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Add human intervention mechanism and eval_robot script to evaluate policy on the robot (#541)

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Co-authored-by: Yoel <yoel.chornton@gmail.com>
This commit is contained in:
Michel Aractingi
2024-12-09 19:17:47 +01:00
committed by Eugene Mironov
parent e35546f58e
commit 7fcf638c0d
3 changed files with 338 additions and 3 deletions
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4
lerobot/configs/robot/koch.yaml
View File

@@ -10,7 +10,7 @@ max_relative_target: null
leader_arms:
main:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
port: /dev/tty.usbmodem575E0031751
port: /dev/tty.usbmodem58760430441
motors:
# name: (index, model)
shoulder_pan: [1, "xl330-m077"]
@@ -23,7 +23,7 @@ leader_arms:
follower_arms:
main:
_target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
port: /dev/tty.usbmodem575E0032081
port: /dev/tty.usbmodem585A0083391
motors:
# name: (index, model)
shoulder_pan: [1, "xl430-w250"]

2
lerobot/configs/robot/so100.yaml
View File

@@ -18,7 +18,7 @@ max_relative_target: null
leader_arms:
main:
_target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
port: /dev/tty.usbmodem585A0077581
port: /dev/tty.usbmodem58760433331
motors:
# name: (index, model)
shoulder_pan: [1, "sts3215"]