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Change config logic in:

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- gym_manipulator
- find_joint_limits
- end_effector_utils
This commit is contained in:
Michel Aractingi
2025-03-25 14:24:46 +01:00
parent 26ee8b6ae5
commit 114ec644d0
10 changed files with 256 additions and 280 deletions
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20
lerobot/scripts/control_robot.py
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@@ -371,8 +371,8 @@ def replay(
start_episode_t = time.perf_counter()
action = actions[idx]["action"]
if replay_delta_actions:
action = action + current_joint_positions
# if replay_delta_actions:
# action = action + current_joint_positions
robot.send_action(action)
dt_s = time.perf_counter() - start_episode_t
@@ -382,9 +382,7 @@ def replay(
log_control_info(robot, dt_s, fps=cfg.fps)
def _init_rerun(
control_config: ControlConfig, session_name: str = "lerobot_control_loop"
) -> None:
def _init_rerun(control_config: ControlConfig, session_name: str = "lerobot_control_loop") -> None:
"""Initializes the Rerun SDK for visualizing the control loop.
Args:
@@ -430,23 +428,17 @@ def control_robot(cfg: ControlPipelineConfig):
if isinstance(cfg.control, CalibrateControlConfig):
calibrate(robot, cfg.control)
elif isinstance(cfg.control, TeleoperateControlConfig):
_init_rerun(
control_config=cfg.control, session_name="lerobot_control_loop_teleop"
)
_init_rerun(control_config=cfg.control, session_name="lerobot_control_loop_teleop")
teleoperate(robot, cfg.control)
elif isinstance(cfg.control, RecordControlConfig):
_init_rerun(
control_config=cfg.control, session_name="lerobot_control_loop_record"
)
_init_rerun(control_config=cfg.control, session_name="lerobot_control_loop_record")
record(robot, cfg.control)
elif isinstance(cfg.control, ReplayControlConfig):
replay(robot, cfg.control)
elif isinstance(cfg.control, RemoteRobotConfig):
from lerobot.common.robot_devices.robots.lekiwi_remote import run_lekiwi
_init_rerun(
control_config=cfg.control, session_name="lerobot_control_loop_remote"
)
_init_rerun(control_config=cfg.control, session_name="lerobot_control_loop_remote")
run_lekiwi(cfg.robot)
if robot.is_connected: