72 lines
3.2 KiB
Python
Executable File
72 lines
3.2 KiB
Python
Executable File
# Ignore lint errors because this file is mostly copied from ACT (https://github.com/tonyzhaozh/act).
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# ruff: noqa
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### Task parameters
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### ALOHA fixed constants
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DT = 0.001
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JOINT_NAMES = ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"]
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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]
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# Left finger position limits (qpos[7]), right_finger = -1 * left_finger
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MASTER_GRIPPER_POSITION_OPEN = 0.02417
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MASTER_GRIPPER_POSITION_CLOSE = 0.01244
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PUPPET_GRIPPER_POSITION_OPEN = 0.05800
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PUPPET_GRIPPER_POSITION_CLOSE = 0.01844
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# Gripper joint limits (qpos[6])
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MASTER_GRIPPER_JOINT_OPEN = 0.3083
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MASTER_GRIPPER_JOINT_CLOSE = -0.6842
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PUPPET_GRIPPER_JOINT_OPEN = 1.4910
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PUPPET_GRIPPER_JOINT_CLOSE = -0.6213
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############################ Helper functions ############################
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MASTER_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_POSITION_CLOSE) / (
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MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE
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)
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PUPPET_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_POSITION_CLOSE) / (
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PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE
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)
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MASTER_GRIPPER_POSITION_UNNORMALIZE_FN = (
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lambda x: x * (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE) + MASTER_GRIPPER_POSITION_CLOSE
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)
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PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN = (
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lambda x: x * (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE) + PUPPET_GRIPPER_POSITION_CLOSE
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)
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MASTER2PUPPET_POSITION_FN = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(MASTER_GRIPPER_POSITION_NORMALIZE_FN(x))
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MASTER_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_JOINT_CLOSE) / (
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MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE
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)
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PUPPET_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_JOINT_CLOSE) / (
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PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE
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)
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MASTER_GRIPPER_JOINT_UNNORMALIZE_FN = (
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lambda x: x * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE
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)
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PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN = (
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lambda x: x * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE
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)
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MASTER2PUPPET_JOINT_FN = lambda x: PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN(MASTER_GRIPPER_JOINT_NORMALIZE_FN(x))
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MASTER_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE)
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PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE)
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MASTER_POS2JOINT = (
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lambda x: MASTER_GRIPPER_POSITION_NORMALIZE_FN(x) * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE)
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+ MASTER_GRIPPER_JOINT_CLOSE
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)
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MASTER_JOINT2POS = lambda x: MASTER_GRIPPER_POSITION_UNNORMALIZE_FN(
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(x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE)
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)
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PUPPET_POS2JOINT = (
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lambda x: PUPPET_GRIPPER_POSITION_NORMALIZE_FN(x) * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE)
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+ PUPPET_GRIPPER_JOINT_CLOSE
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)
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PUPPET_JOINT2POS = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(
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(x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE)
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)
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MASTER_GRIPPER_JOINT_MID = (MASTER_GRIPPER_JOINT_OPEN + MASTER_GRIPPER_JOINT_CLOSE) / 2
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