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nits in configuration classifier and control_robot

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This commit is contained in:
Michel Aractingi
2025-04-18 16:17:44 +02:00
parent 9886520d33
commit c1ee25d9f7
2 changed files with 2 additions and 8 deletions
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3
lerobot/common/policies/hilserl/classifier/configuration_classifier.py
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@@ -1,9 +1,10 @@
from dataclasses import dataclass from dataclasses import dataclass, field
from typing import List from typing import List
from lerobot.common.optim.optimizers import AdamWConfig, OptimizerConfig from lerobot.common.optim.optimizers import AdamWConfig, OptimizerConfig
from lerobot.common.optim.schedulers import LRSchedulerConfig from lerobot.common.optim.schedulers import LRSchedulerConfig
from lerobot.configs.policies import PreTrainedConfig from lerobot.configs.policies import PreTrainedConfig
from lerobot.configs.types import NormalizationMode
@PreTrainedConfig.register_subclass(name="hilserl_classifier") @PreTrainedConfig.register_subclass(name="hilserl_classifier")

7
lerobot/scripts/control_robot.py
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@@ -274,9 +274,6 @@ def record(
# Load pretrained policy # Load pretrained policy
policy = None if cfg.policy is None else make_policy(cfg.policy, ds_meta=dataset.meta) policy = None if cfg.policy is None else make_policy(cfg.policy, ds_meta=dataset.meta)
# Load pretrained policy
policy = None if cfg.policy is None else make_policy(cfg.policy, ds_meta=dataset.meta)
if not robot.is_connected: if not robot.is_connected:
robot.connect() robot.connect()
listener, events = init_keyboard_listener(assign_rewards=cfg.assign_rewards) listener, events = init_keyboard_listener(assign_rewards=cfg.assign_rewards)
@@ -364,15 +361,11 @@ def replay(
log_say("Replaying episode", cfg.play_sounds, blocking=True) log_say("Replaying episode", cfg.play_sounds, blocking=True)
for idx in range(dataset.num_frames): for idx in range(dataset.num_frames):
current_joint_positions = robot.follower_arms["main"].read("Present_Position")
start_episode_t = time.perf_counter() start_episode_t = time.perf_counter()
action = actions[idx]["action"] action = actions[idx]["action"]
robot.send_action(action) robot.send_action(action)
dt_s = time.perf_counter() - start_episode_t
busy_wait(1 / cfg.fps - dt_s)
dt_s = time.perf_counter() - start_episode_t dt_s = time.perf_counter() - start_episode_t
log_control_info(robot, dt_s, fps=cfg.fps) log_control_info(robot, dt_s, fps=cfg.fps)