lerobot

Author	SHA1	Message	Date
Michel Aractingi	d51374ce12	Several fixes to move the actor_server and learner_server code from the maniskill environment to the real robot environment. Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>	2025-02-10 16:03:39 +01:00
Michel Aractingi	12525242ce	- Added `lerobot/scripts/server/gym_manipulator.py` that contains all the necessary wrappers to run a gym-style env around the real robot. - 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

Author

SHA1

Message

Date

Michel Aractingi

d51374ce12

Several fixes to move the actor_server and learner_server code from the maniskill environment to the real robot environment.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>

2025-02-10 16:03:39 +01:00

Michel Aractingi

12525242ce

- Added `lerobot/scripts/server/gym_manipulator.py` that contains all the necessary wrappers to run a gym-style env around the real robot.

- 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

2 Commits