tangger/lerobot_piper
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integrate agilex piper arm into lerobot

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This commit is contained in:
brucecai-2001
2025-03-02 15:14:04 +08:00
parent 800c4a847f
commit 7dd20d6ed9
16 changed files with 1263 additions and 343 deletions
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4
lerobot/common/robot_devices/control_utils.py
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@@ -43,7 +43,7 @@ def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, f
log_dt("dt", dt_s)
# TODO(aliberts): move robot-specific logs logic in robot.print_logs()
if not robot.robot_type.startswith("stretch"):
if not robot.robot_type.startswith(("stretch", "piper")):
for name in robot.leader_arms:
key = f"read_leader_{name}_pos_dt_s"
if key in robot.logs:
@@ -301,7 +301,7 @@ def stop_recording(robot, listener, display_cameras):
def sanity_check_dataset_name(repo_id, policy_cfg):
_, dataset_name = repo_id.split("/")
dataset_name = repo_id.split("/")[-1]
# either repo_id doesnt start with "eval_" and there is no policy
# or repo_id starts with "eval_" and there is a policy