File size: 5,353 Bytes
b23769d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 | ### Task parameters
DATA_DIR = '/scr2/moojink/data/aloha1/'
TASK_CONFIGS = {
# fold shorts
'fold_shorts':{
'dataset_dir': DATA_DIR + '/fold_shorts',
'num_episodes': 20,
'episode_len': 1000,
'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
},
# fold shirt
'fold_shirt':{
'dataset_dir': DATA_DIR + '/fold_shirt',
'num_episodes': 30,
'episode_len': 1250,
'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
},
# scoop X into bowl
'scoop_raisins_into_bowl':{
'dataset_dir': DATA_DIR + '/scoop_raisins_into_bowl',
'num_episodes': 15,
'episode_len': 900,
'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
},
'scoop_almonds_and_green_M&Ms_into_bowl':{
'dataset_dir': DATA_DIR + '/scoop_almonds_and_green_M&Ms_into_bowl',
'num_episodes': 15,
'episode_len': 900,
'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
},
'scoop_pretzels_into_bowl':{
'dataset_dir': DATA_DIR + '/scoop_pretzels_into_bowl',
'num_episodes': 15,
'episode_len': 900,
'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
},
# put X into pot
'put_red_pepper_into_pot':{
'dataset_dir': DATA_DIR + '/put_red_pepper_into_pot',
'num_episodes': 100,
'episode_len': 400,
'camera_names': ['cam_high', 'cam_low', 'cam_left_wrist', 'cam_right_wrist']
},
'put_yellow_corn_into_pot':{
'dataset_dir': DATA_DIR + '/put_yellow_corn_into_pot',
'num_episodes': 100,
'episode_len': 400,
'camera_names': ['cam_high', 'cam_low', 'cam_left_wrist', 'cam_right_wrist']
},
'put_green_pepper_into_pot':{
'dataset_dir': DATA_DIR + '/put_green_pepper_into_pot',
'num_episodes': 100,
'episode_len': 400,
'camera_names': ['cam_high', 'cam_low', 'cam_left_wrist', 'cam_right_wrist']
},
}
### ALOHA fixed constants
DT = 0.04 # 1 / 0.04 -> 25 Hz
JOINT_NAMES = ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"]
START_ARM_POSE = [0, -0.96, 1.16, 0, -0.3, 0, 0.02239, -0.02239, 0, -0.96, 1.16, 0, -0.3, 0, 0.02239, -0.02239]
# Left finger position limits (qpos[7]), right_finger = -1 * left_finger
MASTER_GRIPPER_POSITION_OPEN = 0.02417
MASTER_GRIPPER_POSITION_CLOSE = 0.01244
PUPPET_GRIPPER_POSITION_OPEN = 0.05800
PUPPET_GRIPPER_POSITION_CLOSE = 0.01844
# Gripper joint limits (qpos[6])
MASTER_GRIPPER_JOINT_OPEN = 0.3083 # For ALOHA 1
MASTER_GRIPPER_JOINT_CLOSE = -0.6842 # For ALOHA 1
# MASTER_GRIPPER_JOINT_OPEN = -0.8 # For ALOHA 2
# MASTER_GRIPPER_JOINT_CLOSE = -1.65 # For ALOHA 2
PUPPET_GRIPPER_JOINT_OPEN = 1.4910
PUPPET_GRIPPER_JOINT_CLOSE = -0.6213
############################ Helper functions ############################
MASTER_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_POSITION_CLOSE) / (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE)
PUPPET_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_POSITION_CLOSE) / (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE)
MASTER_GRIPPER_POSITION_UNNORMALIZE_FN = lambda x: x * (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE) + MASTER_GRIPPER_POSITION_CLOSE
PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN = lambda x: x * (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE) + PUPPET_GRIPPER_POSITION_CLOSE
MASTER2PUPPET_POSITION_FN = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(MASTER_GRIPPER_POSITION_NORMALIZE_FN(x))
MASTER_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE)
PUPPET_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE)
MASTER_GRIPPER_JOINT_UNNORMALIZE_FN = lambda x: x * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE
PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN = lambda x: x * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE
MASTER2PUPPET_JOINT_FN = lambda x: PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN(MASTER_GRIPPER_JOINT_NORMALIZE_FN(x))
MASTER_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE)
PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE)
MASTER_POS2JOINT = lambda x: MASTER_GRIPPER_POSITION_NORMALIZE_FN(x) * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE
MASTER_JOINT2POS = lambda x: MASTER_GRIPPER_POSITION_UNNORMALIZE_FN((x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE))
PUPPET_POS2JOINT = lambda x: PUPPET_GRIPPER_POSITION_NORMALIZE_FN(x) * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE
PUPPET_JOINT2POS = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN((x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE))
MASTER_GRIPPER_JOINT_MID = (MASTER_GRIPPER_JOINT_OPEN + MASTER_GRIPPER_JOINT_CLOSE)/2
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