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统一存储的state和action为相同的度量，小数度量
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tangger
2025-05-07 20:10:08 +08:00
parent 676ab74521
commit 5bf422ca6f
3 changed files with 9 additions and 12 deletions
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16
lerobot/common/robot_devices/motors/piper.py
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@@ -160,17 +160,17 @@ class PiperMotorsBus:
gripper_state = gripper_msg.gripper_state
return {
"joint_1": joint_state.joint_1,
"joint_2": joint_state.joint_2,
"joint_3": joint_state.joint_3,
"joint_4": joint_state.joint_4,
"joint_5": joint_state.joint_5,
"joint_6": joint_state.joint_6,
"gripper": gripper_state.grippers_angle
"joint_1": joint_state.joint_1 / self.joint_factor,
"joint_2": joint_state.joint_2 / self.joint_factor,
"joint_3": joint_state.joint_3 / self.joint_factor,
"joint_4": joint_state.joint_4 / self.joint_factor,
"joint_5": joint_state.joint_5 / self.joint_factor,
"joint_6": joint_state.joint_6 / self.joint_factor,
"gripper": gripper_state.grippers_angle / 1000 / 1000
}
def safe_disconnect(self):
"""
Move to safe disconnect position
"""
self.write(target_joint=self.safe_disable_position)
self.write("joints", target_joint=self.safe_disable_position)

4
lerobot/common/robot_devices/robots/piper.py
View File

@@ -184,8 +184,6 @@ class PiperRobot:
return obs_dict, action_dict
def send_action(self, action: torch.Tensor) -> torch.Tensor:
"""Write the predicted actions from policy to the motors"""
if not self.is_connected:
@@ -199,8 +197,6 @@ class PiperRobot:
return action
def capture_observation(self) -> dict:
"""capture current images and joint positions"""
if not self.is_connected: