Michel Aractingi
9e3c8461ca
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>
2025-03-17 14:22:33 +01:00
Michel Aractingi
0c32008466
Changed bounds for a new so100 robot
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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-02-13 15:43:30 +01:00
Michel Aractingi
b9217b06db
Added possiblity to record and replay delta actions during teleoperation rather than absolute actions
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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-02-12 19:25:41 +01:00
Michel Aractingi
a7db3959f5
- Added JointMaskingActionSpace wrapper in gym_manipulator in order to select which joints will be controlled. For example, we can disable the gripper actions for some tasks.
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- Added Nan detection mechanisms in the actor, learner and gym_manipulator for the case where we encounter nans in the loop.
- changed the non-blocking in the `.to(device)` functions to only work for the case of cuda because they were causing nans when running the policy on mps
- Added some joint clipping and limits in the env, robot and policy configs. TODO clean this part and make the limits in one config file only.
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-02-11 11:34:46 +01:00
Michel Aractingi
12525242ce
- Added lerobot/scripts/server/gym_manipulator.py that contains all the necessary wrappers to run a gym-style env around the real robot.
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- Added `lerobot/scripts/server/find_joint_limits.py` to test the min and max angles of the motion you wish the robot to explore during RL training.
- Added logic in `manipulator.py` to limit the maximum possible joint angles to allow motion within a predefined joint position range. The limits are specified in the yaml config for each robot. Checkout the so100.yaml.
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-02-06 16:29:37 +01:00
Michel Aractingi
7fcf638c0d
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 >
2024-12-17 02:41:31 +07:00
Remi
07e8716315
Add FeetechMotorsBus, SO-100, Moss-v1 ( #419 )
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Co-authored-by: jess-moss <jess.moss@huggingface.co >
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2024-10-25 11:23:55 +02:00
Simon Alibert
1a343c3591
Add support for Stretch (hello-robot) ( #409 )
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Co-authored-by: Remi <remi.cadene@huggingface.co >
Co-authored-by: Remi Cadene <re.cadene@gmail.com >
2024-10-04 18:56:42 +02:00
Remi
9ff829a3a1
Add comments for Aloha ( #417 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2024-09-06 21:07:52 +02:00
Remi
9c9f5cac90
Add IntelRealSenseCamera ( #410 )
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Co-authored-by: Simon Alibert <simon.alibert@huggingface.co >
Co-authored-by: shantanuparab-tr <shantanu@trossenrobotics.com >
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2024-09-05 23:59:41 +02:00
Remi
429a463aff
Control aloha robot natively ( #316 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2024-09-04 19:28:05 +02:00
Remi
1ce418e4a1
Add koch bimanual ( #385 )
2024-08-28 00:53:31 +02:00
Alexander Soare
9ce98bb93c
Add safety limits on relative action target ( #373 )
2024-08-26 14:30:18 +01:00
Alexander Soare
97086cdcdf
Make gripper_open_degree a config param ( #379 )
2024-08-26 12:28:16 +01:00
Remi
bbe9057225
Improve control robot ; Add process to configure motor indices ( #326 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com >
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com >
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co >
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com >
2024-08-15 18:11:33 +02:00
