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fix(rl): clarify discrete gripper action mapping in GripperVelocityToJoint for SO100

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This commit is contained in:
Khalil Meftah
2026-04-26 16:41:55 +02:00
parent cd105f65cb
commit 494f469a2b
1 changed files with 6 additions and 5 deletions
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11
src/lerobot/robots/so_follower/robot_kinematic_processor.py
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@@ -353,7 +353,8 @@ class GripperVelocityToJoint(RobotActionProcessorStep):
speed_factor: A scaling factor to convert the normalized velocity command to a position change. speed_factor: A scaling factor to convert the normalized velocity command to a position change.
clip_min: The minimum allowed gripper joint position. clip_min: The minimum allowed gripper joint position.
clip_max: The maximum allowed gripper joint position. clip_max: The maximum allowed gripper joint position.
discrete_gripper: If True, treat the input action as discrete (0: open, 1: close, 2: stay). discrete_gripper: If True, interpret the input as a discrete class index
{0 = close, 1 = stay, 2 = open}, matching `GamepadTeleop.GripperAction`.
""" """
speed_factor: float = 20.0 speed_factor: float = 20.0
@@ -377,10 +378,10 @@ class GripperVelocityToJoint(RobotActionProcessorStep):
raise ValueError("Joints observation is require for computing robot kinematics") raise ValueError("Joints observation is require for computing robot kinematics")
if self.discrete_gripper: if self.discrete_gripper:
# Discrete gripper actions are in [0, 1, 2] # Map discrete command {0=close, 1=stay, 2=open} -> signed velocity.
# 0: open, 1: close, 2: stay # Negation accounts for SO100 sign (joint position increases on close).
# We need to shift them to [-1, 0, 1] and then scale them to clip_max # 0 -> +clip_max (close), 1 -> 0 (stay), 2 -> -clip_max (open)
gripper_vel = (gripper_vel - 1) * self.clip_max gripper_vel = -(gripper_vel - 1) * self.clip_max
# Compute desired gripper position # Compute desired gripper position
delta = gripper_vel * float(self.speed_factor) delta = gripper_vel * float(self.speed_factor)