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[fix] make var names consistent

main
silencht 10 months ago
parent
c0cc780ba9
commit
13b384f861
3 changed files with 22 additions and 22 deletions
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  1. 32
      teleop/teleop_hand_and_arm.py
  2. 8
      teleop/utils/episode_writer.py
  3. 4
      teleop/utils/rerun_visualizer.py

32
teleop/teleop_hand_and_arm.py
View File

@ -206,24 +206,24 @@ if __name__ == '__main__':
# dex hand or gripper # dex hand or gripper
if args.ee == "dex3" and args.xr_mode == 'hand': if args.ee == "dex3" and args.xr_mode == 'hand':
with dual_hand_data_lock: with dual_hand_data_lock:
left_hand_state = dual_hand_state_array[:7]
right_hand_state = dual_hand_state_array[-7:]
left_ee_state = dual_hand_state_array[:7]
right_ee_state = dual_hand_state_array[-7:]
left_hand_action = dual_hand_action_array[:7] left_hand_action = dual_hand_action_array[:7]
right_hand_action = dual_hand_action_array[-7:] right_hand_action = dual_hand_action_array[-7:]
current_body_state = [] current_body_state = []
current_body_action = [] current_body_action = []
elif args.ee == "gripper" and args.xr_mode == 'hand': elif args.ee == "gripper" and args.xr_mode == 'hand':
with dual_gripper_data_lock: with dual_gripper_data_lock:
left_hand_state = [dual_gripper_state_array[1]]
right_hand_state = [dual_gripper_state_array[0]]
left_ee_state = [dual_gripper_state_array[1]]
right_ee_state = [dual_gripper_state_array[0]]
left_hand_action = [dual_gripper_action_array[1]] left_hand_action = [dual_gripper_action_array[1]]
right_hand_action = [dual_gripper_action_array[0]] right_hand_action = [dual_gripper_action_array[0]]
current_body_state = [] current_body_state = []
current_body_action = [] current_body_action = []
elif args.ee == "gripper" and args.xr_mode == 'controller': elif args.ee == "gripper" and args.xr_mode == 'controller':
with dual_gripper_data_lock: with dual_gripper_data_lock:
left_hand_state = [dual_gripper_state_array[1]]
right_hand_state = [dual_gripper_state_array[0]]
left_ee_state = [dual_gripper_state_array[1]]
right_ee_state = [dual_gripper_state_array[0]]
left_hand_action = [dual_gripper_action_array[1]] left_hand_action = [dual_gripper_action_array[1]]
right_hand_action = [dual_gripper_action_array[0]] right_hand_action = [dual_gripper_action_array[0]]
current_body_state = arm_ctrl.get_current_motor_q().tolist() current_body_state = arm_ctrl.get_current_motor_q().tolist()
@ -232,15 +232,15 @@ if __name__ == '__main__':
-tele_data.tele_state.right_thumbstick_value[0] * 0.3] -tele_data.tele_state.right_thumbstick_value[0] * 0.3]
elif args.ee == "inspire1" and args.xr_mode == 'hand': elif args.ee == "inspire1" and args.xr_mode == 'hand':
with dual_hand_data_lock: with dual_hand_data_lock:
left_hand_state = dual_hand_state_array[:6]
right_hand_state = dual_hand_state_array[-6:]
left_ee_state = dual_hand_state_array[:6]
right_ee_state = dual_hand_state_array[-6:]
left_hand_action = dual_hand_action_array[:6] left_hand_action = dual_hand_action_array[:6]
right_hand_action = dual_hand_action_array[-6:] right_hand_action = dual_hand_action_array[-6:]
current_body_state = [] current_body_state = []
current_body_action = [] current_body_action = []
else: else:
left_hand_state = []
right_hand_state = []
left_ee_state = []
right_ee_state = []
left_hand_action = [] left_hand_action = []
right_hand_action = [] right_hand_action = []
current_body_state = [] current_body_state = []
@ -280,13 +280,13 @@ if __name__ == '__main__':
"qvel": [], "qvel": [],
"torque": [], "torque": [],
}, },
"left_hand": {
"qpos": left_hand_state,
"left_ee": {
"qpos": left_ee_state,
"qvel": [], "qvel": [],
"torque": [], "torque": [],
}, },
"right_hand": {
"qpos": right_hand_state,
"right_ee": {
"qpos": right_ee_state,
"qvel": [], "qvel": [],
"torque": [], "torque": [],
}, },
@ -305,12 +305,12 @@ if __name__ == '__main__':
"qvel": [], "qvel": [],
"torque": [], "torque": [],
}, },
"left_hand": {
"left_ee": {
"qpos": left_hand_action, "qpos": left_hand_action,
"qvel": [], "qvel": [],
"torque": [], "torque": [],
}, },
"right_hand": {
"right_ee": {
"qpos": right_hand_action, "qpos": right_hand_action,
"qvel": [], "qvel": [],
"torque": [], "torque": [],

8
teleop/utils/episode_writer.py
View File

@ -59,15 +59,15 @@ class EpisodeWriter():
"audio": {"sample_rate": 16000, "channels": 1, "format":"PCM", "bits":16}, # PCM_S16 "audio": {"sample_rate": 16000, "channels": 1, "format":"PCM", "bits":16}, # PCM_S16
"joint_names":{ "joint_names":{
"left_arm": ['kLeftShoulderPitch' ,'kLeftShoulderRoll', 'kLeftShoulderYaw', 'kLeftElbow', 'kLeftWristRoll', 'kLeftWristPitch', 'kLeftWristyaw'], "left_arm": ['kLeftShoulderPitch' ,'kLeftShoulderRoll', 'kLeftShoulderYaw', 'kLeftElbow', 'kLeftWristRoll', 'kLeftWristPitch', 'kLeftWristyaw'],
"left_hand": [],
"left_ee": [],
"right_arm": [], "right_arm": [],
"right_hand": [],
"right_ee": [],
"body": [], "body": [],
}, },
"tactile_names": { "tactile_names": {
"left_hand": [],
"right_hand": [],
"left_ee": [],
"right_ee": [],
}, },
} }
def text_desc(self): def text_desc(self):

4
teleop/utils/rerun_visualizer.py
View File

@ -89,8 +89,8 @@ class RerunLogger:
data_plot_paths = [ data_plot_paths = [
f"{self.prefix}left_arm", f"{self.prefix}left_arm",
f"{self.prefix}right_arm", f"{self.prefix}right_arm",
f"{self.prefix}left_hand",
f"{self.prefix}right_hand"
f"{self.prefix}left_ee",
f"{self.prefix}right_ee"
] ]
for plot_path in data_plot_paths: for plot_path in data_plot_paths:
view = rrb.TimeSeriesView( view = rrb.TimeSeriesView(

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