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AdilZouitine
2025-05-16 17:19:02 +02:00
parent 539dbd18ce
commit 98ad1cbae0
7 changed files with 36 additions and 36 deletions
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4
lerobot/scripts/server/end_effector_control_utils.py
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@@ -720,7 +720,7 @@ def teleoperate_gym_env(env, controller, fps: int = 30):
if __name__ == "__main__":
from lerobot.common.envs.configs import EEActionSpaceConfig, EnvWrapperConfig, HILSerlRobotEnvConfig
from lerobot.common.envs.configs import EEActionSpaceConfig, EnvTransformConfig, HILSerlRobotEnvConfig
from lerobot.common.robot_devices.robots.configs import RobotConfig
from lerobot.common.robot_devices.robots.utils import make_robot_from_config
from lerobot.scripts.server.gym_manipulator import make_robot_env
@@ -781,7 +781,7 @@ if __name__ == "__main__":
elif args.mode in ["keyboard_gym", "gamepad_gym"]:
# Gym environment control modes
cfg = HILSerlRobotEnvConfig(robot=robot_config, wrapper=EnvWrapperConfig())
cfg = HILSerlRobotEnvConfig(robot=robot_config, wrapper=EnvTransformConfig())
cfg.wrapper.ee_action_space_params = EEActionSpaceConfig(
x_step_size=0.03, y_step_size=0.03, z_step_size=0.03, bounds=bounds
)