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chore: remove unused code (#2062)

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This commit is contained in:
Steven Palma
2025-09-29 10:49:36 +02:00
committed by GitHub
parent 62e9849ffd
commit f59eb54f5c
37 changed files with 8 additions and 254 deletions
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3
docs/source/hilserl.mdx
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@@ -95,7 +95,6 @@ class HILSerlProcessorConfig:
class ObservationConfig:
add_joint_velocity_to_observation: bool = False # Add joint velocities to state
add_current_to_observation: bool = False # Add motor currents to state
add_ee_pose_to_observation: bool = False # Add end-effector pose to state
display_cameras: bool = False # Display camera feeds during execution
class ImagePreprocessingConfig:
@@ -105,7 +104,6 @@ class ImagePreprocessingConfig:
class GripperConfig:
use_gripper: bool = True # Enable gripper control
gripper_penalty: float = 0.0 # Penalty for inappropriate gripper usage
gripper_penalty_in_reward: bool = False # Include gripper penalty in reward
class ResetConfig:
fixed_reset_joint_positions: Any | None = None # Joint positions for reset
@@ -288,7 +286,6 @@ You can enable multiple observation processing features simultaneously:
"observation": {
"add_joint_velocity_to_observation": true,
"add_current_to_observation": true,
"add_ee_pose_to_observation": false,
"display_cameras": false
}
}

3
docs/source/phone_teleop.mdx
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@@ -136,13 +136,12 @@ Additionally you can customize mapping or safety limits by editing the processor
),
```
- The `EEBoundsAndSafety` step clamps EE motion to a workspace and checks for large ee step jumps to ensure safety. The `end_effector_bounds` are the bounds for the EE pose and can be modified to change the workspace. The `max_ee_step_m` and `max_ee_twist_step_rad` are the step limits for the EE pose and can be modified to change the safety limits.
- The `EEBoundsAndSafety` step clamps EE motion to a workspace and checks for large ee step jumps to ensure safety. The `end_effector_bounds` are the bounds for the EE pose and can be modified to change the workspace. The `max_ee_step_m` are the step limits for the EE pose and can be modified to change the safety limits.
```examples/phone_to_so100/teleoperate.py
EEBoundsAndSafety(
end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
max_ee_step_m=0.10,
max_ee_twist_step_rad=0.50,
)
```

2
docs/source/processors_robots_teleop.mdx
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@@ -38,7 +38,7 @@ phone_to_robot_ee_pose_processor = RobotProcessorPipeline[RobotAction, RobotActi
kinematics=kinematics_solver, end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5}, motor_names=list(robot.bus.motors.keys()),
),
EEBoundsAndSafety(
end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]}, max_ee_step_m=0.20, max_ee_twist_step_rad=0.50,
end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]}, max_ee_step_m=0.20,
),
GripperVelocityToJoint(),
],