Buckets:
| <meta charset="utf-8" /><meta name="hf:doc:metadata" content="{"title":"Backward compatibility","local":"backward-compatibility","sections":[{"title":"Hardware API redesign","local":"hardware-api-redesign","sections":[{"title":"What changed?","local":"what-changed","sections":[],"depth":3},{"title":"Impact on existing datasets","local":"impact-on-existing-datasets","sections":[],"depth":3},{"title":"Using datasets made with the previous calibration system","local":"using-datasets-made-with-the-previous-calibration-system","sections":[],"depth":3},{"title":"Using policies trained with the previous calibration system","local":"using-policies-trained-with-the-previous-calibration-system","sections":[],"depth":3}],"depth":2}],"depth":1}"> | |
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| <link rel="modulepreload" href="/docs/lerobot/pr_1713/en/_app/immutable/chunks/getInferenceSnippets.00196ff1.js"><!-- HEAD_svelte-u9bgzb_START --><meta name="hf:doc:metadata" content="{"title":"Backward compatibility","local":"backward-compatibility","sections":[{"title":"Hardware API redesign","local":"hardware-api-redesign","sections":[{"title":"What changed?","local":"what-changed","sections":[],"depth":3},{"title":"Impact on existing datasets","local":"impact-on-existing-datasets","sections":[],"depth":3},{"title":"Using datasets made with the previous calibration system","local":"using-datasets-made-with-the-previous-calibration-system","sections":[],"depth":3},{"title":"Using policies trained with the previous calibration system","local":"using-policies-trained-with-the-previous-calibration-system","sections":[],"depth":3}],"depth":2}],"depth":1}"><!-- HEAD_svelte-u9bgzb_END --> <p></p> <h1 class="relative group"><a id="backward-compatibility" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#backward-compatibility"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Backward compatibility</span></h1> <h2 class="relative group"><a id="hardware-api-redesign" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#hardware-api-redesign"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Hardware API redesign</span></h2> <p data-svelte-h="svelte-17tiy1w">PR <a href="https://github.com/huggingface/lerobot/pull/777" rel="nofollow">#777</a> improves the LeRobot calibration but is <strong>not backward-compatible</strong>. Below is a overview of what changed and how you can continue to work with datasets created before this pull request.</p> <h3 class="relative group"><a id="what-changed" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#what-changed"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>What changed?</span></h3> <table data-svelte-h="svelte-1404rgd"><thead><tr><th></th> <th>Before PR #777</th> <th>After PR #777</th></tr></thead> <tbody><tr><td><strong>Joint range</strong></td> <td>Degrees <code>-180...180°</code></td> <td><strong>Normalised range</strong> Joints: <code>–100...100</code> Gripper: <code>0...100</code></td></tr> <tr><td><strong>Zero position (SO100 / SO101)</strong></td> <td>Arm fully extended horizontally</td> <td><strong>In middle of the range for each joint</strong></td></tr> <tr><td><strong>Boundary handling</strong></td> <td>Software safeguards to detect ±180 ° wrap-arounds</td> <td>No wrap-around logic needed due to mid-range zero</td></tr></tbody></table> <hr> <h3 class="relative group"><a id="impact-on-existing-datasets" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#impact-on-existing-datasets"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Impact on existing datasets</span></h3> <ul data-svelte-h="svelte-i68tt4"><li>Recorded trajectories created <strong>before</strong> PR #777 will replay incorrectly if loaded directly:<ul><li>Joint angles are offset and incorrectly normalized.</li></ul></li> <li>Any models directly finetuned or trained on the old data will need their inputs and outputs converted.</li></ul> <h3 class="relative group"><a id="using-datasets-made-with-the-previous-calibration-system" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#using-datasets-made-with-the-previous-calibration-system"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Using datasets made with the previous calibration system</span></h3> <p data-svelte-h="svelte-1szr8ts">We provide a migration example script for replaying an episode recorded with the previous calibration here: <code>examples/backward_compatibility/replay.py</code>. | |
| Below we take you through the modifications that are done in the example script to make the previous calibration datasets work.</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START --><span class="hljs-addition">+ key = f"{name.removeprefix('main_')}.pos"</span> | |
| action[key] = action_array[i].item() | |
| <span class="hljs-addition">+ action["shoulder_lift.pos"] = -(action["shoulder_lift.pos"] - 90)</span> | |
| <span class="hljs-addition">+ action["elbow_flex.pos"] -= 90</span><!-- HTML_TAG_END --></pre></div> <p data-svelte-h="svelte-4qzqbq">Let’s break this down. | |
| New codebase uses <code>.pos</code> suffix for the position observations and we have removed <code>main_</code> prefix:</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START -->key = <span class="hljs-string">f"<span class="hljs-subst">{name.removeprefix(<span class="hljs-string">'main_'</span>)}</span>.pos"</span><!-- HTML_TAG_END --></pre></div> <p data-svelte-h="svelte-10kr9hx">For <code>"shoulder_lift"</code> (id = 2), the 0 position is changed by -90 degrees and the direction is reversed compared to old calibration/code.</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START -->action[<span class="hljs-string">"shoulder_lift.pos"</span>] = -(action[<span class="hljs-string">"shoulder_lift.pos"</span>] - <span class="hljs-number">90</span>)<!-- HTML_TAG_END --></pre></div> <p data-svelte-h="svelte-889d4s">For <code>"elbow_flex"</code> (id = 3), the 0 position is changed by -90 degrees compared to old calibration/code.</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START -->action[<span class="hljs-string">"elbow_flex.pos"</span>] -= <span class="hljs-number">90</span><!-- HTML_TAG_END --></pre></div> <p data-svelte-h="svelte-vkkttv">To use degrees normalization we then set the <code>--robot.use_degrees</code> option to <code>true</code>.</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START -->python examples/backward_compatibility/replay.py \ | |
| --robot.type=so101_follower \ | |
| --robot.port=/dev/tty.usbmodem5A460814411 \ | |
| --robot.id=blue \ | |
| <span class="hljs-addition">+ --robot.use_degrees=true \</span> | |
| --dataset.repo_id=my_dataset_id \ | |
| --dataset.episode=0<!-- HTML_TAG_END --></pre></div> <h3 class="relative group"><a id="using-policies-trained-with-the-previous-calibration-system" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#using-policies-trained-with-the-previous-calibration-system"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Using policies trained with the previous calibration system</span></h3> <p data-svelte-h="svelte-1q7w343">Policies output actions in the same format as the datasets (<code>torch.Tensors</code>). Therefore, the same transformations should be applied.</p> <p data-svelte-h="svelte-15md14c">To find these transformations, we recommend to first try and and replay an episode of the dataset your policy was trained on using the section above. | |
| Then, add these same transformations on your inference script (shown here in the <code>record.py</code> script):</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class=""><!-- HTML_TAG_START -->action_values = predict_action( | |
| observation_frame, | |
| policy, | |
| get_safe_torch_device(policy.config.device), | |
| policy.config.use_amp, | |
| task=single_task, | |
| robot_type=robot.robot_type, | |
| ) | |
| action = {key: action_values[i].item() for i, key in enumerate(robot.action_features)} | |
| <span class="hljs-addition">+ action["shoulder_lift.pos"] = -(action["shoulder_lift.pos"] - 90)</span> | |
| <span class="hljs-addition">+ action["elbow_flex.pos"] -= 90</span> | |
| robot.send_action(action)<!-- HTML_TAG_END --></pre></div> <p data-svelte-h="svelte-okcd11">If you have questions or run into migration issues, feel free to ask them on <a href="https://discord.gg/s3KuuzsPFb" rel="nofollow">Discord</a></p> <a class="!text-gray-400 !no-underline text-sm flex items-center not-prose mt-4" href="https://github.com/huggingface/lerobot/blob/main/docs/source/backwardcomp.mdx" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span data-svelte-h="svelte-x0xyl0">></span> <span data-svelte-h="svelte-1dajgef"><span class="underline ml-1.5">Update</span> on GitHub</span></a> <p></p> | |
| <script> | |
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| assets: "/docs/lerobot/pr_1713/en", | |
| base: "/docs/lerobot/pr_1713/en", | |
| env: {} | |
| }; | |
| const element = document.currentScript.parentElement; | |
| const data = [null,null]; | |
| Promise.all([ | |
| import("/docs/lerobot/pr_1713/en/_app/immutable/entry/start.ff6c7d92.js"), | |
| import("/docs/lerobot/pr_1713/en/_app/immutable/entry/app.492c5e10.js") | |
| ]).then(([kit, app]) => { | |
| kit.start(app, element, { | |
| node_ids: [0, 3], | |
| data, | |
| form: null, | |
| error: null | |
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| }); | |
| } | |
| </script> | |
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