Merge pull request #11 from wuphilipp/fixes

Bugfixes.

.pre-commit-config.yaml

@@ -2,26 +2,26 @@ repos:
 
 # remove unused python imports
 -   repo: https://github.com/myint/autoflake.git
-    rev: v2.1.1
+    rev: v2.3.1
     hooks:
     -   id: autoflake
         args: ["--in-place", "--remove-all-unused-imports", "--ignore-init-module-imports"]
 
 # sort imports
 -   repo: https://github.com/timothycrosley/isort
-    rev: 5.12.0
+    rev: 5.13.2
     hooks:
     -   id: isort
 
 # code format according to black
 -   repo: https://github.com/ambv/black
-    rev: 23.3.0
+    rev: 24.3.0
     hooks:
     -   id: black
 
 # check for python styling with flake8
 -   repo: https://github.com/PyCQA/flake8
-    rev: 6.0.0
+    rev: 7.0.0
     hooks:
     -   id: flake8
         additional_dependencies: [
@@ -33,6 +33,6 @@ repos:
 
 # cleanup notebooks
 -   repo: https://github.com/kynan/nbstripout
-    rev: 0.6.1
+    rev: 0.7.1
     hooks:
     -   id: nbstripout

README.md

@@ -31,7 +31,7 @@ docker build . -t gello:latest
 
 We have provided an entry point into the docker container
 ```
-python experiments/launch.py
+python scripts/launch.py
 ```
 
 # GELLO configuration setup (PLEASE READ)

gello/dm_control_tasks/arms/manipulator.py

@@ -1,4 +1,5 @@
 """Manipulator composer class."""
+
 import abc
 from pathlib import Path
 from typing import Dict, List, Optional, Tuple, Union
@@ -225,5 +226,5 @@ class ArmObservables(composer.Observables):
             self.flange_position,
             # self.flange_orientation,
             # self.flange_velocity,
-            self.flange_angular_velocity,
+            # self.flange_angular_velocity,
         ] + self._collect_from_attachments("proprioception")

gello/dm_control_tasks/manipulation/arenas/floors.py

@@ -1,4 +1,5 @@
 """Simple floor arenas."""
+
 from typing import Tuple
 
 import numpy as np

gello/dm_control_tasks/manipulation/tasks/block_play.py

@@ -1,4 +1,5 @@
 """A task where a walker must learn to stand."""
+
 from typing import Optional
 
 import numpy as np

gello/dynamixel/driver.py

@@ -20,7 +20,6 @@ ADDR_TORQUE_ENABLE = 64
 ADDR_GOAL_POSITION = 116
 LEN_GOAL_POSITION = 4
 ADDR_PRESENT_POSITION = 132
-ADDR_PRESENT_POSITION = 140
 LEN_PRESENT_POSITION = 4
 TORQUE_ENABLE = 1
 TORQUE_DISABLE = 0
@@ -237,8 +236,8 @@ class DynamixelDriver(DynamixelDriverProtocol):
         # Return a copy of the joint_angles array to avoid race conditions
         while self._joint_angles is None:
             time.sleep(0.1)
-        with self._lock:
+        # with self._lock:
-            _j = self._joint_angles.copy()
+        _j = self._joint_angles.copy()
         return _j / 2048.0 * np.pi
 
     def close(self):
@@ -257,10 +256,11 @@ def main():
     except FileNotFoundError:
         driver = DynamixelDriver(ids, port="/dev/cu.usbserial-FT7WBMUB")
 
+    # Test setting torque mode
     driver.set_torque_mode(True)
     driver.set_torque_mode(False)
 
-    # Print the joint angles
+    # Test reading the joint angles
     try:
         while True:
             joint_angles = driver.get_joints()
@@ -271,4 +271,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()  # Test the driver

gello/robots/dynamixel.py

@@ -86,11 +86,14 @@ class DynamixelRobot(Robot):
             if gripper_config is not None:
                 current_joints = current_joints[:-1]
                 start_joints = start_joints[:-1]
-            for c_joint, s_joint, joint_offset in zip(
+            for idx, (c_joint, s_joint, joint_offset) in enumerate(
-                current_joints, start_joints, self._joint_offsets
+                zip(current_joints, start_joints, self._joint_offsets)
             ):
                 new_joint_offsets.append(
-                    np.pi * 2 * np.round((s_joint - c_joint) / (2 * np.pi))
+                    np.pi
+                    * 2
+                    * np.round((-s_joint + c_joint) / (2 * np.pi))
+                    * self._joint_signs[idx]
                     + joint_offset
                 )
             if gripper_config is not None: