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11 Commits

Author SHA1 Message Date
Michel Aractingi
fe2ff516a8 Added Gripper quantization wrapper and grasp penalty 
removed complementary info from buffer and learner server
removed get_gripper_action function
added gripper parameters to `common/envs/configs.py`
 2025-04-01 11:08:15 +02:00
pre-commit-ci[bot]
7983baf4fc [pre-commit.ci] auto fixes from pre-commit.com hooks 
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 2025-03-31 16:10:01 +00:00
s1lent4gnt
2c1e5fa28b Add get_gripper_action method to GamepadController 2025-03-31 17:40:00 +02:00
pre-commit-ci[bot]
c05e4835d0 [pre-commit.ci] auto fixes from pre-commit.com hooks 
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 2025-03-28 17:20:39 +00:00
Michel Aractingi
808cf63221 Added support for controlling the gripper with the pygame interface of gamepad 
Minor modifications in gym_manipulator to quantize the gripper actions
clamped the observations after F.resize in ConvertToLeRobotObservation wrapper due to a bug in F.resize, images were returned exceeding the maximum value of 1.0
 2025-03-28 17:18:48 +00:00
Michel Aractingi
02b9ea9446 Added gripper control mechanism to gym_manipulator 
Moved HilSerl env config to configs/env/configs.py
fixes in actor_server and modeling_sac and configuration_sac
added the possibility of ignoring missing keys in env_cfg in get_features_from_env_config function
 2025-03-28 17:18:48 +00:00
Michel Aractingi
d0b7690bc0 Change HILSerlRobotEnvConfig to inherit from EnvConfig 
Added support for hil_serl classifier to be trained with train.py
run classifier training by python lerobot/scripts/train.py --policy.type=hilserl_classifier
fixes in find_joint_limits, control_robot, end_effector_control_utils
 2025-03-28 17:18:48 +00:00
Michel Aractingi
b7b6d8102f Change config logic in: 
- gym_manipulator
- find_joint_limits
- end_effector_utils
 2025-03-28 17:18:48 +00:00
pre-commit-ci[bot]
7c05755823 [pre-commit.ci] auto fixes from pre-commit.com hooks 
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 2025-03-28 17:18:48 +00:00
pre-commit-ci[bot]
8e6d5f504c [pre-commit.ci] auto fixes from pre-commit.com hooks 
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 2025-03-28 17:18:48 +00:00
Michel Aractingi
b82faf7d8c Add end effector action space to hil-serl (#861) 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-03-28 17:18:48 +00:00