Update LeRobot submodule and add web UI for data collection

[Woojin-Crive]

Description

Remove data_collector and policy_to_trajectory packages as their functionalities are now integrated into the updated LeRobot submodule. Additionally, add a web UI for visualizing image data.

[Copilot]

Pull Request Overview

This pull request updates the LeRobot submodule by removing the now-unused policy_to_trajectory and data_collector packages along with their associated configurations, launch files, and documentation. Key changes include the removal of all policy_to_trajectory files, the removal of all data_collector files, and an update to the lerobot submodule commit.

Reviewed Changes

Copilot reviewed 29 out of 29 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
policy_to_trajectory/launch/policy_to_trajectory.launch.py	Removed launch configuration for policy_to_trajectory
policy_to_trajectory/config/joint_order_omx.yaml	Removed configuration file for policy_to_trajectory
policy_to_trajectory/config/joint_order.yaml	Removed configuration file for policy_to_trajectory
policy_to_trajectory/CHANGELOG.rst	Removed changelog for policy_to_trajectory
lerobot	Updated subproject commit for LeRobot submodule
data_collector/setup.py	Removed setup script for data_collector package
data_collector/setup.cfg	Removed configuration for data_collector package
data_collector/package.xml	Removed package definition for data_collector
data_collector/launch/data_collector.launch.py	Removed launch configuration for data_collector
data_collector/data_collector/trajectory_stamper_inspire.py	Removed script for trajectory stamper inspire in data_collector
data_collector/data_collector/trajectory_stamper.py	Removed trajectory stamper script for data_collector
data_collector/data_collector/topic_to_data_omx.py	Removed data collection script for OMX mode
data_collector/data_collector/topic_to_data_inspire.py	Removed data collection script for INSPIRE mode
data_collector/data_collector/topic_to_data.py	Removed primary data collection script for data_collector
data_collector/config/joint_order_omx.yaml	Removed configuration file for data_collector's OMX mode
data_collector/config/joint_order_inspire.yaml	Removed configuration file for data_collector's INSPIRE mode
data_collector/config/joint_order.yaml	Removed general configuration file for data_collector
data_collector/CHANGELOG.rst	Removed changelog for data_collector

[gemini-code-assist]

Hello @Woojin-Crive, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

Summary of Changes

Hello team, gemini-code-assist here to provide a summary of this pull request. The primary goal of this PR, as indicated by the title and description, is to update the LeRobot submodule to its latest version. Concurrently, it removes the data_collector and policy_to_trajectory ROS 2 packages, suggesting that their functionality might now be handled or superseded by the updated LeRobot submodule itself.

Highlights

• LeRobot Submodule Update: The LeRobot Git submodule has been updated to the latest commit (55807df61a368de7b525bb8017c37ad0a47cef0d). This brings in the newest features and changes from the LeRobot repository.
• Removal of data_collector Package: The entire data_collector ROS 2 package has been removed. This includes its source files, configuration files (joint_order*.yaml), launch file, package manifest (package.xml), resource file, and setup script. This package was previously responsible for collecting and synchronizing joint state and trajectory data.
• Removal of policy_to_trajectory Package: The entire policy_to_trajectory ROS 2 package has also been removed. This includes its source files, configuration files (joint_order*.yaml), launch file, package manifest (package.xml), resource file, and setup script. This package was previously used to convert predicted policy actions into joint trajectory commands.

Changelog

Click here to see the changelog

• data_collector (Removed Package)
  • Removed CHANGELOG.rst
  • Removed config/joint_order_inspire.yaml
  • Removed config/joint_order.yaml
  • Removed config/joint_order_omx.yaml
  • Removed data_collector/topic_to_data_inspire.py
  • Removed data_collector/topic_to_data.py
  • Removed data_collector/topic_to_data_omx.py
  • Removed data_collector/trajectory_stamper.py
  • Removed data_collector/trajectory_stamper_inspire.py
  • Removed launch/data_collector.launch.py
  • Removed package.xml
  • Removed resource/data_collector
  • Removed setup.py
• lerobot
  • Updated submodule from commit aa9f452ab65c546b1edd217545f74516cd4d95fe to 55807df61a368de7b525bb8017c37ad0a47cef0d.
• policy_to_trajectory (Removed Package)
  • Removed CHANGELOG.rst
  • Removed config/joint_order_inspire.yaml
  • Removed config/joint_order.yaml
  • Removed config/joint_order_omx.yaml
  • Removed launch/policy_to_trajectory.launch.py
  • Removed package.xml
  • Removed resource/policy_to_trajectory
  • Removed policy_to_trajectory/action_to_trajectory.py
  • Removed policy_to_trajectory/action_to_trajectory_omx.py
  • Removed policy_to_trajectory/topic_to_observation.py
  • Removed policy_to_trajectory/topic_to_observation_omx.py
  • Removed setup.py

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---

Submodule updated,
Old packages now are gone,
New code takes its place.

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[gemini-code-assist]

Code Review

This pull request updates the lerobot submodule to a new version and removes the data_collector and policy_to_trajectory ROS packages. The removal of these packages is extensive, involving all their constituent files (Python scripts, launch files, configuration files, package manifests, etc.).

The primary concern with this PR is ensuring that the functionalities provided by the removed packages are now adequately covered, presumably by the updated lerobot submodule, to prevent breaking existing components like physical_ai_manager. Specifically, the generation of timestamped topics, which physical_ai_manager subscribes to, needs to be verified.

Summary of Findings

• Potential Broken Dependencies due to Package Removal: The data_collector package, which included trajectory_stamper.py, was responsible for generating timestamped topics (e.g., /leader/left_arm_with_timestamp, /leader/right_arm_with_timestamp). The physical_ai_manager node subscribes to these topics. With the removal of data_collector, it's critical to verify how these topics are now provided to avoid breaking physical_ai_manager. It's presumed the updated lerobot submodule handles this, but confirmation is essential.
• Verification of Functionality Migration to LeRobot: The data_collector and policy_to_trajectory packages contained various nodes for data handling, synchronization, and action conversion. It's important to confirm that all necessary functionalities from these removed packages have been successfully migrated to the updated lerobot submodule or are otherwise accounted for.
• Completeness of Removals: The PR successfully removes numerous files associated with the data_collector and policy_to_trajectory packages. This is a good step if these packages are indeed superseded. The main concern remains the functional replacement by the lerobot submodule.

Merge Readiness

This pull request involves significant changes by removing two packages and updating a core submodule. Due to the critical nature of potential broken dependencies, particularly the provision of essential topics for physical_ai_manager, I recommend that changes be made to address these concerns. Specifically, clarification and confirmation are needed regarding how the updated lerobot submodule handles the functionalities of the removed packages.

Therefore, I advise against merging this PR until the critical questions raised in the review comment are fully addressed and it's confirmed that all system integrations remain functional. As a reviewer, I am not authorized to approve pull requests; please ensure further review and approval from authorized maintainers after addressing the feedback.

[DongyunRobotis]

The version information needs to be updated for the entire package. However, the version information in physical_ai_manager has not been updated. Please check.

[robotpilot]

LGTM, please rewrite the description tag.

[robotpilot]

LGTM

[ola31]

LGTM