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Change HILSerlRobotEnvConfig to inherit from EnvConfig

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Added support for hil_serl classifier to be trained with train.py
run classifier training by python lerobot/scripts/train.py --policy.type=hilserl_classifier
fixes in find_joint_limits, control_robot, end_effector_control_utils
This commit is contained in:
Michel Aractingi
2025-03-27 10:23:14 +01:00
parent db897a1619
commit b69132c79d
13 changed files with 388 additions and 340 deletions
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5
lerobot/scripts/control_robot.py
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@@ -279,10 +279,7 @@ def record(
if not robot.is_connected:
robot.connect()
listener, events = init_keyboard_listener(assign_rewards=assign_rewards)
if reset_follower:
initial_position = robot.follower_arms["main"].read("Present_Position")
listener, events = init_keyboard_listener(assign_rewards=cfg.assign_rewards)
# Execute a few seconds without recording to:
# 1. teleoperate the robot to move it in starting position if no policy provided,