54 lines
3.4 KiB
Python
54 lines
3.4 KiB
Python
import pathlib
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### Parameters that changes across tasks
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EPISODE_LEN = 600
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### ALOHA fixed constants
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DT = 0.02
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JOINT_NAMES = ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"]
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CAMERA_NAMES = ['cam_high', 'cam_low', 'cam_left_wrist', 'cam_right_wrist'] # defines the number and ordering of cameras
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BOX_INIT_POSE = [0.2, 0.5, 0.05, 1, 0, 0, 0]
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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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SIM_CAMERA_NAMES = ['main']
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SIM_EPISODE_LEN_TRANSFER_CUBE = 400
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SIM_EPISODE_LEN_INSERTION = 400
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XML_DIR = str(pathlib.Path(__file__).parent.resolve()) + '/assets/' # note: absolute path
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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) / (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE)
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PUPPET_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_POSITION_CLOSE) / (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE)
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MASTER_GRIPPER_POSITION_UNNORMALIZE_FN = lambda x: x * (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE) + MASTER_GRIPPER_POSITION_CLOSE
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PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN = lambda x: x * (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE) + PUPPET_GRIPPER_POSITION_CLOSE
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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) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE)
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PUPPET_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE)
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MASTER_GRIPPER_JOINT_UNNORMALIZE_FN = lambda x: x * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE
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PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN = lambda x: x * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE
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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 = lambda x: MASTER_GRIPPER_POSITION_NORMALIZE_FN(x) * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE
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MASTER_JOINT2POS = lambda x: MASTER_GRIPPER_POSITION_UNNORMALIZE_FN((x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE))
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PUPPET_POS2JOINT = lambda x: PUPPET_GRIPPER_POSITION_NORMALIZE_FN(x) * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE
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PUPPET_JOINT2POS = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN((x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE))
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MASTER_GRIPPER_JOINT_MID = (MASTER_GRIPPER_JOINT_OPEN + MASTER_GRIPPER_JOINT_CLOSE)/2
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