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Changed bounds for a new so100 robot 

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi 2025-02-13 15:43:30 +01:00 committed by AdilZouitine
parent eb7e28d9d9
commit 24fb8a7f47
3 changed files with 9 additions and 13 deletions
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7
lerobot/configs/policy/sac_real.yaml
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@ -8,7 +8,8 @@
# env.gym.obs_type=environment_state_agent_pos \ # env.gym.obs_type=environment_state_agent_pos \
seed: 1 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: training:
# Offline training dataloader # Offline training dataloader
@ -88,8 +89,8 @@ policy:
# min: [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0] # 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] # max: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
action: action:
min: [-145.283203125, -69.43359375, -78.75, -46.0546875] min: [-149.23828125, -97.734375, -100.1953125, -73.740234375]
max: [145.283203125, 69.43359375, 78.75, 46.0546875] max: [149.23828125, 97.734375, 100.1953125, 73.740234375]
# Architecture / modeling. # Architecture / modeling.
# Neural networks. # Neural networks.

11
lerobot/configs/robot/so100.yaml
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@ -15,13 +15,8 @@ calibration_dir: .cache/calibration/so100
# the number of motors in your follower arms. # the number of motors in your follower arms.
max_relative_target: null max_relative_target: null
joint_position_relative_bounds: joint_position_relative_bounds:
min: [-87.09961, 62.402344, 67.23633, 36.035156, 77.34375, max: [ 7.2158203e+01, 1.5398438e+02, 1.6075195e+02, 9.3251953e+01, 0., -1.4184397e-01]
0.53691274] min: [-77.08008, 56.25, 60.55664, 19.511719, 0., -0.63829786]
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]
leader_arms: leader_arms:
main: main:
@ -39,7 +34,7 @@ leader_arms:
follower_arms: follower_arms:
main: main:
_target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus _target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
port: /dev/tty.usbmodem585A0080971 port: /dev/tty.usbmodem58760431631
motors: motors:
# name: (index, model) # name: (index, model)
shoulder_pan: [1, "sts3215"] shoulder_pan: [1, "sts3215"]

2
lerobot/scripts/server/crop_dataset_roi.py
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@ -239,7 +239,7 @@ if __name__ == "__main__":
) )
args = parser.parse_args() 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 = get_image_from_lerobot_dataset(dataset)
images = {k: v.cpu().permute(1, 2, 0).numpy() for k, v in images.items()} images = {k: v.cpu().permute(1, 2, 0).numpy() for k, v in images.items()}