perf: update gello offsets

config/gello_config.yaml

@@ -4,4 +4,16 @@ usb-FTDI_USB__-__Serial_Converter_FTA7NPA1-if00-port0:
   joint_signs: [1, 1, 1, 1, 1, -1, 1]
   gripper: true
   best_offsets: [6.283, 4.712, 3.142, 3.142, 3.142, 3.142, 4.712]
-  gripper_range_rad: [2.77856, 3.50931]
+  gripper_range_rad: [2.77856, 3.50931]
+
+
+usb-FTDI_USB__-__Serial_Converter_FTA7NOIC-if00-port0:
+  side: "sample-config"
+  num_joints: 7
+  joint_signs: [1, -1, -1, -1, 1, 1, 1]
+  
+  gripper: true
+  # best_offsets: [6.283, 0.0, 3.142, 17.142, 4.8, 7.72, 4.112]
+  # best_offsets: [6.283, 0.000, 0.000, 4.712, 3.142, 1.571] # 4.712]
+  best_offsets: [6.283, 0.000, 3.142, 4.712, 3.142, 3.142, 4.102]
+  gripper_range_rad: [2.77856, 3.50931]

franka_gello_state_publisher/get_gello_offsets.py

@@ -0,0 +1,98 @@
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Tuple
+
+import numpy as np
+import tyro
+
+from franka_gello_state_publisher.driver import DynamixelDriver
+
+MENAGERIE_ROOT: Path = Path(__file__).parent / "third_party" / "mujoco_menagerie"
+
+
+@dataclass
+class Args:
+    port: str = "/dev/ttyUSB0"
+    """The port that GELLO is connected to."""
+
+    start_joints: Tuple[float, ...] = (0, 0, 0, 0, 0, 0)
+    """The joint angles that the GELLO is placed in at (in radians)."""
+
+    joint_signs: Tuple[float, ...] = (1, 1, -1, 1, 1, 1)
+    """The joint angles that the GELLO is placed in at (in radians)."""
+
+    gripper: bool = True
+    """Whether or not the gripper is attached."""
+
+    def __post_init__(self):
+        assert len(self.joint_signs) == len(self.start_joints)
+        for idx, j in enumerate(self.joint_signs):
+            assert (
+                j == -1 or j == 1
+            ), f"Joint idx: {idx} should be -1 or 1, but got {j}."
+
+    @property
+    def num_robot_joints(self) -> int:
+        return len(self.start_joints)
+
+    @property
+    def num_joints(self) -> int:
+        extra_joints = 1 if self.gripper else 0
+        return self.num_robot_joints + extra_joints
+
+
+def get_config(args: Args) -> None:
+    joint_ids = list(range(1, args.num_joints))
+    driver = DynamixelDriver(joint_ids, port=args.port, baudrate=2000000)
+
+    # assume that the joint state shouold be args.start_joints
+    # find the offset, which is a multiple of np.pi/2 that minimizes the error between the current joint state and args.start_joints
+    # this is done by brute force, we seach in a range of +/- 8pi
+
+    def get_error(offset: float, index: int, joint_state: np.ndarray) -> float:
+        joint_sign_i = args.joint_signs[index]
+        joint_i = joint_sign_i * (joint_state[index] - offset)
+        start_i = args.start_joints[index]
+        return np.abs(joint_i - start_i)
+
+    for _ in range(10):
+        driver.get_joints()  # warmup
+
+    for _ in range(1):
+        best_offsets = []
+        curr_joints = driver.get_joints()
+        for i in range(args.num_robot_joints):
+            best_offset = 0
+            best_error = 1e6
+            for offset in np.linspace(
+                -8 * np.pi, 8 * np.pi, 8 * 4 + 1
+            ):  # intervals of pi/2
+                error = get_error(offset, i, curr_joints)
+                if error < best_error:
+                    best_error = error
+                    best_offset = offset
+            best_offsets.append(best_offset)
+        print()
+        print("best offsets               : ", [f"{x:.3f}" for x in best_offsets])
+        print(
+            "best offsets function of pi: ["
+            + ", ".join([f"{int(np.round(x/(np.pi/2)))}*np.pi/2" for x in best_offsets])
+            + " ]",
+        )
+        if args.gripper:
+            print(
+                "gripper open (degrees)       ",
+                np.rad2deg(driver.get_joints()[-1]) - 0.2,
+            )
+            print(
+                "gripper close (degrees)      ",
+                np.rad2deg(driver.get_joints()[-1]) - 42,
+            )
+
+
+def main(args: Args) -> None:
+    get_config(args)
+
+
+if __name__ == "__main__":
+    main(tyro.cli(Args))

launch/main.launch.py

@@ -5,17 +5,18 @@ from launch.substitutions import LaunchConfiguration
 
 
 def generate_launch_description():
-    args = []
-    args.append(
-        DeclareLaunchArgument(name="com_port", default_value=None, description="Default COM port")
-    )
+    args = [
+        DeclareLaunchArgument(name="com_port", default_value=None, description="Default COM port"),
+        DeclareLaunchArgument(name="use_sim_time", default_value="true", description=""),
+    ]
+
     nodes = [
         Node(
             package="franka_gello_state_publisher",
             executable="gello_publisher",
             name="gello_publisher",
             output="screen",
-            parameters=[{"com_port": LaunchConfiguration("com_port")}],
+            parameters=[{"com_port": LaunchConfiguration("com_port")}, {"use_sim_time": LaunchConfiguration("use_sim_time")}],
         ),
     ]