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4f2ef024d8
* move locomotion from examples to robot, move controller to teleoperator class * modify teleoperate to send back actions to robot * whole body controller * add holosoma to locomotros * various updates * update joint zeroing etc * ensure safefail with locomotion * add unitree locomotion * launch camera from g1 server * publish at varying framerates * fix async read in camera * attempting to fix camera lag * test camera speedup * training * inference works * remove logging from pi0 * remove logging * push local changes * testing * final changes * revert control_utils * revert utils * revert * revert g1 * revert again: * revert utils * push recents * remove examples * remove junk * remove mjlog * revergt edit_dataset * Update lerobot_edit_dataset.py Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com> * undo teleop changes * revert logging * remove loggings * remove loogs * revert dataset tools * Update dataset_tools.py Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com> * move gravity to utils * revert changes * remove matplotlib viewer (rerun works fine) * factory revert * send policy action directly * recent changes * implement flexible action space * send empty command if arms are missing * rename locomotion to controller * add init * implement feedback * add feedback for teleoperator * fix ruff * fix ruff * use read_latest * fix zmq camera * revert exo_serial * simplify PR * revert exo_changes * revert camera_zmq * Update camera_zmq.py Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com> * remove frame duplication from zmq server * revert channerfactoryinitialize * keep channelfactoryinitialize * remove zeroing out logic * fix typo * refactor teleop class * simplify teleop further * import armindex at the top * fix visualizer again * revert ik helper * push stuff * simplify image_server * update image_server * asd * add threading logic * simplify ik helper stuff * simplify holosoma * fix names * fix docs * revert leg override * clean connect * fix controller * fix ruff * clean teleoperator * set_from_wireless * avoid double initializations * refactor robot class * fix pre-commit * update docs * update docs format * add teleop instructions * unitree_g1 specific exception in record/teleoperate * add thumbnail to docs * add thumbnail to doc * refactor(unitree): multiple improvements (#3103) * refactor(unitree): multiple improvements * test(unitree): added tests + improved installation instructions * refactor(robots): minor changes unitree robot kinematic * chore(robots): rename g1 kinematics file --------- Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com> Signed-off-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: Steven Palma <steven.palma@huggingface.co>
32 lines
1.1 KiB
Python
32 lines
1.1 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from .config_unitree_g1 import ExoskeletonArmPortConfig, UnitreeG1TeleoperatorConfig
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from .exo_calib import ExoskeletonCalibration, ExoskeletonJointCalibration
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from .exo_ik import ExoskeletonIKHelper
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from .exo_serial import ExoskeletonArm
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from .unitree_g1 import UnitreeG1Teleoperator
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__all__ = [
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"ExoskeletonArmPortConfig",
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"ExoskeletonCalibration",
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"ExoskeletonIKHelper",
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"ExoskeletonJointCalibration",
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"ExoskeletonArm",
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"UnitreeG1Teleoperator",
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"UnitreeG1TeleoperatorConfig",
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]
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