Merge pull request #11 from wuphilipp/fixes

Bugfixes.

.pre-commit-config.yaml

@@ -2,26 +2,26 @@ repos:
 
 # remove unused python imports
 - repo: https://github.com/myint/autoflake.git
- rev: v2.1.1
+ rev: v2.3.1
  hooks:
  - id: autoflake
  args: ["--in-place", "--remove-all-unused-imports", "--ignore-init-module-imports"]
 
 # sort imports
 - repo: https://github.com/timothycrosley/isort
- rev: 5.12.0
+ rev: 5.13.2
  hooks:
  - id: isort
 
 # code format according to black
 - repo: https://github.com/ambv/black
- rev: 23.3.0
+ rev: 24.3.0
  hooks:
  - id: black
 
 # check for python styling with flake8
 - repo: https://github.com/PyCQA/flake8
- rev: 6.0.0
+ rev: 7.0.0
  hooks:
  - id: flake8
  additional_dependencies: [
@@ -33,6 +33,6 @@ repos:
 
 # cleanup notebooks
 - repo: https://github.com/kynan/nbstripout
- rev: 0.6.1
+ rev: 0.7.1
  hooks:
  - id: nbstripout

README.md

@@ -31,7 +31,7 @@ docker build . -t gello:latest
 
 We have provided an entry point into the docker container
 ```
-python experiments/launch.py
+python scripts/launch.py
 ```
 
 # GELLO configuration setup (PLEASE READ)

gello/dm_control_tasks/arms/manipulator.py

@@ -1,4 +1,5 @@
 """Manipulator composer class."""
+
 import abc
 from pathlib import Path
 from typing import Dict, List, Optional, Tuple, Union
@@ -225,5 +226,5 @@ def proprioception(self):
  self.flange_position,
  # self.flange_orientation,
  # self.flange_velocity,
- self.flange_angular_velocity,
+ # self.flange_angular_velocity,
  ] + self._collect_from_attachments("proprioception")

gello/dm_control_tasks/manipulation/arenas/floors.py

@@ -1,4 +1,5 @@
 """Simple floor arenas."""
+
 from typing import Tuple
 
 import numpy as np

gello/dm_control_tasks/manipulation/tasks/block_play.py

@@ -1,4 +1,5 @@
 """A task where a walker must learn to stand."""
+
 from typing import Optional
 
 import numpy as np

gello/dynamixel/driver.py

@@ -20,7 +20,6 @@
 ADDR_GOAL_POSITION = 116
 LEN_GOAL_POSITION = 4
 ADDR_PRESENT_POSITION = 132
-ADDR_PRESENT_POSITION = 140
 LEN_PRESENT_POSITION = 4
 TORQUE_ENABLE = 1
 TORQUE_DISABLE = 0
@@ -237,8 +236,8 @@ def get_joints(self) -> np.ndarray:
  # Return a copy of the joint_angles array to avoid race conditions
  while self._joint_angles is None:
  time.sleep(0.1)
- with self._lock:
-  _j = self._joint_angles.copy()
+ # with self._lock:
+ _j = self._joint_angles.copy()
  return _j / 2048.0 * np.pi
 
  def close(self):
@@ -257,10 +256,11 @@ def main():
  except FileNotFoundError:
  driver = DynamixelDriver(ids, port="/dev/cu.usbserial-FT7WBMUB")
 
+ # Test setting torque mode
  driver.set_torque_mode(True)
  driver.set_torque_mode(False)
 
- # Print the joint angles
+ # Test reading the joint angles
  try:
  while True:
  joint_angles = driver.get_joints()
@@ -271,4 +271,4 @@ def main():
 
 
 if __name__ == "__main__":
- main()
+ main() # Test the driver

gello/robots/dynamixel.py

@@ -86,11 +86,14 @@ def __init__(
  if gripper_config is not None:
  current_joints = current_joints[:-1]
  start_joints = start_joints[:-1]
- for c_joint, s_joint, joint_offset in zip(
- current_joints, start_joints, self._joint_offsets
+ for idx, (c_joint, s_joint, joint_offset) in enumerate(
+ zip(current_joints, start_joints, self._joint_offsets)
  ):
  new_joint_offsets.append(
- np.pi * 2 * np.round((s_joint - c_joint) / (2 * np.pi))
+ np.pi
+ * 2
+ * np.round((-s_joint + c_joint) / (2 * np.pi))
+ * self._joint_signs[idx]
  + joint_offset
  )
  if gripper_config is not None: