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Clean the code

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This commit is contained in:
AdilZouitine
2025-04-24 17:22:54 +02:00
parent b8c2b0bb93
commit a8da4a347e
4 changed files with 56 additions and 39 deletions
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16
lerobot/common/robot_devices/robots/manipulator.py
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@@ -474,14 +474,6 @@ class ManipulatorRobot:
before_fwrite_t = time.perf_counter()
goal_pos = leader_pos[name]
# If specified, clip the goal positions within predefined bounds specified in the config of the robot
# if self.config.joint_position_relative_bounds is not None:
# goal_pos = torch.clamp(
# goal_pos,
# self.config.joint_position_relative_bounds["min"],
# self.config.joint_position_relative_bounds["max"],
# )
# Cap goal position when too far away from present position.
# Slower fps expected due to reading from the follower.
if self.config.max_relative_target is not None:
@@ -603,14 +595,6 @@ class ManipulatorRobot:
goal_pos = action[from_idx:to_idx]
from_idx = to_idx
# If specified, clip the goal positions within predefined bounds specified in the config of the robot
# if self.config.joint_position_relative_bounds is not None:
# goal_pos = torch.clamp(
# goal_pos,
# self.config.joint_position_relative_bounds["min"],
# self.config.joint_position_relative_bounds["max"],
# )
# Cap goal position when too far away from present position.
# Slower fps expected due to reading from the follower.
if self.config.max_relative_target is not None: