tangger/lerobot_piper
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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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1
README.md
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@@ -125,3 +125,4 @@ python lerobot/scripts/control_robot.py \
--control.policy.path=outputs/train/act_koch_pick_place_lego/checkpoints/latest/pretrained_model --control.policy.path=outputs/train/act_koch_pick_place_lego/checkpoints/latest/pretrained_model
``` ```
export LD_LIBRARY_PATH=/home/ubuntu/miniconda3/envs/piper_lerobot/lib:$LD_LIBRARY_PATH

16
lerobot/common/robot_devices/motors/piper.py
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@@ -160,17 +160,17 @@ class PiperMotorsBus:
gripper_state = gripper_msg.gripper_state gripper_state = gripper_msg.gripper_state
return { return {
"joint_1": joint_state.joint_1, "joint_1": joint_state.joint_1 / self.joint_factor,
"joint_2": joint_state.joint_2, "joint_2": joint_state.joint_2 / self.joint_factor,
"joint_3": joint_state.joint_3, "joint_3": joint_state.joint_3 / self.joint_factor,
"joint_4": joint_state.joint_4, "joint_4": joint_state.joint_4 / self.joint_factor,
"joint_5": joint_state.joint_5, "joint_5": joint_state.joint_5 / self.joint_factor,
"joint_6": joint_state.joint_6, "joint_6": joint_state.joint_6 / self.joint_factor,
"gripper": gripper_state.grippers_angle "gripper": gripper_state.grippers_angle / 1000 / 1000
} }
def safe_disconnect(self): def safe_disconnect(self):
""" """
Move to safe disconnect position 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
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@@ -184,8 +184,6 @@ class PiperRobot:
return obs_dict, action_dict return obs_dict, action_dict
def send_action(self, action: torch.Tensor) -> torch.Tensor: def send_action(self, action: torch.Tensor) -> torch.Tensor:
"""Write the predicted actions from policy to the motors""" """Write the predicted actions from policy to the motors"""
if not self.is_connected: if not self.is_connected:
@@ -199,8 +197,6 @@ class PiperRobot:
return action return action
def capture_observation(self) -> dict: def capture_observation(self) -> dict:
"""capture current images and joint positions""" """capture current images and joint positions"""
if not self.is_connected: if not self.is_connected: