )
+            self.disabled_features.update(extra_keys)
 
         self.image_transforms = image_transforms
         self.delta_timestamps = delta_timestamps

src/lerobot/policies/pi0/modeling_pi0.py

@@ -995,14 +995,7 @@ class PI0Policy(PreTrainedPolicy):
 
         # Initialize model without loading weights
         # Check if dataset_stats were provided in kwargs
-        if _transformers_available:
-            from transformers.modeling_utils import no_init_weights
-
-            with no_init_weights():
-                model = cls(config, **kwargs)
-            model.model.paligemma_with_expert.paligemma.tie_weights()
-        else:
-            model = cls(config, **kwargs)
+        model = cls(config, **kwargs)
 
         # Now manually load and remap the state dict
         try:

src/lerobot/policies/pi05/modeling_pi05.py

@@ -967,14 +967,7 @@ class PI05Policy(PreTrainedPolicy):
 
         # Initialize model without loading weights
         # Check if dataset_stats were provided in kwargs
-        if _transformers_available:
-            from transformers.modeling_utils import no_init_weights
-
-            with no_init_weights():
-                model = cls(config, **kwargs)
-            model.model.paligemma_with_expert.paligemma.tie_weights()
-        else:
-            model = cls(config, **kwargs)
+        model = cls(config, **kwargs)
 
         # Now manually load and remap the state dict
         try:

src/lerobot/policies/pi0_fast/modeling_pi0_fast.py

@@ -895,14 +895,7 @@ class PI0FastPolicy(PreTrainedPolicy):
 
         # Initialize model without loading weights
         # Check if dataset_stats were provided in kwargs
-        if _transformers_available:
-            from transformers.modeling_utils import no_init_weights
-
-            with no_init_weights():
-                model = cls(config, **kwargs)
-            model.model.paligemma_with_expert.paligemma.tie_weights()
-        else:
-            model = cls(config, **kwargs)
+        model = cls(config, **kwargs)
 
         # Now manually load and remap the state dict
         try:

src/lerobot/policies/smolvla/smolvlm_with_expert.py

@@ -77,6 +77,7 @@ class SmolVLMWithExpertModel(nn.Module):
             print(f"Loading  {model_id} weights ...")
             self.vlm = AutoModelForImageTextToText.from_pretrained(
                 model_id,
+                device_map=device,
                 torch_dtype="bfloat16",
                 low_cpu_mem_usage=True,
             )

src/lerobot/scripts/lerobot_calibrate.py

@@ -56,7 +56,6 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     omx_leader,
     openarm_leader,
-    openarm_mini,
     so_leader,
     unitree_g1,
 )

src/lerobot/scripts/lerobot_find_joint_limits.py

@@ -61,7 +61,6 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     omx_leader,
     openarm_leader,
-    openarm_mini,
     so_leader,
 )
 from lerobot.utils.robot_utils import precise_sleep

src/lerobot/scripts/lerobot_record.py

@@ -125,7 +125,6 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     omx_leader,
     openarm_leader,
-    openarm_mini,
     reachy2_teleoperator,
     so_leader,
     unitree_g1,
@@ -334,7 +333,6 @@ def record_loop(
         preprocessor.reset()
         postprocessor.reset()
 
-    no_action_count = 0
     timestamp = 0
     start_episode_t = time.perf_counter()
     while timestamp < control_time_s:
@@ -382,13 +380,11 @@ def record_loop(
             act = {**arm_action, **base_action} if len(base_action) > 0 else arm_action
             act_processed_teleop = teleop_action_processor((act, obs))
         else:
-            no_action_count += 1
-            if no_action_count == 1 or no_action_count % 10 == 0:
-                logging.warning(
-                    "No policy or teleoperator provided, skipping action generation. "
-                    "This is likely to happen when resetting the environment without a teleop device. "
-                    "The robot won't be at its rest position at the start of the next episode."
-                )
+            logging.info(
+                "No policy or teleoperator provided, skipping action generation."
+                "This is likely to happen when resetting the environment without a teleop device."
+                "The robot won't be at its rest position at the start of the next episode."
+            )
             continue
 
         # Applies a pipeline to the action, default is IdentityProcessor

src/lerobot/scripts/lerobot_teleoperate.py

@@ -94,7 +94,6 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     omx_leader,
     openarm_leader,
-    openarm_mini,
     reachy2_teleoperator,
     so_leader,
     unitree_g1,

src/lerobot/teleoperators/unitree_g1/exo_serial.py

@@ -38,19 +38,23 @@ def parse_raw16(line: bytes) -> list[int] | None:
 
 def read_raw_from_serial(ser) -> list[int] | None:
     """Read latest sample from serial; if buffer is backed up, keep only the newest."""
-    last = None
-    while ser.in_waiting > 0:
-        b = ser.readline()
-        if not b:
-            break
-        raw16 = parse_raw16(b)
-        if raw16 is not None:
-            last = raw16
-    if last is None:
-        b = ser.readline()
-        if b:
-            last = parse_raw16(b)
-    return last
+    try:
+        last = None
+        while ser.in_waiting > 0:
+            b = ser.readline()
+            if not b:
+                break
+            raw16 = parse_raw16(b)
+            if raw16 is not None:
+                last = raw16
+        if last is None:
+            b = ser.readline()
+            if b:
+                last = parse_raw16(b)
+        return last
+    except (OSError, serial.SerialException) as e:
+        logger.warning(f"Serial read error: {e}")
+        return None
 
 
 @dataclass
@@ -104,14 +108,20 @@ class ExoskeletonArm:
             logger.warning(f"failed to load calibration: {e}")
 
     def read_raw(self) -> list[int] | None:
-        if not self._ser:
+        if not self._ser or not self._ser.is_open:
             return None
         return read_raw_from_serial(self._ser)
 
-    def get_angles(self) -> dict[str, float]:
+    def get_angles(self, raw: list[int] | None = None) -> dict[str, float]:
+        """Convert raw ADC values to joint angles.
+
+        Args:
+            raw: Optional raw ADC values. If None, reads from serial.
+        """
         if not self.calibration:
             raise RuntimeError("exoskeleton not calibrated")
-        raw = self.read_raw()
+        if raw is None:
+            raw = self.read_raw()
         return {} if raw is None else exo_raw_to_angles(raw, self.calibration)
 
     def calibrate(self) -> None: