[Port HIl-Serl] Refactor gym-manipulator (#1034)

lerobot/common/envs/configs.py

@@ -182,15 +182,15 @@ class EEActionSpaceConfig:
     y_step_size: float
     z_step_size: float
     bounds: Dict[str, Any]  # Contains 'min' and 'max' keys with position bounds
-    use_gamepad: bool = False
+    control_mode: str = "gamepad"
 
 
 @dataclass
 class EnvWrapperConfig:
     """Configuration for environment wrappers."""
 
+    ee_action_space_params: EEActionSpaceConfig = field(default_factory=EEActionSpaceConfig)
     display_cameras: bool = False
-    use_relative_joint_positions: bool = True
     add_joint_velocity_to_observation: bool = False
     add_current_to_observation: bool = False
     add_ee_pose_to_observation: bool = False
@@ -199,13 +199,10 @@ class EnvWrapperConfig:
     control_time_s: float = 20.0
     fixed_reset_joint_positions: Optional[Any] = None
     reset_time_s: float = 5.0
-    joint_masking_action_space: Optional[Any] = None
-    ee_action_space_params: Optional[EEActionSpaceConfig] = None
     use_gripper: bool = False
     gripper_quantization_threshold: float | None = 0.8
     gripper_penalty: float = 0.0
     gripper_penalty_in_reward: bool = False
-    open_gripper_on_reset: bool = False
 
 
 @EnvConfig.register_subclass(name="gym_manipulator")

lerobot/common/robot_devices/control_utils.py

@@ -308,13 +308,13 @@ 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")
+def reset_follower_position(robot_arm, target_position):
+    current_position = robot_arm.read("Present_Position")
     trajectory = torch.from_numpy(
         np.linspace(current_position, target_position, 50)
     )  # NOTE: 30 is just an arbitrary number
     for pose in trajectory:
-        robot.send_action(pose)
+        robot_arm.write("Goal_Position", pose)
         busy_wait(0.015)
 
 

lerobot/common/robot_devices/robots/configs.py

@@ -443,7 +443,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
     leader_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760433331",
+                port="/dev/tty.usbmodem58760431091",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -460,7 +460,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
     follower_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431631",
+                port="/dev/tty.usbmodem585A0076891",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],