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AdilZouitine
2025-04-25 17:22:02 +02:00
parent 1d4f660075
commit 50e9a8ed6a
3 changed files with 24 additions and 63 deletions
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20
lerobot/common/robot_devices/robots/manipulator.py
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@@ -28,22 +28,14 @@ import numpy as np
import torch
from lerobot.common.robot_devices.cameras.utils import make_cameras_from_configs
from lerobot.common.robot_devices.motors.utils import (
MotorsBus,
make_motors_buses_from_configs,
)
from lerobot.common.robot_devices.motors.utils import MotorsBus, make_motors_buses_from_configs
from lerobot.common.robot_devices.robots.configs import ManipulatorRobotConfig
from lerobot.common.robot_devices.robots.utils import get_arm_id
from lerobot.common.robot_devices.utils import (
RobotDeviceAlreadyConnectedError,
RobotDeviceNotConnectedError,
)
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
def ensure_safe_goal_position(
goal_pos: torch.Tensor,
present_pos: torch.Tensor,
max_relative_target: float | list[float],
goal_pos: torch.Tensor, present_pos: torch.Tensor, max_relative_target: float | list[float]
):
# Cap relative action target magnitude for safety.
diff = goal_pos - present_pos
@@ -53,7 +45,7 @@ def ensure_safe_goal_position(
safe_goal_pos = present_pos + safe_diff
if not torch.allclose(goal_pos, safe_goal_pos):
logging.debug(
logging.warning(
"Relative goal position magnitude had to be clamped to be safe.\n"
f" requested relative goal position target: {diff}\n"
f" clamped relative goal position target: {safe_diff}"
@@ -317,9 +309,7 @@ class ManipulatorRobot:
print(f"Missing calibration file '{arm_calib_path}'")
if self.robot_type in ["koch", "koch_bimanual", "aloha"]:
from lerobot.common.robot_devices.robots.dynamixel_calibration import (
run_arm_calibration,
)
from lerobot.common.robot_devices.robots.dynamixel_calibration import run_arm_calibration
calibration = run_arm_calibration(arm, self.robot_type, name, arm_type)