adding simplefoc to codebase#53
Closed
RamyWahib wants to merge 510 commits into
Closed
Conversation
…ish-ik-and-teleop-with-keyboard-on-latest-arm reorganise-il-pipeline-and-finish-ik-and-teleop-with-keyboard-on-late…
Track simulation USD/PNG via .gitattributes, migrate the existing SO101 follower mesh to LFS, and vendor vial-task props from NVIDIA's workshop (lightbox, mat, vials, rack, textures) with a GitHub sync script. Co-authored-by: Cursor <cursoragent@cursor.com>
…of-hand Add to il pipeline and add 16dof hand
add-16dof-hand-pyconfig
add-inhand-rl-task
All Isaac Sim recording now uses SimLeRobotRecorder (GPU tensor buffering + async CPU flush) instead of the frame-by-frame RecordSession pattern. - Add humanoid_il/sim_recorder.py: generic SimLeRobotRecorder (no Isaac Sim deps, accepts numpy or torch, joint_names param, clean save/cancel API, num_episodes/is_complete, fixed __del__) - Delete humanoid_il/sim_session.py (create_sim_record_session removed) - Add [sim] optional dep group to humanoid_il pyproject.toml - Update so101_leader_teleop.py, so101_keyboard_teleop.py, keyboard_teleop.py to use SimLeRobotRecorder with EpisodeFlags/EpisodeKeyboard for S/N/D/Esc - Update capture_record_images() signature: takes cfg dict instead of RecordSession - Reduce lerobot_recorder.py in vial task to a re-export from humanoid_il - Remove duplicated SO101_USD_MAPPING/SO101_JOINT_ORDER from lerobot_interface.py; import SO101_USD_DEG_LIMITS and SO101_LEADER_KEYS from humanoid_il.so101_sim - Add humanoid-il dependency to vial task pyproject.toml https://claude.ai/code/session_01UyRZoXFMTLEgH9e9xd4gAp
Claude/determined cerf 4nkh8v
- SimLeRobotRecorder gains start_keyboard() and tick() methods so the episode flags/keyboard/rate-limiting loop is owned by the recorder rather than duplicated across every teleop script. finalize() now stops the keyboard listener automatically. - All three teleop scripts (keyboard_teleop, so101_keyboard_teleop, so101_leader_teleop) drop ~15 lines each of flag-handling boilerplate; the per-step block reduces to recorder.tick(action, state, images). - create_dataset() simplified to a single required root: Path parameter; the dead record_root branch and get_next_experiment_path_with_gap import are removed from schema.py. LeRobotSink updated to match. https://claude.ai/code/session_01NFYSHfEmqNn7d75qCnzAEy
Streamline IL: unify sim episode control, simplify create_dataset
Exclude wato_bimanual_arm from LFS so full mesh and USD files are committed directly. Co-authored-by: Cursor <cursoragent@cursor.com>
Store bimanual arm USD assets in git instead of LFS.
Resolve .gitattributes modify/delete conflict by keeping the file removed so assets stay stored directly in git instead of Git LFS. Co-authored-by: Cursor <cursoragent@cursor.com>
fix lfs issue
fix usd joint limit issue for task space controller'
…-but-not-perfect-yet improve-inhand-rl
Improve inhand rl
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
7 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
No description provided.