From 5ba5eca70463972637dab78e3a7c039b47f63752 Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Tue, 22 Jul 2025 15:30:31 -0500 Subject: [PATCH 1/4] Add bi_widowxai to record --- src/lerobot/record.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/lerobot/record.py b/src/lerobot/record.py index 3b612f44d2..43f025c32b 100644 --- a/src/lerobot/record.py +++ b/src/lerobot/record.py @@ -80,6 +80,7 @@ Robot, RobotConfig, bi_so100_follower, + bi_widowxai_follower, hope_jr, koch_follower, make_robot_from_config, @@ -91,6 +92,7 @@ Teleoperator, TeleoperatorConfig, bi_so100_leader, + bi_widowxai_leader, homunculus, koch_leader, make_teleoperator_from_config, From 72b8cdd7a9644b7d5a3ce4c52b20f09e031174aa Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Tue, 22 Jul 2025 15:46:11 -0500 Subject: [PATCH 2/4] Remove vel, eff joint features --- src/lerobot/robots/widowxai_follower/widowxai_follower.py | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/src/lerobot/robots/widowxai_follower/widowxai_follower.py b/src/lerobot/robots/widowxai_follower/widowxai_follower.py index 252f51aa53..6aebf71083 100644 --- a/src/lerobot/robots/widowxai_follower/widowxai_follower.py +++ b/src/lerobot/robots/widowxai_follower/widowxai_follower.py @@ -47,12 +47,7 @@ def __init__(self, config: WidowXAIFollowerConfig): @property def _joint_ft(self) -> dict[str, type]: - joint_ft = {} - for joint_name in self.config.joint_names: - joint_ft[f"{joint_name}.pos"] = float - joint_ft[f"{joint_name}.vel"] = float - joint_ft[f"{joint_name}.eff"] = float - return joint_ft + return {f"{joint_name}.pos": float for joint_name in self.config.joint_names} @property def _cameras_ft(self) -> dict[str, tuple]: From 542f9cfc5ac4ae8d551b1253fb40950843cc6d04 Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Tue, 22 Jul 2025 16:40:23 -0500 Subject: [PATCH 3/4] Add bi_widowxai_follower to replay --- src/lerobot/replay.py | 1 + 1 file changed, 1 insertion(+) diff --git a/src/lerobot/replay.py b/src/lerobot/replay.py index afe54d90f1..4bcc8107c1 100644 --- a/src/lerobot/replay.py +++ b/src/lerobot/replay.py @@ -52,6 +52,7 @@ Robot, RobotConfig, bi_so100_follower, + bi_widowxai_follower, hope_jr, koch_follower, make_robot_from_config, From 69588afbcdd4d78b3a5910ea3fa908ea4989d43d Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Thu, 24 Jul 2025 16:49:24 -0500 Subject: [PATCH 4/4] Only export position features --- .../bi_widowxai_follower/bi_widowxai_follower.py | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/src/lerobot/robots/bi_widowxai_follower/bi_widowxai_follower.py b/src/lerobot/robots/bi_widowxai_follower/bi_widowxai_follower.py index ddd12d0b45..1c68f8fe5c 100644 --- a/src/lerobot/robots/bi_widowxai_follower/bi_widowxai_follower.py +++ b/src/lerobot/robots/bi_widowxai_follower/bi_widowxai_follower.py @@ -64,14 +64,9 @@ def __init__(self, config: BiWidowXAIFollowerConfig): @property def _joint_ft(self) -> dict[str, type]: - return ( - {f"left_{joint_name}.pos": float for joint_name in self.left_arm.config.joint_names} - | {f"right_{joint_name}.pos": float for joint_name in self.right_arm.config.joint_names} - | {f"left_{joint_name}.vel": float for joint_name in self.left_arm.config.joint_names} - | {f"right_{joint_name}.vel": float for joint_name in self.right_arm.config.joint_names} - | {f"left_{joint_name}.eff": float for joint_name in self.left_arm.config.joint_names} - | {f"right_{joint_name}.eff": float for joint_name in self.right_arm.config.joint_names} - ) + return {f"left_{joint_name}.pos": float for joint_name in self.left_arm.config.joint_names} | { + f"right_{joint_name}.pos": float for joint_name in self.right_arm.config.joint_names + } @property def _cameras_ft(self) -> dict[str, tuple]: