Remove config yaml for robot devices #594

Cadene · 2024-12-24T17:06:52Z

What this does

Remove config yaml for robot devices

TODO:

remove hydra in tests/utils.py
remove hydra in tests/test_control_robot.py
remove hydra in scripts/control_robot.py
remove yaml in configs folder
remove factory function (?)

How it was tested

pytest -sx tests/test_motors.py
pytest -sx tests/test_cameras.py
pytest -sx tests/test_robots.py
pytest -sx tests/test_control_robot.py

How to checkout & try? (for the reviewer)

TODO

…_30_remove_hydra

…hydra' into user/rcadene/2024_12_24_remove_hydra_robot_devices

aliberts

Impressive work, thank you @Cadene!
Definitely a good step in the right direction ;)

We can leave out the purely style-related comments for now but I think we need to iterate a bit more on these tests.
We can mark.skip them back and split some of this work in a subsequent PR. WDYT?

examples/2_evaluate_pretrained_policy.py

aliberts · 2025-01-07T09:36:35Z

lerobot/common/datasets/transforms.py

+def make_transform_from_config(cfg: ImageTransformConfig):
+    if cfg.type == "Identity":
+        return v2.Identity(**cfg.kwargs)
+    elif cfg.type == "ColorJitter":
+        return v2.ColorJitter(**cfg.kwargs)
+    elif cfg.type == "SharpnessJitter":
+        return SharpnessJitter(**cfg.kwargs)
+    else:
+        raise ValueError(f"Transform '{cfg.type}' is not valid.")
+
+


Reminder: Move this in tests/ as it's only used for that purpose

aliberts · 2025-01-07T09:39:26Z

lerobot/common/datasets/v2/batch_convert_dataset_v1_to_v2.py

 ALOHA_MOBILE_INFO = {
-    "robot_config": parse_robot_config(ALOHA_CONFIG),
+    "robot_config": AlohaRobotConfig(),


We could add a use_shadow_motors option here

aliberts · 2025-01-07T09:40:53Z

lerobot/common/envs/factory.py

+def make_env_config(env_type: str, **kwargs) -> EnvConfig:
+    if env_type == "real_world":
+        return RealEnv(**kwargs)
+    elif env_type == "aloha":
+        return AlohaEnv(**kwargs)
+    elif env_type == "pusht":
+        return PushtEnv(**kwargs)
+    elif env_type == "xarm":
+        return XarmEnv(**kwargs)
+    else:
+        raise ValueError(f"Policy type '{env_type}' is not available.")


Move to tests/?

lerobot/common/envs/factory.py

tests/test_policies.py

aliberts · 2025-01-07T11:04:51Z

tests/test_policies.py

+    input_features = [
+        PolicyFeature(
+            key="observation.image",
+            type=FeatureType.VISUAL,
+            normalization_mode=NormalizationMode.MEAN_STD,
+            shape=[3, 96, 96],
+        ),
+        PolicyFeature(
+            key="observation.state",
+            type=FeatureType.STATE,
+            normalization_mode=NormalizationMode.MIN_MAX,
+            shape=[10],
+        ),
+    ]
+    output_features = [
+        PolicyFeature(
+            key="action",
+            type=FeatureType.ACTION,
+            normalization_mode=NormalizationMode.MIN_MAX,
+            shape=[5],
+        ),
+    ]


Move this out of the test into a fixture?

Not used anywhere else.
But test too long.
Will redesign later.

tests/test_policies.py

…hydra' into user/rcadene/2024_12_24_remove_hydra_robot_devices

[Fix] Move back to manual calibration (#488) feat: enable to use multiple rgb encoders per camera in diffusion policy (#484) Co-authored-by: Alexander Soare <alexander.soare159@gmail.com> Fix config file (#495) fix: broken images and a few minor typos in README (#499) Signed-off-by: ivelin <ivelin117@gmail.com> Add support for Windows (#494) bug causes error uploading to huggingface, unicode issue on windows. (#450) Add distinction between two unallowed cases in name check "eval_" (#489) WIP Fix autocalib moss (#486) [Fix] Move back to manual calibration (#488) feat: enable to use multiple rgb encoders per camera in diffusion policy (#484) Co-authored-by: Alexander Soare <alexander.soare159@gmail.com> Fix config file (#495) fix: broken images and a few minor typos in README (#499) Signed-off-by: ivelin <ivelin117@gmail.com> Add support for Windows (#494) bug causes error uploading to huggingface, unicode issue on windows. (#450) Add distinction between two unallowed cases in name check "eval_" (#489) Rename deprecated argument (temporal_ensemble_momentum) (#490) Dataset v2.0 (#461) Co-authored-by: Remi <remi.cadene@huggingface.co> Refactor OpenX (#505) Fix missing local_files_only in record/replay (#540) Co-authored-by: Simon Alibert <alibert.sim@gmail.com> Control simulated robot with real leader (#514) Co-authored-by: Remi <remi.cadene@huggingface.co> Update 7_get_started_with_real_robot.md (#559) LerobotDataset pushable to HF from any folder (#563) Fix example 6 (#572) fixing typo from 'teloperation' to 'teleoperation' (#566) [vizualizer] for LeRobodDataset V2 (#576) Fix broken `create_lerobot_dataset_card` (#590) Update README.md (#612) Add draccus, create MainConfig WIP refactor train.py and ACT Add policies training presets Update diffusion policy Add pusht and xarm env configs Update tdmpc Update vqbet Fix poetry relax Add feature types to envs Add EvalPipelineConfig, parse features from envs Add custom parser Update pretrained loading mechanisms Add dependency fixes & lock update Fix pretrained_path Refactor envs, remove RealEnv Fix typo Enable end-to-end tests Fix Makefile Log eval config Fix end-to-end tests Fix Quality workflow (#622) Remove amp & add resume test Speed-up tests Fix poetry relax Remove config yaml for robot devices (#594) Co-authored-by: Simon Alibert <simon.alibert@huggingface.co> fix(docs): typos in benchmark readme.md (#614) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> fix(visualise): use correct language description for each episode id (#604) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> typo fix: batch_convert_dataset_v1_to_v2.py (#615) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> [viz] Fixes & updates to html visualizer (#617) Fix logger Remove hydra-core Add aggregate_stats Add estimate_num_samples for images, Add test image Remove NoneSchedulerConfig Add push_pretrained Remove eval.episode_length Fix wandb_video Fix typo Add features back into policy configs (#643) fixes to SO-100 readme (#600) Co-authored-by: Philip Fung <no@one> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> Fix for the issue #638 (#639) Fix env_to_policy_features call Fix wandb init remove omegaconf Add branch arg Move deprecated Move training config Remove pathable_args Implement custom HubMixin Fixes Implement PreTrainedPolicy base class Add HubMixin to TrainPipelineConfig Udpate example 2 & 3 Update push_pretrained Bump`rerun-sdk` dependency to `0.21.0` (#618) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> Fix config_class Fix from_pretrained kwargs Remove policy_protocol Camelize PretrainedConfig Additional fix while retraining policies (#629) Co-authored-by: Simon Alibert <simon.alibert@huggingface.co> Actually reactivate tdmpc online test Update example 4 Remove advanced example 1 Remove example 5 Move example 6 to advanced Use HubMixin.save_pretrained Enable config_path to be a repo_id Dry has_method Update example 4 Update README Cleanup pyproject.toml Update eval docstring Update README Clean example 4 Update README Make 'last' checkpoint symlink relative Fix cluster image (#653) Simplify example 4 fix stats per episodes and aggregate stats and casting to tensor

aliberts and others added 11 commits December 5, 2024 12:27

Add draccus, create MainConfig

3bb5876

Merge remote-tracking branch 'origin/main' into user/aliberts/2024_11…

6b4cdab

…_30_remove_hydra

WIP refactor train.py and ACT

660d65d

Add policies training presets

ca34677

Update diffusion policy

0eb7cdc

Add pusht and xarm env configs

32595f0

Update tdmpc

66aa91a

Update vqbet

14de4d9

Merge remote-tracking branch 'origin/main' into user/aliberts/2024_11…

514cdae

…_30_remove_hydra

Fix poetry relax

fa55e67

Switch to full dataclass (Not tested)

6a2474e

Cadene requested a review from aliberts December 24, 2024 17:47

Cadene and others added 5 commits December 26, 2024 00:59

tests motors, cameras, robots are passing

ae89d9f

nit comment

14a117e

Add feature types to envs

ba31014

Add EvalPipelineConfig, parse features from envs

87d92f9

Merge remote-tracking branch 'origin/user/aliberts/2024_11_30_remove_…

9248d73

…hydra' into user/rcadene/2024_12_24_remove_hydra_robot_devices

aliberts mentioned this pull request Dec 28, 2024

Simplify configs #550

Merged

15 tasks

Cadene and others added 10 commits December 28, 2024 14:37

Fix channel -> channels

72e1463

WIP

b3d20ae

WIP before tests

e6ebf48

WIP fix tests, they are runnable

bfbde19

Fix some more tests

b47de65

Fix policties unit tests

d180ae8

fix test policies

25ec3e7

Improve test

1199d65

WIP

acf44c4

Small fix

ce93213

aliberts force-pushed the user/aliberts/2024_11_30_remove_hydra branch from 87d92f9 to 06b604b Compare January 6, 2025 17:18

fix

0c7126d

Cadene added 3 commits January 6, 2025 22:19

Merge remote-tracking branch 'origin/user/aliberts/2024_11_30_remove_…

60a0b0c

…hydra' into user/rcadene/2024_12_24_remove_hydra_robot_devices

Merge remote-tracking branch 'origin/user/aliberts/2024_11_30_remove_…

13af6e5

…hydra' into user/rcadene/2024_12_24_remove_hydra_robot_devices

fix test_record_and_replay_and_policy

1319a83

aliberts marked this pull request as ready for review January 7, 2025 09:29

aliberts reviewed Jan 7, 2025

View reviewed changes

Cadene added 10 commits January 7, 2025 16:18

Fix image_transforms

c0ecbee

Add remove dataset download TODO

3b60310

fix tdmpc

06d44c0

Fix bug in delta_indices

0ddd9b7

Remove normalize_inputs and use None instead

f686e8a

diffusion backward works

e868178

comment out diffusion backward compatibility

028f280

Merge remote-tracking branch 'origin/user/aliberts/2024_11_30_remove_…

abd1a99

…hydra' into user/rcadene/2024_12_24_remove_hydra_robot_devices

All tests are passing

9cdd778

Address Simon's comments

2c17859

aliberts approved these changes Jan 9, 2025

View reviewed changes

aliberts merged commit 4261c5a into user/aliberts/2024_11_30_remove_hydra Jan 9, 2025
1 check passed

aliberts deleted the user/rcadene/2024_12_24_remove_hydra_robot_devices branch January 9, 2025 10:40

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Remove config yaml for robot devices #594

Remove config yaml for robot devices #594

Cadene commented Dec 24, 2024 •

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aliberts left a comment

aliberts Jan 7, 2025

aliberts Jan 7, 2025

aliberts Jan 7, 2025

aliberts Jan 7, 2025

Cadene Jan 9, 2025

Remove config yaml for robot devices #594

Remove config yaml for robot devices #594

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Cadene commented Dec 24, 2024 • edited Loading

What this does

How it was tested

How to checkout & try? (for the reviewer)

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Cadene commented Dec 24, 2024 •

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