From 0c320084669e241072df30e110cd133073f950a0 Mon Sep 17 00:00:00 2001 From: Michel Aractingi Date: Thu, 13 Feb 2025 15:43:30 +0100 Subject: [PATCH] Changed bounds for a new so100 robot Co-authored-by: Adil Zouitine --- lerobot/configs/policy/sac_real.yaml | 7 ++++--- lerobot/configs/robot/so100.yaml | 13 ++++--------- lerobot/scripts/server/crop_dataset_roi.py | 2 +- 3 files changed, 9 insertions(+), 13 deletions(-) diff --git a/lerobot/configs/policy/sac_real.yaml b/lerobot/configs/policy/sac_real.yaml index 9b78f593..14a63713 100644 --- a/lerobot/configs/policy/sac_real.yaml +++ b/lerobot/configs/policy/sac_real.yaml @@ -8,7 +8,8 @@ # env.gym.obs_type=environment_state_agent_pos \ seed: 1 -dataset_repo_id: aractingi/push_cube_square_light_offline_demo_cropped_resized +dataset_repo_id: aractingi/push_cube_square_offline_demo_cropped_resized +#aractingi/push_cube_square_light_offline_demo_cropped_resized training: # Offline training dataloader @@ -88,8 +89,8 @@ policy: # min: [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0] # max: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] action: - min: [-145.283203125, -69.43359375, -78.75, -46.0546875] - max: [145.283203125, 69.43359375, 78.75, 46.0546875] + min: [-149.23828125, -97.734375, -100.1953125, -73.740234375] + max: [149.23828125, 97.734375, 100.1953125, 73.740234375] # Architecture / modeling. # Neural networks. diff --git a/lerobot/configs/robot/so100.yaml b/lerobot/configs/robot/so100.yaml index 82689753..459308ae 100644 --- a/lerobot/configs/robot/so100.yaml +++ b/lerobot/configs/robot/so100.yaml @@ -14,14 +14,9 @@ calibration_dir: .cache/calibration/so100 # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as # the number of motors in your follower arms. max_relative_target: null -joint_position_relative_bounds: - min: [-87.09961, 62.402344, 67.23633, 36.035156, 77.34375, - 0.53691274] - max: [58.183594, 131.83594, 145.98633, 82.08984, 78.22266, - 0.60402685] - - # min: [-88.50586, 23.81836, 0.87890625, -32.16797, 78.66211, 0.53691274] - # max: [84.55078, 187.11914, 145.98633, 101.60156, 146.60156, 88.18792] +joint_position_relative_bounds: + max: [ 7.2158203e+01, 1.5398438e+02, 1.6075195e+02, 9.3251953e+01, 0., -1.4184397e-01] + min: [-77.08008, 56.25, 60.55664, 19.511719, 0., -0.63829786] leader_arms: main: @@ -39,7 +34,7 @@ leader_arms: follower_arms: main: _target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus - port: /dev/tty.usbmodem585A0080971 + port: /dev/tty.usbmodem58760431631 motors: # name: (index, model) shoulder_pan: [1, "sts3215"] diff --git a/lerobot/scripts/server/crop_dataset_roi.py b/lerobot/scripts/server/crop_dataset_roi.py index da1bf96a..5b534a46 100644 --- a/lerobot/scripts/server/crop_dataset_roi.py +++ b/lerobot/scripts/server/crop_dataset_roi.py @@ -239,7 +239,7 @@ if __name__ == "__main__": ) args = parser.parse_args() - dataset = LeRobotDataset(repo_id=args.repo_id, root=args.root, local_files_only=True) + dataset = LeRobotDataset(repo_id=args.repo_id, root=args.root, local_files_only=False) images = get_image_from_lerobot_dataset(dataset) images = {k: v.cpu().permute(1, 2, 0).numpy() for k, v in images.items()}