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Modified kinematics code to be independant of drive mode

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Modified gym_manipulator.py and find_joint_limits to adhere to the refactor of robot devices
Modified the configuration of envs to take into account the refactor
This commit is contained in:
Michel Aractingi
2025-05-23 17:08:51 +02:00
committed by AdilZouitine
parent ba477e81ce
commit 2475645f5f
11 changed files with 437 additions and 355 deletions
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36
lerobot/common/envs/configs.py
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@@ -18,8 +18,9 @@ from typing import Any, Dict, Optional, Tuple
import draccus
from lerobot.common.constants import ACTION, OBS_ENV, OBS_IMAGE, OBS_IMAGES, OBS_ROBOT
from lerobot.common.robot_devices.robots.configs import RobotConfig
from lerobot.common.constants import ACTION, OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
from lerobot.common.robots import RobotConfig
from lerobot.common.teleoperators.config import TeleoperatorConfig
from lerobot.configs.types import FeatureType, PolicyFeature
@@ -97,8 +98,8 @@ class PushtEnv(EnvConfig):
features_map: dict[str, str] = field(
default_factory=lambda: {
"action": ACTION,
"agent_pos": OBS_ROBOT,
"environment_state": OBS_ENV,
"agent_pos": OBS_STATE,
"environment_state": OBS_ENV_STATE,
"pixels": OBS_IMAGE,
}
)
@@ -139,7 +140,7 @@ class XarmEnv(EnvConfig):
features_map: dict[str, str] = field(
default_factory=lambda: {
"action": ACTION,
"agent_pos": OBS_ROBOT,
"agent_pos": OBS_STATE,
"pixels": OBS_IMAGE,
}
)
@@ -168,22 +169,23 @@ class VideoRecordConfig:
trajectory_name: str = "trajectory"
@dataclass
class EEActionSpaceConfig:
"""Configuration parameters for end-effector action space."""
# @dataclass
# class EEActionSpaceConfig:
# """Configuration parameters for end-effector action space."""
x_step_size: float
y_step_size: float
z_step_size: float
bounds: Dict[str, Any] # Contains 'min' and 'max' keys with position bounds
control_mode: str = "gamepad"
# x_step_size: float
# y_step_size: float
# z_step_size: float
# bounds: Dict[str, Any] # Contains 'min' and 'max' keys with position bounds
# control_mode: str = "gamepad"
@dataclass
class EnvTransformConfig:
"""Configuration for environment wrappers."""
ee_action_space_params: EEActionSpaceConfig = field(default_factory=EEActionSpaceConfig)
# ee_action_space_params: EEActionSpaceConfig = field(default_factory=EEActionSpaceConfig)
control_mode: str = "gamepad"
display_cameras: bool = False
add_joint_velocity_to_observation: bool = False
add_current_to_observation: bool = False
@@ -205,6 +207,7 @@ class HILSerlRobotEnvConfig(EnvConfig):
"""Configuration for the HILSerlRobotEnv environment."""
robot: Optional[RobotConfig] = None
teleop: Optional[TeleoperatorConfig] = None
wrapper: Optional[EnvTransformConfig] = None
fps: int = 10
name: str = "real_robot"
@@ -252,12 +255,13 @@ class HILEnvConfig(EnvConfig):
default_factory=lambda: {
"action": ACTION,
"observation.image": OBS_IMAGE,
"observation.state": OBS_ROBOT,
"observation.state": OBS_STATE,
}
)
################# args from hilserlrobotenv
reward_classifier_pretrained_path: Optional[str] = None
robot: Optional[RobotConfig] = None
robot_config: Optional[RobotConfig] = None
teleop_config: Optional[TeleoperatorConfig] = None
wrapper: Optional[EnvTransformConfig] = None
mode: str = None # Either "record", "replay", None
repo_id: Optional[str] = None