12525242ce
- 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>
2025-02-06 16:29:37 +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
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
Michel Aractingi
Simon Alibert
Remi