admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-13 13:01:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

reducing duration of the handover

Browse Source
This commit is contained in:
Maximellerbach
2026-06-04 17:24:21 +02:00
parent d92b54e87a
commit eb21cd2b26
1 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lerobot/rollout/strategies/legacy.py
+4 -4
View File
@@ -150,17 +150,17 @@ class LegacyStrategy(RolloutStrategy):
current_pos = {k: v for k, v in obs.items() if k.endswith(".pos")} current_pos = {k: v for k, v in obs.items() if k.endswith(".pos")}
if teleop_supports_feedback(teleop): if teleop_supports_feedback(teleop):
logger.info("Smooth handover: moving leader arm to follower position") logger.info("Smooth handover: moving leader arm to follower position")
teleop_smooth_move_to(teleop, current_pos) teleop_smooth_move_to(teleop, current_pos, duration_s=1)
else: else:
logger.info("Smooth handover: sliding follower to teleop position") logger.info("Smooth handover: sliding follower to teleop position")
teleop_action = teleop.get_action() teleop_action = teleop.get_action()
processed = ctx.processors.teleop_action_processor((teleop_action, obs)) processed = ctx.processors.teleop_action_processor((teleop_action, obs))
target = ctx.processors.robot_action_processor((processed, obs)) target = ctx.processors.robot_action_processor((processed, obs))
follower_smooth_move_to(robot, current_pos, target) follower_smooth_move_to(robot, current_pos, target, duration_s=1)
elif self.config.reset_to_initial_position: elif self.config.reset_to_initial_position:
# No teleop: return the robot to its startup position. # No teleop: return the robot to its startup position.
self._return_to_initial_position(hw=ctx.hardware) self._return_to_initial_position(hw=ctx.hardware, duration_s=1)
self._reset_loop( self._reset_loop(
ctx=ctx, ctx=ctx,
@@ -181,7 +181,7 @@ class LegacyStrategy(RolloutStrategy):
# returns to its initial joint positions captured at startup # returns to its initial joint positions captured at startup
if not teleop and self.config.reset_to_initial_position: if not teleop and self.config.reset_to_initial_position:
self._return_to_initial_position(hw=ctx.hardware) self._return_to_initial_position(hw=ctx.hardware, duration_s=1)
continue continue