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Refactor kinematics and switch to using placo (#1322)

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Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: leo-berte <leonardo.bertelli96@gmail.com>
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Michel Aractingi
2025-07-02 15:20:04 +02:00
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parent 6047bbee10
commit 596e9050bd
10 changed files with 181 additions and 522 deletions
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docs/source/hilserl.mdx
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@@ -24,6 +24,7 @@ This guide provides step-by-step instructions for training a robot policy using
- A gamepad (recommended) or keyboard to control the robot
- A Nvidia GPU
- A real robot with a follower and leader arm (optional if you use the keyboard or the gamepad)
- A URDF file for the robot for the kinematics package (check `lerobot/common/model/kinematics.py`)
## What kind of tasks can I train?