From aa3920dd28648a0d77c3d14114e6dcf136d923e0 Mon Sep 17 00:00:00 2001
From: tangger <yt.li2@siat.ac.cn>
Date: Mon, 7 Apr 2025 22:03:32 +0800
Subject: [PATCH] fix

---
 .gitignore                                    |   3 ++-
 .../__pycache__/agilex_robot.cpython-310.pyc  | Bin 8689 -> 8474 bytes
 lerobot_aloha/common/agilex_robot.py          |  22 +++++++++---------
 lerobot_aloha/main.py                         |   2 +-
 lerobot_aloha/test.py                         |   6 ++---
 5 files changed, 17 insertions(+), 16 deletions(-)

diff --git a/.gitignore b/.gitignore
index a587ac0..6441836 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
 cobot_magic/
 librealsense/
-data*/
\ No newline at end of file
+data*/
+outputs/
\ No newline at end of file
diff --git a/lerobot_aloha/common/__pycache__/agilex_robot.cpython-310.pyc b/lerobot_aloha/common/__pycache__/agilex_robot.cpython-310.pyc
index 84750e2179c4db3f4f04842c879dbd4196c0f312..3cb50e6ccc4217bad577ed974564ab5d7deb8765 100644
GIT binary patch
delta 475
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z^)+k@xN5i-GBPrha5pp5@|N&4Gt}_L^Oo>s@h=cq2xMpR#tWu1q_8bw1d0pQa4ir9
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z%78Ku1F$GTm<Q1TQo;x#{D8zQw%q)Z{G#H?W^&eyvXhJC94B9uv$Bi=$;W_*SRfI_
zRZyCglUbaRT2vgx4rLdGf}|rrL_COy0}`5ilkMayn2HJ~zn52GG?^@-pu#9H*;k=X
vpbDfU7eo|;h_=bM6<ir>Co3wtu+{?wq9$i4+Op+=q_`$OP!OMdL{S$2F|2YK

delta 696
zcmZvX&ubGw6vt<hxM?@p&5yM<NzJd)g9W9aClx7L6%`ak1RGkHHM_2fNjA<-k{%`&
zjCk`jAgBnt;vZn`$&=uJ;B{}F1aIQK^u5+1LT7j%-uu2^GjA{bUeP>FQwf}3U;emn
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zBgpIzIHcs?y!{R=p@>_6Na=dqV}4|Gtqqeo9gDYyj>#?NI-C`uLVhcsr**kgzBnH#
zO|SQ;<+9V*ejl-lXaJ%_v(xI!<;uCGHPqHoQ~QI5otFRDfd$FGKD&o$6Y&7Bn3ta`
z8)qY}Ibh7`ant7(cN(dKu<!YeX?&aQbhy>faZBH^O{>XUUXL+(vbsR8$vf4BnRq^?
z(==7%3dNh)NyOEd99Ex|1a9jhIN}vz31P^stRd^Q6LeGFs9ioX0Wp%Yc7b~Gd+quz
D_wTbx

diff --git a/lerobot_aloha/common/agilex_robot.py b/lerobot_aloha/common/agilex_robot.py
index 0dfca78..ce63d76 100644
--- a/lerobot_aloha/common/agilex_robot.py
+++ b/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)
             
diff --git a/lerobot_aloha/main.py b/lerobot_aloha/main.py
index 0dc0290..f7c6391 100644
--- a/lerobot_aloha/main.py
+++ b/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():
     """
diff --git a/lerobot_aloha/test.py b/lerobot_aloha/test.py
index 8eb8748..7aea744 100644
--- a/lerobot_aloha/test.py
+++ b/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)