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Add maniskill support.

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Co-authored-by: Michel Aractingi <michel.aractingi@gmail.com>
This commit is contained in:
AdilZouitine
2025-02-14 19:53:29 +00:00
parent 7ae368e983
commit 2f3370e42f
6 changed files with 222 additions and 27 deletions
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18
lerobot/scripts/server/actor_server.py
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@@ -251,7 +251,7 @@ def act_with_policy(cfg: DictConfig, robot: Robot, reward_classifier: nn.Module)
sum_reward_episode += float(reward)
# NOTE: We overide the action if the intervention is True, because the action applied is the intervention action
if info["is_intervention"]:
if "is_intervention" in info and info["is_intervention"]:
# TODO: Check the shape
# NOTE: The action space for demonstration before hand is with the full action space
# but sometimes for example we want to deactivate the gripper
@@ -348,10 +348,18 @@ def actor_cli(cfg: dict):
robot = make_robot(cfg=cfg.robot)
server_thread = Thread(target=serve_actor_service, args=(cfg.actor_learner_config.port,), daemon=True)
reward_classifier = get_classifier(
pretrained_path=cfg.env.reward_classifier.pretrained_path,
config_path=cfg.env.reward_classifier.config_path,
)
# HACK: FOR MANISKILL we do not have a reward classifier
# TODO: Remove this once we merge into main
reward_classifier = None
if (
cfg.env.reward_classifier.pretrained_path is not None
and cfg.env.reward_classifier.config_path is not None
):
reward_classifier = get_classifier(
pretrained_path=cfg.env.reward_classifier.pretrained_path,
config_path=cfg.env.reward_classifier.config_path,
)
policy_thread = Thread(
target=act_with_policy,
daemon=True,