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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>
This commit is contained in:
Simon Alibert
2025-01-31 13:57:37 +01:00
committed by GitHub
parent 1ee1acf8ad
commit 3c0a209f9f
119 changed files with 5761 additions and 5466 deletions
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10
lerobot/scripts/control_sim_robot.py
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@@ -90,11 +90,12 @@ from lerobot.common.robot_devices.control_utils import (
sanity_check_dataset_robot_compatibility,
stop_recording,
)
from lerobot.common.robot_devices.robots.factory import make_robot
from lerobot.common.robot_devices.robots.utils import Robot
from lerobot.common.robot_devices.robots.utils import Robot, make_robot
from lerobot.common.robot_devices.utils import busy_wait
from lerobot.common.utils.utils import init_hydra_config, init_logging, log_say
raise NotImplementedError("This script is currently deactivated")
DEFAULT_FEATURES = {
"next.reward": {
"dtype": "float32",
@@ -227,7 +228,7 @@ def record(
shape = env.observation_space[key].shape
if not key.startswith("observation.image."):
key = "observation.image." + key
features[key] = {"dtype": "video", "names": ["channel", "height", "width"], "shape": shape}
features[key] = {"dtype": "video", "names": ["channels", "height", "width"], "shape": shape}
for key, obs_key in state_keys_dict.items():
features[key] = {
@@ -504,7 +505,7 @@ if __name__ == "__main__":
# make gym env
env_cfg = init_hydra_config(env_config_path)
importlib.import_module(f"gym_{env_cfg.env.name}")
importlib.import_module(f"gym_{env_cfg.env.type}")
def env_constructor():
return gym.make(env_cfg.env.handle, disable_env_checker=True, **env_cfg.env.gym)
@@ -515,6 +516,7 @@ if __name__ == "__main__":
if control_mode in ["teleoperate", "record"]:
# make robot
robot_overrides = ["~cameras", "~follower_arms"]
# TODO(rcadene): remove
robot_cfg = init_hydra_config(robot_path, robot_overrides)
robot = make_robot(robot_cfg)
robot.connect()