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[fix] bug.

main
silencht 10 months ago
parent
e62af5a152
commit
7d65da4634
3 changed files with 15 additions and 9 deletions
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  1. 2
      teleop/robot_control/robot_hand_inspire.py
  2. 18
      teleop/teleop_hand_and_arm.py
  3. 4
      teleop/utils/rerun_visualizer.py

2
teleop/robot_control/robot_hand_inspire.py
View File

@ -147,7 +147,7 @@ class Inspire_Controller:
sleep_time = max(0, (1 / self.fps) - time_elapsed) sleep_time = max(0, (1 / self.fps) - time_elapsed)
time.sleep(sleep_time) time.sleep(sleep_time)
finally: finally:
print("Dex3_1_Controller has been closed.")
print("Inspire_Controller has been closed.")
# Update hand state, according to the official documentation, https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand # Update hand state, according to the official documentation, https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand
# the state sequence is as shown in the table below # the state sequence is as shown in the table below

18
teleop/teleop_hand_and_arm.py
View File

@ -23,7 +23,7 @@ from teleop.utils.episode_writer import EpisodeWriter
if __name__ == '__main__': if __name__ == '__main__':
parser = argparse.ArgumentParser() parser = argparse.ArgumentParser()
parser.add_argument('--task_dir', type = str, default = './utils/data', help = 'path to save data') parser.add_argument('--task_dir', type = str, default = './utils/data', help = 'path to save data')
parser.add_argument('--frequency', type = float, default = 30.0, help = 'save data\'s frequency')
parser.add_argument('--frequency', type = float, default = 90.0, help = 'save data\'s frequency')
parser.add_argument('--record', action = 'store_true', help = 'Save data or not') parser.add_argument('--record', action = 'store_true', help = 'Save data or not')
parser.add_argument('--no-record', dest = 'record', action = 'store_false', help = 'Do not save data') parser.add_argument('--no-record', dest = 'record', action = 'store_false', help = 'Do not save data')
@ -83,7 +83,7 @@ if __name__ == '__main__':
# arm # arm
if args.arm == 'G1_29': if args.arm == 'G1_29':
arm_ctrl = G1_29_ArmController()
arm_ctrl = G1_29_ArmController(debug_mode=True)
arm_ik = G1_29_ArmIK() arm_ik = G1_29_ArmIK()
elif args.arm == 'G1_23': elif args.arm == 'G1_23':
arm_ctrl = G1_23_ArmController() arm_ctrl = G1_23_ArmController()
@ -203,12 +203,16 @@ if __name__ == '__main__':
right_hand_state = dual_hand_state_array[-7:] right_hand_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_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]] left_hand_state = [dual_gripper_state_array[1]]
right_hand_state = [dual_gripper_state_array[0]] right_hand_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_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]] left_hand_state = [dual_gripper_state_array[1]]
@ -225,6 +229,8 @@ if __name__ == '__main__':
right_hand_state = dual_hand_state_array[-6:] right_hand_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_action = []
else: else:
left_hand_state = [] left_hand_state = []
right_hand_state = [] right_hand_state = []
@ -267,12 +273,12 @@ if __name__ == '__main__':
"qvel": [], "qvel": [],
"torque": [], "torque": [],
}, },
"left_hand_pos": {
"left_hand": {
"qpos": left_hand_state, "qpos": left_hand_state,
"qvel": [], "qvel": [],
"torque": [], "torque": [],
}, },
"right_hand_pos": {
"right_hand": {
"qpos": right_hand_state, "qpos": right_hand_state,
"qvel": [], "qvel": [],
"torque": [], "torque": [],
@ -292,12 +298,12 @@ if __name__ == '__main__':
"qvel": [], "qvel": [],
"torque": [], "torque": [],
}, },
"left_hand_pos": {
"left_hand": {
"qpos": left_hand_action, "qpos": left_hand_action,
"qvel": [], "qvel": [],
"torque": [], "torque": [],
}, },
"right_hand_pos": {
"right_hand": {
"qpos": right_hand_action, "qpos": right_hand_action,
"qvel": [], "qvel": [],
"torque": [], "torque": [],

4
teleop/utils/rerun_visualizer.py
View File

@ -141,7 +141,7 @@ class RerunLogger:
# Log states # Log states
states = item_data.get('states', {}) or {} states = item_data.get('states', {}) or {}
for part, state_info in states.items(): for part, state_info in states.items():
if state_info:
if part != "body" and state_info:
values = state_info.get('qpos', []) values = state_info.get('qpos', [])
for idx, val in enumerate(values): for idx, val in enumerate(values):
rr.log(f"{self.prefix}{part}/states/qpos/{idx}", rr.Scalar(val)) rr.log(f"{self.prefix}{part}/states/qpos/{idx}", rr.Scalar(val))
@ -149,7 +149,7 @@ class RerunLogger:
# Log actions # Log actions
actions = item_data.get('actions', {}) or {} actions = item_data.get('actions', {}) or {}
for part, action_info in actions.items(): for part, action_info in actions.items():
if action_info:
if part != "body" and action_info:
values = action_info.get('qpos', []) values = action_info.get('qpos', [])
for idx, val in enumerate(values): for idx, val in enumerate(values):
rr.log(f"{self.prefix}{part}/actions/qpos/{idx}", rr.Scalar(val)) rr.log(f"{self.prefix}{part}/actions/qpos/{idx}", rr.Scalar(val))

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