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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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4
lerobot/common/robot_devices/robots/configs.py
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@@ -443,7 +443,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
leader_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem58760431091",
port="/dev/tty.usbmodem58760433331",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
@@ -460,7 +460,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
follower_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem585A0076891",
port="/dev/tty.usbmodem58760431631",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],

24
lerobot/common/robot_devices/robots/manipulator.py
View File

@@ -475,12 +475,12 @@ class ManipulatorRobot:
goal_pos = leader_pos[name]
# If specified, clip the goal positions within predefined bounds specified in the config of the robot
if self.config.joint_position_relative_bounds is not None:
goal_pos = torch.clamp(
goal_pos,
self.config.joint_position_relative_bounds["min"],
self.config.joint_position_relative_bounds["max"],
)
# if self.config.joint_position_relative_bounds is not None:
# goal_pos = torch.clamp(
# goal_pos,
# self.config.joint_position_relative_bounds["min"],
# self.config.joint_position_relative_bounds["max"],
# )
# Cap goal position when too far away from present position.
# Slower fps expected due to reading from the follower.
@@ -604,12 +604,12 @@ class ManipulatorRobot:
from_idx = to_idx
# If specified, clip the goal positions within predefined bounds specified in the config of the robot
if self.config.joint_position_relative_bounds is not None:
goal_pos = torch.clamp(
goal_pos,
self.config.joint_position_relative_bounds["min"],
self.config.joint_position_relative_bounds["max"],
)
# if self.config.joint_position_relative_bounds is not None:
# goal_pos = torch.clamp(
# goal_pos,
# self.config.joint_position_relative_bounds["min"],
# self.config.joint_position_relative_bounds["max"],
# )
# Cap goal position when too far away from present position.
# Slower fps expected due to reading from the follower.