Michel Aractingi
02b9ea9446
Added gripper control mechanism to gym_manipulator
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Moved HilSerl env config to configs/env/configs.py
fixes in actor_server and modeling_sac and configuration_sac
added the possibility of ignoring missing keys in env_cfg in get_features_from_env_config function
2025-03-28 17:18:48 +00:00
Michel Aractingi
b7b6d8102f
Change config logic in:
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- gym_manipulator
- find_joint_limits
- end_effector_utils
2025-03-28 17:18:48 +00:00
pre-commit-ci[bot]
7c05755823
[pre-commit.ci] auto fixes from pre-commit.com hooks
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2025-03-28 17:18:48 +00:00
pre-commit-ci[bot]
8e6d5f504c
[pre-commit.ci] auto fixes from pre-commit.com hooks
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2025-03-28 17:18:48 +00:00
Michel Aractingi
729b4ed697
- 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 >
2025-03-28 17:18:24 +00:00
AdilZouitine
83dc00683c
Stable version of rlpd + drq
2025-03-28 17:18:24 +00:00
Simon Alibert
3c0a209f9f
Simplify configs ( #550 )
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Co-authored-by: Remi <remi.cadene@huggingface.co >
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com >
2025-01-31 13:57:37 +01:00
Dana Aubakirova
f431a08efa
small fix: assertion error message in envs/utils.py ( #426 )
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Co-authored-by: Remi <re.cadene@gmail.com >
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com >
Co-authored-by: Remi <remi.cadene@huggingface.co >
2024-09-12 18:03:34 +02:00
Alexander Soare
cc2f6e7404
Train diffusion pusht_keypoints ( #307 )
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Co-authored-by: Remi <re.cadene@gmail.com >
2024-07-09 12:35:50 +01:00
Simon Alibert
f52f4f2cd2
Add copyrights ( #157 )
2024-05-15 12:13:09 +02:00
Alexander Soare
bccee745c3
Refactor eval.py ( #127 )
2024-05-03 17:33:16 +01:00
Remi
e760e4cd63
Move normalization to policy for act and diffusion ( #90 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com >
2024-04-25 11:47:38 +02:00
Remi
1030ea0070
Loads episode_data_index and stats during dataset __init__ ( #85 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com >
2024-04-23 14:13:25 +02:00
Cadene
e09d25267e
fix online training
2024-04-16 17:20:53 +00:00
Remi
9229226522
Update lerobot/common/envs/utils.py
2024-04-11 10:35:17 +02:00
Cadene
44656d2706
test_envs are passing
2024-04-05 23:27:12 +00:00
Cadene
26602269cd
test_envs.py are passing, remove simxarm and pusht directories
2024-04-05 16:21:07 +00:00
