From 7b45c56be5bb9d61f756ac015eae71c28eb59b6f Mon Sep 17 00:00:00 2001 From: Michel Aractingi Date: Wed, 7 May 2025 13:59:21 +0200 Subject: [PATCH] robot_type nit --- lerobot/scripts/server/gym_manipulator.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lerobot/scripts/server/gym_manipulator.py b/lerobot/scripts/server/gym_manipulator.py index 1f3f7820..7608cc9d 100644 --- a/lerobot/scripts/server/gym_manipulator.py +++ b/lerobot/scripts/server/gym_manipulator.py @@ -1012,7 +1012,7 @@ class EEActionWrapper(gym.ActionWrapper): self.use_gripper = use_gripper # Initialize kinematics instance for the appropriate robot type - robot_type = getattr(env.unwrapped.robot.config, "robot_type", "so100") + robot_type = getattr(env.unwrapped.robot.config, "type", "so100") self.kinematics = RobotKinematics(robot_type) self.fk_function = self.kinematics.fk_gripper_tip