fix

.gitignore

@@ -1,3 +1,4 @@
 cobot_magic/
 librealsense/
-data*/
+data*/
+outputs/

lerobot_aloha/common/agilex_robot.py

@@ -366,18 +366,18 @@ class AgilexRobot(Robot):
             from_idx = to_idx
             
             # Apply safety checks if configured
-            if 'max_relative_target' in self.config:
-                # Get current position from the queue
-                if len(self.sync_arm_queues[arm_name]) > 0:
-                    current_state = self.sync_arm_queues[arm_name][-1]
-                    current_pos = np.array(current_state.position)
+            # if 'max_relative_target' in self.config:
+            #     # Get current position from the queue
+            #     if len(self.sync_arm_queues[arm_name]) > 0:
+            #         current_state = self.sync_arm_queues[arm_name][-1]
+            #         current_pos = np.array(current_state.position)
                     
-                    # Clip the action to stay within max relative target
-                    max_delta = self.config['max_relative_target']
-                    clipped_action = np.clip(arm_action, 
-                                            current_pos - max_delta, 
-                                            current_pos + max_delta)
-                    arm_action = clipped_action
+            #         # Clip the action to stay within max relative target
+            #         max_delta = self.config['max_relative_target']
+            #         clipped_action = np.clip(arm_action, 
+            #                                 current_pos - max_delta, 
+            #                                 current_pos + max_delta)
+            #         arm_action = clipped_action
             
             action_sent.append(arm_action)
             

lerobot_aloha/main.py

@@ -2,7 +2,7 @@ import argparse
 from common.rosrobot_factory import RobotFactory
 from common.utils.data_utils import record
 from common.utils.replay_utils import replay
-
+import cv2
 
 def get_arguments():
     """

lerobot_aloha/test.py

@@ -2,7 +2,7 @@ from lerobot.common.policies.act.modeling_act import ACTPolicy
 from lerobot.common.robot_devices.utils import busy_wait
 import time
 import argparse
-from agilex_robot import AgilexRobot
+from common.agilex_robot import AgilexRobot
 import torch
 
 def get_arguments():
@@ -29,12 +29,12 @@ def get_arguments():
 
 
 cfg = get_arguments()
-robot = AgilexRobot(config_file="/home/ubuntu/LYT/aloha_lerobot/collect_data/agilex.yaml", args=cfg)
+robot = AgilexRobot(config_file="/home/ubuntu/LYT/lerobot_aloha/lerobot_aloha/configs/agilex.yaml", args=cfg)
 inference_time_s = 360
 fps = 30
 device = "cuda"  # TODO: On Mac, use "mps" or "cpu"
 
-ckpt_path = "/home/ubuntu/LYT/lerobot/outputs/train/act_move_tube_on_scale/checkpoints/last/pretrained_model"
+ckpt_path = "/home/ubuntu/LYT/lerobot_aloha/outputs/train/act_move_tube_on_scale/checkpoints/last/pretrained_model"
 policy = ACTPolicy.from_pretrained(ckpt_path)
 policy.to(device)