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Add end effector action space to hil-serl (#861)

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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
This commit is contained in:
Michel Aractingi
2025-03-17 14:22:33 +01:00
committed by GitHub
parent 1f23ef7889
commit 9e3c8461ca
13 changed files with 2138 additions and 139 deletions
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14
lerobot/configs/robot/so100.yaml
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@@ -14,9 +14,13 @@ 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:
max: [ 7.2158203e+01, 1.5398438e+02, 1.6075195e+02, 9.3251953e+01, 0., -1.4184397e-01]
min: [-77.08008, 56.25, 60.55664, 19.511719, 0., -0.63829786]
joint_position_relative_bounds: null
# max: [100, 100, 100, 100, 100, 100]
# min: [-100, -100, -100, -100, -100, -100]
# max: [ 7.2158203e+01, 1.5398438e+02, 1.6075195e+02, 9.3251953e+01, 0., -1.4184397e-01]
# min: [-77.08008, 56.25, 60.55664, 19.511719, 0., -0.63829786]
# max: [ 35.06836 , 103.18359 , 127.61719 , 75.58594 , 0., 0.]
# min: [ -8.876953 , 63.808594 , 90.49805 , 49.48242 , 0., 0.]
leader_arms:
main:
@@ -47,13 +51,13 @@ follower_arms:
cameras:
front:
_target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
camera_index: 0
camera_index: 1
fps: 30
width: 640
height: 480
side:
_target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
camera_index: 1
camera_index: 0
fps: 30
width: 640
height: 480