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Add missing RL config options: add_ee_pose_to_observation and gripper_penalty_in_reward (#2873)

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* fix(RL) add missing config arguments

* respond to copilot review

* fix(revert penalty in reward): reverting gripper penalty addition in reward. This is already done in compute_loss_discrete_critic.

---------

Co-authored-by: CarolinePascal <caroline8.pascal@gmail.com>
This commit is contained in:
Michel Aractingi
2026-02-02 22:14:03 +01:00
committed by GitHub
parent 9c24a09665
commit 14a15f90e7
3 changed files with 23 additions and 12 deletions
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src/lerobot/rl/gym_manipulator.py
+10 -2
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@@ -412,7 +412,10 @@ def make_processors(
if cfg.processor.observation.add_current_to_observation:
env_pipeline_steps.append(MotorCurrentProcessorStep(robot=env.robot))
if kinematics_solver is not None:
add_ee_pose = (
cfg.processor.observation is not None and cfg.processor.observation.add_ee_pose_to_observation
)
if kinematics_solver is not None and add_ee_pose:
env_pipeline_steps.append(
ForwardKinematicsJointsToEEObservation(
kinematics=kinematics_solver,
@@ -435,7 +438,12 @@ def make_processors(
)
# Add gripper penalty processor if gripper config exists and enabled
if cfg.processor.gripper is not None and cfg.processor.gripper.use_gripper:
# Only add if max_gripper_pos is explicitly configured (required for normalization)
if (
cfg.processor.gripper is not None
and cfg.processor.gripper.use_gripper
and cfg.processor.max_gripper_pos is not None
):
env_pipeline_steps.append(
GripperPenaltyProcessorStep(
penalty=cfg.processor.gripper.gripper_penalty,