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added missing reset functions to kinematics

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Michel Aractingi
2025-08-12 11:19:56 +02:00
parent 62f716dbc9
commit f65e74af9c
1 changed files with 7 additions and 0 deletions
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src/lerobot/robots/so100_follower/robot_kinematic_processor.py
+7
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@@ -140,6 +140,11 @@ class EEReferenceAndDelta:
def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]: def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
return features return features
def reset(self):
self._prev_enabled = False
self.reference_ee_pose = None
self._command_when_disabled = None
@ProcessorStepRegistry.register("ee_bounds_and_safety") @ProcessorStepRegistry.register("ee_bounds_and_safety")
@dataclass @dataclass
@@ -162,6 +167,7 @@ class EEBoundsAndSafety(ActionProcessor):
max_ee_step_m: float = 0.05 max_ee_step_m: float = 0.05
max_ee_twist_step_rad: float = 0.20 max_ee_twist_step_rad: float = 0.20
_last_pos: np.ndarray | None = field(default=None, init=False, repr=False) _last_pos: np.ndarray | None = field(default=None, init=False, repr=False)
_last_twist: np.ndarray | None = field(default=None, init=False, repr=False)
def action(self, act: dict | None) -> dict: def action(self, act: dict | None) -> dict:
x = act.pop("action.ee.x", None) x = act.pop("action.ee.x", None)
@@ -205,6 +211,7 @@ class EEBoundsAndSafety(ActionProcessor):
def reset(self): def reset(self):
self._last_pos = None self._last_pos = None
self._last_twist = None
def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]: def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
# Because this is last step we specify the dataset features of this step that we want to be stored in the dataset # Because this is last step we specify the dataset features of this step that we want to be stored in the dataset