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- Added lerobot/scripts/server/gym_manipulator.py that contains all the necessary wrappers to run a gym-style env around the real robot.

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- Added `lerobot/scripts/server/find_joint_limits.py` to test the min and max angles of the motion you wish the robot to explore during RL training.
- Added logic in `manipulator.py` to limit the maximum possible joint angles to allow motion within a predefined joint position range. The limits are specified in the yaml config for each robot. Checkout the so100.yaml.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi
2025-02-06 16:29:37 +01:00
committed by AdilZouitine
parent 163bcbcad4
commit 729b4ed697
8 changed files with 812 additions and 29 deletions
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7
lerobot/configs/policy/hilserl_classifier.yaml
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@@ -4,7 +4,7 @@ defaults:
- _self_
seed: 13
dataset_repo_id: aractingi/pick_place_lego_cube_1
dataset_repo_id: aractingi/push_green_cube_hf_cropped_resized
train_split_proportion: 0.8
# Required by logger
@@ -24,7 +24,8 @@ training:
eval_freq: 1 # How often to run validation (in epochs)
save_freq: 1 # How often to save checkpoints (in epochs)
save_checkpoint: true
image_keys: ["observation.images.top", "observation.images.wrist"]
# image_keys: ["observation.images.top", "observation.images.wrist"]
image_keys: ["observation.images.laptop", "observation.images.phone"]
label_key: "next.reward"
eval:
@@ -32,7 +33,7 @@ eval:
num_samples_to_log: 30 # Number of validation samples to log in the table
policy:
name: "hilserl/classifier/pick_place_lego_cube_1"
name: "hilserl/classifier/push_green_cube_hf_cropped_resized" #"hilserl/classifier/pick_place_lego_cube_1"
model_name: "facebook/convnext-base-224"
model_type: "cnn"
num_cameras: 2 # Has to be len(training.image_keys)

3
lerobot/configs/robot/so100.yaml
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@@ -14,6 +14,9 @@ calibration_dir: .cache/calibration/so100
# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
# the number of motors in your follower arms.
max_relative_target: null
joint_position_relative_bounds:
min: [-88.50586, 23.81836, 0.87890625, -32.16797, 78.66211, 0.53691274]
max: [84.55078, 187.11914, 145.98633, 101.60156, 146.60156, 88.18792]
leader_arms:
main: