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Added possiblity to record and replay delta actions during teleoperation rather than absolute actions

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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi
2025-02-12 19:25:41 +01:00
parent fae47d58d3
commit 5d6879d93a
11 changed files with 60 additions and 618 deletions
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6
lerobot/configs/env/so100_real.yaml vendored
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@@ -12,8 +12,10 @@ env:
wrapper:
crop_params_dict:
observation.images.laptop: [58, 89, 357, 455]
observation.images.phone: [3, 4, 471, 633]
observation.images.front: [126, 43, 329, 518]
observation.images.side: [93, 69, 381, 434]
# observation.images.front: [135, 59, 331, 527]
# observation.images.side: [79, 47, 397, 450]
resize_size: [128, 128]
control_time_s: 20
reset_follower_pos: true