Bugfixes.
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e6a660da6d
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7001842e7a
7 changed files with 18 additions and 17 deletions
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@ -106,7 +106,8 @@ def main(args):
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if args.agent == "gello":
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if args.agent == "gello":
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gello_port = args.gello_port
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gello_port = args.gello_port
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if gello_port is None:
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if gello_port is None:
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usb_ports = glob.glob("/dev/serial/by-id/*")
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# usb_ports = glob.glob("/dev/serial/by-id/*")
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usb_ports = glob.glob("/dev/cu.usbserial*")
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print(f"Found {len(usb_ports)} ports")
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print(f"Found {len(usb_ports)} ports")
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if len(usb_ports) > 0:
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if len(usb_ports) > 0:
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gello_port = usb_ports[0]
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gello_port = usb_ports[0]
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@ -90,7 +90,7 @@ PORT_CONFIG_MAP: Dict[str, DynamixelRobotConfig] = {
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gripper_config=(7, 20, -22),
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gripper_config=(7, 20, -22),
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),
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),
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# Right UR
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# Right UR
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"/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT7WBG6A-if00-port0": DynamixelRobotConfig(
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"/dev/cu.usbserial-FT7WBG6A": DynamixelRobotConfig(
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joint_ids=(1, 2, 3, 4, 5, 6),
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joint_ids=(1, 2, 3, 4, 5, 6),
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joint_offsets=(
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joint_offsets=(
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np.pi + 0 * np.pi,
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np.pi + 0 * np.pi,
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@ -225,5 +225,5 @@ class ArmObservables(composer.Observables):
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self.flange_position,
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self.flange_position,
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# self.flange_orientation,
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# self.flange_orientation,
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# self.flange_velocity,
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# self.flange_velocity,
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self.flange_angular_velocity,
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# self.flange_angular_velocity,
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] + self._collect_from_attachments("proprioception")
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] + self._collect_from_attachments("proprioception")
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@ -237,8 +237,8 @@ class DynamixelDriver(DynamixelDriverProtocol):
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# Return a copy of the joint_angles array to avoid race conditions
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# Return a copy of the joint_angles array to avoid race conditions
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while self._joint_angles is None:
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while self._joint_angles is None:
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time.sleep(0.1)
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time.sleep(0.1)
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with self._lock:
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# with self._lock:
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_j = self._joint_angles.copy()
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_j = self._joint_angles.copy()
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return _j / 2048.0 * np.pi
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return _j / 2048.0 * np.pi
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def close(self):
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def close(self):
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@ -86,11 +86,11 @@ class DynamixelRobot(Robot):
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if gripper_config is not None:
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if gripper_config is not None:
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current_joints = current_joints[:-1]
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current_joints = current_joints[:-1]
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start_joints = start_joints[:-1]
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start_joints = start_joints[:-1]
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for c_joint, s_joint, joint_offset in zip(
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for idx, (c_joint, s_joint, joint_offset) in enumerate(zip(
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current_joints, start_joints, self._joint_offsets
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current_joints, start_joints, self._joint_offsets
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):
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)):
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new_joint_offsets.append(
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new_joint_offsets.append(
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np.pi * 2 * np.round((s_joint - c_joint) / (2 * np.pi))
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np.pi * 2 * np.round((-s_joint + c_joint) / (2 * np.pi)) * self._joint_signs[idx]
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+ joint_offset
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+ joint_offset
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)
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)
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if gripper_config is not None:
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if gripper_config is not None:
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@ -5,7 +5,7 @@ pygame
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pyspacemouse
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pyspacemouse
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PyQt6
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PyQt6
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pyquaternion
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pyquaternion
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pyrealsense2
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# pyrealsense2
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pure-python-adb
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pure-python-adb
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quaternion
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quaternion
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tyro
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tyro
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@ -18,15 +18,15 @@ class Args:
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config = DynamixelRobotConfig(
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config = DynamixelRobotConfig(
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joint_ids=(1, 2, 3, 4, 5, 6),
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joint_ids=(1, 2, 3, 4, 5, 6),
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joint_offsets=(
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joint_offsets=(
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-np.pi / 2,
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np.pi + 0 * np.pi,
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1 * np.pi / 2 + np.pi,
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2 * np.pi + np.pi / 2,
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np.pi / 2 + 0 * np.pi,
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2 * np.pi + np.pi / 2,
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0 * np.pi + np.pi / 2,
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2 * np.pi + np.pi / 2,
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np.pi - 2 * np.pi / 2,
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1 * np.pi,
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-1 * np.pi / 2 + 2 * np.pi,
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3 * np.pi / 2,
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),
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),
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joint_signs=(1, 1, -1, 1, 1, 1),
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joint_signs=(1, 1, -1, 1, 1, 1),
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gripper_config=(7, 20, -22),
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gripper_config=(7, 286, 248),
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)
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)
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@ -40,7 +40,7 @@ def main(args: Args) -> None:
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action_space = env.action_spec()
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action_space = env.action_spec()
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if args.use_gello:
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if args.use_gello:
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gello = config.make_robot(
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gello = config.make_robot(
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port="/dev/cu.usbserial-FT7WBEIA", start_joints=reset_joints_left
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port="/dev/cu.usbserial-FT7WBG6A", start_joints=reset_joints_left
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)
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)
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def policy(timestep) -> np.ndarray:
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def policy(timestep) -> np.ndarray:
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