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Add end effector action space to hil-serl (#861)

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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
This commit is contained in:
Michel Aractingi
2025-03-17 14:22:33 +01:00
committed by AdilZouitine
parent 7960f2c3c1
commit b82faf7d8c
13 changed files with 2138 additions and 139 deletions
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lerobot/common/robot_devices/control_utils.py
+1 -1
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@@ -334,7 +334,7 @@ def reset_environment(robot, events, reset_time_s, fps):
def reset_follower_position(robot: Robot, target_position):
current_position = robot.follower_arms["main"].read("Present_Position")
trajectory = torch.from_numpy(
np.linspace(current_position, target_position, 30)
np.linspace(current_position, target_position, 50)
) # NOTE: 30 is just an aribtrary number
for pose in trajectory:
robot.send_action(pose)