Change config logic in:

- gym_manipulator
- find_joint_limits
- end_effector_utils

lerobot/common/envs/utils.py

@@ -40,13 +40,18 @@ def preprocess_observation(observations: dict[str, np.ndarray]) -> dict[str, Ten
         if "images" not in key:
             continue
 
-        for imgkey, img in imgs.items():
-            # TODO(aliberts, rcadene): use transforms.ToTensor()?
+        # TODO(aliberts, rcadene): use transforms.ToTensor()?
+        if not torch.is_tensor(img):
             img = torch.from_numpy(img)
 
-            # sanity check that images are channel last
-            _, h, w, c = img.shape
-            assert c < h and c < w, f"expect channel last images, but instead got {img.shape=}"
+        if img.ndim == 3:
+            img = img.unsqueeze(0)
+
+        # sanity check that images are channel last
+        _, h, w, c = img.shape
+        assert c < h and c < w, (
+            f"expect channel last images, but instead got {img.shape=}"
+        )
 
         # sanity check that images are uint8
         assert img.dtype == torch.uint8, f"expect torch.uint8, but instead {img.dtype=}"

lerobot/common/robot_devices/control_configs.py

@@ -87,6 +87,8 @@ class RecordControlConfig(ControlConfig):
     play_sounds: bool = True
     # Resume recording on an existing dataset.
     resume: bool = False
+    # Reset follower arms to an initial configuration.
+    reset_follower_arms: bool = True
 
     def __post_init__(self):
         # HACK: We parse again the cli args here to get the pretrained path if there was one.

lerobot/common/robot_devices/control_utils.py

@@ -221,7 +221,7 @@ def record_episode(
         events=events,
         policy=policy,
         fps=fps,
-        record_delta_actions=record_delta_actions,
+        # record_delta_actions=record_delta_actions,
         teleoperate=policy is None,
         single_task=single_task,
     )
@@ -267,8 +267,8 @@ def control_loop(
 
         if teleoperate:
             observation, action = robot.teleop_step(record_data=True)
-            if record_delta_actions:
-                action["action"] = action["action"] - current_joint_positions
+            # if record_delta_actions:
+            #     action["action"] = action["action"] - current_joint_positions
         else:
             observation = robot.capture_observation()
 

lerobot/common/robot_devices/robots/configs.py

@@ -443,7 +443,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
     leader_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431091",
+                port="/dev/tty.usbmodem58760433331",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -460,7 +460,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
     follower_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",
+                port="/dev/tty.usbmodem58760431631",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],

lerobot/common/robot_devices/robots/manipulator.py

@@ -475,12 +475,12 @@ class ManipulatorRobot:
             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"],
-                )
+            # 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.
@@ -604,12 +604,12 @@ class ManipulatorRobot:
             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"],
-                )
+            # 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.