Add AmazingHand dual-hand support(tested with left only) with teleope…#1
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mraiddanial-hub wants to merge 15 commits intomsf4-0:mainfrom
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Add AmazingHand dual-hand support(tested with left only) with teleope…#1mraiddanial-hub wants to merge 15 commits intomsf4-0:mainfrom
mraiddanial-hub wants to merge 15 commits intomsf4-0:mainfrom
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…rator and run-policy command - Added lerobot_robot_amazinghand robot driver with dual-hand support (left/right) - Added lerobot_teleoperator_amazinghandtracker with MediaPipe hand tracking - Implemented lerobot-run-policy command for running trained policies without recording - Added configurable MediaPipe confidence thresholds (default 0.7) - Fixed motor ID mapping for right hand (left IDs - 10) - Added MuJoCo visualization support with LEROBOT_SHOW_MUJOCO_VIEWER - Created comprehensive setup documentation in AMAZINGHAND_SETUP.md
new file: RECALIBRATION_GUIDE.md new file: calibrate_motor_offsets.py new file: delete_calibration_files.py new file: expand_calibration_ranges.py new file: main_rs_backup.txt modified: pyproject.toml new file: requirements-amazinghand.txt modified: src/lerobot/__init__.py modified: src/lerobot/cameras/opencv/camera_opencv.py new file: src/lerobot/configs/robot/amazinghand/mjcf/config.json modified: src/lerobot/policies/act/configuration_act.py modified: src/lerobot/robots/__init__.py new file: src/lerobot/robots/lerobot_robot_amazinghand/lerobot_robot_amazinghand/AH_Left/mjcf/config.json new file: src/lerobot/robots/lerobot_robot_amazinghand/lerobot_robot_amazinghand/AH_Right/mjcf/config.json new file: src/lerobot/robots/lerobot_robot_amazinghand/lerobot_robot_amazinghand/__init__.py new file: src/lerobot/robots/lerobot_robot_amazinghand/lerobot_robot_amazinghand/amazinghand.mdx modified: src/lerobot/robots/lerobot_robot_amazinghand/lerobot_robot_amazinghand/amazinghand.py new file: src/lerobot/robots/lerobot_robot_amazinghand/lerobot_robot_amazinghand/config/l_hand.toml new file: src/lerobot/robots/lerobot_robot_amazinghand/lerobot_robot_amazinghand/config_amazinghand.py new file: src/lerobot/robots/lerobot_robot_amazinghand/setup.py modified: src/lerobot/robots/stretch3/configuration_stretch3.py modified: src/lerobot/robots/utils.py new file: src/lerobot/scripts/5gtest/import lerobot.py new file: src/lerobot/scripts/5gtest/inspect_so101.py new file: src/lerobot/scripts/5gtest/leader_so101_sender.py new file: src/lerobot/scripts/5gtest/pc1_camera_client.py new file: src/lerobot/scripts/5gtest/pc1_leader_sender.py new file: src/lerobot/scripts/5gtest/test_import_so101.py modified: src/lerobot/scripts/lerobot_calibrate.py modified: src/lerobot/scripts/lerobot_record.py modified: src/lerobot/scripts/lerobot_replay.py new file: src/lerobot/scripts/lerobot_run_policy.py modified: src/lerobot/scripts/lerobot_teleoperate.py new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/__init__.py new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/amazinghandtracker.py new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/config_amazinghandtracker.py new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/inverse_kinematics.py new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/config.json new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/setup.py modified: src/lerobot/teleoperators/utils.py modified: src/lerobot/utils/import_utils.py modified: src/lerobot/utils/visualization_utils.py
…ial-hub/msf_lerobot into msf_lerobot_amazinghand
modified: webrtc_teleoperation/pc2_follower/robot_receiver_udp.py modified: webrtc_teleoperation/signaling_server/server.py
…0608_04.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/custom_servo_horn.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/distal.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/distal_shell.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/finger_frame_1.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/finger_frame_2.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/gimbal.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/l_hand_plate.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/l_wrist_interface.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/link.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/m2_rod_l18.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/parallel_pin_2_x_10__fee063fca0c8b40e46bbc4ffff61d999.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/parallel_pin_2_x_16__da4b7ddbe9d803fe3fbc70f2e822b99b.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/ph_pan_head_screw_m2x0_40_x_10__2803432263e518bbd16bccbbef8784ed.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/plain_washer_large_grade_a_m2_5__9a369f0dc77bf9c598cdf3fb468977e5.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/proximal.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/proximal_shell.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/rotule_ball.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/rotule_lever.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/scs0009.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/spacer.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/std00333_plast_tcb_torx_2_5x8__configuration_copy_of_default.stl new file: src/lerobot/configs/robot/amazinghand/mjcf/assets/std00447_thermoplastique_m2_5x6__configuration_default.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/bushing_0608_04.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/custom_servo_horn.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/distal.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/distal_shell.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/finger_frame_1.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/finger_frame_2.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/gimbal.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/l_hand_plate.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/l_wrist_interface.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/link.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/m2_rod_l18.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/parallel_pin_2_x_10__fee063fca0c8b40e46bbc4ffff61d999.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/parallel_pin_2_x_16__da4b7ddbe9d803fe3fbc70f2e822b99b.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/ph_pan_head_screw_m2x0_40_x_10__2803432263e518bbd16bccbbef8784ed.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/plain_washer_large_grade_a_m2_5__9a369f0dc77bf9c598cdf3fb468977e5.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/proximal.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/proximal_shell.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/rotule_ball.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/rotule_lever.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/scs0009.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/spacer.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/std00333_plast_tcb_torx_2_5x8__configuration_copy_of_default.stl new file: src/lerobot/teleoperators/lerobot_teleoperator_amazinghandtracker/lerobot_teleoperator_amazinghandtracker/mjcf/assets/std00447_thermoplastique_m2_5x6__configuration_default.stl
…ial-hub/msf_lerobot into msf_lerobot_amazinghand
modified: webrtc_teleoperation/pc1_leader/leader_sender_udp.py modified: webrtc_teleoperation/pc2_follower/robot_receiver_udp.py
modified: webrtc_teleoperation/pc1_leader/leader_sender_udp.py modified: webrtc_teleoperation/pc2_follower/camera_server_webrtc.py
modified: webrtc_teleoperation/pc2_follower/robot_receiver_udp.py
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…rator and run-policy command
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