b7b6d8102f
Change config logic in:
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- gym_manipulator
- find_joint_limits
- end_effector_utils
2025-03-28 17:18:48 +00:00
7c05755823
[pre-commit.ci] auto fixes from pre-commit.com hooks
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2025-03-28 17:18:48 +00:00
8e6d5f504c
[pre-commit.ci] auto fixes from pre-commit.com hooks
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2025-03-28 17:18:48 +00:00
38f5fa4523
[pre-commit.ci] auto fixes from pre-commit.com hooks
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2025-03-28 17:18:48 +00:00
729b4ed697
- Added `lerobot/scripts/server/gym_manipulator.py` that contains all the necessary wrappers to run a gym-style env around the real robot.
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- Added `lerobot/scripts/server/find_joint_limits.py` to test the min and max angles of the motion you wish the robot to explore during RL training.
- Added logic in `manipulator.py` to limit the maximum possible joint angles to allow motion within a predefined joint position range. The limits are specified in the yaml config for each robot. Checkout the so100.yaml.
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
2025-03-28 17:18:24 +00:00
952e892fe5
Use float32 instead of int ( #877 )
2025-03-18 16:36:37 +01:00
5d24ce3160
chore(doc): add license header to all files ( #818 )
2025-03-05 17:56:51 +01:00
a003e7c081
change wheel setup in kinematics ( #811 )
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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
2025-03-04 18:42:45 +01:00
a1809ad3de
Add typos checks ( #770 )
2025-02-25 23:51:15 +01:00
aca464ca72
Add mobile so100 ( #724 )
2025-02-25 09:06:50 +01:00
3c0a209f9f
Simplify configs ( #550 )
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Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
2025-01-31 13:57:37 +01:00
32eb0cec8f
Dataset v2.0 ( #461 )
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Co-authored-by: Remi <remi.cadene@huggingface.co>
2024-11-29 19:04:00 +01:00
172809a502
[Fix] Move back to manual calibration ( #488 )
2024-10-26 15:27:21 +02:00
55e4ff6742
Fix autocalib moss ( #486 )
2024-10-26 12:15:17 +02:00
07e8716315
Add FeetechMotorsBus, SO-100, Moss-v1 ( #419 )
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Co-authored-by: jess-moss <jess.moss@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-10-25 11:23:55 +02:00
77478d50e5
Refactor `record` with `add_frame` ( #468 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-10-16 20:51:35 +02:00
97b1feb0b3
Add policy/act_aloha_real.yaml + env/act_real.yaml ( #429 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-10-10 17:12:45 +02:00
1a343c3591
Add support for Stretch (hello-robot) ( #409 )
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Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
2024-10-04 18:56:42 +02:00
9ff829a3a1
Add comments for Aloha ( #417 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-09-06 21:07:52 +02:00
429a463aff
Control aloha robot natively ( #316 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-09-04 19:28:05 +02:00
04a995e7d1
Fix safe_action ( #395 )
2024-08-30 10:36:05 +02:00
9ce98bb93c
Add safety limits on relative action target ( #373 )
2024-08-26 14:30:18 +01:00
97086cdcdf
Make gripper_open_degree a config param ( #379 )
2024-08-26 12:28:16 +01:00
bbe9057225
Improve control robot ; Add process to configure motor indices ( #326 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com>
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-08-15 18:11:33 +02:00
5e54e39795
Add real robot devices and scripts to control real robot ( #288 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
2024-07-15 17:43:10 +02:00
Michel Aractingi
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