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1. auto generating bson_dict #7

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51d800c
1. auto generating bson_dict
OpenGHz Mar 23, 2025
ae3754b
show episode info
OpenGHz Mar 26, 2025
587e51d
change tok_ptk to tok and add base component
OpenGHz Mar 27, 2025
f053df9
fix action size
OpenGHz Mar 27, 2025
5015ee1
improve camera configs
OpenGHz Mar 27, 2025
5ec9127
fix eval config
OpenGHz Mar 27, 2025
f7b1470
udpate meta data (image resolution
OpenGHz Mar 27, 2025
dd4c6b5
fix get obs image
OpenGHz Mar 27, 2025
5237f95
add tok ptk mode support
OpenGHz Mar 27, 2025
4d662ad
fix pose filt for ptk and tok
OpenGHz Mar 27, 2025
ca916dd
fix episodes finding for ptk and tok
OpenGHz Mar 27, 2025
061dda2
add base process
OpenGHz Mar 27, 2025
db20936
fix base filt
OpenGHz Mar 27, 2025
80e9708
use common name converter
OpenGHz Mar 27, 2025
aea786d
disable dim check for tok ptk to ignore base action
OpenGHz Mar 27, 2025
52f0a5c
fix not check dim check
OpenGHz Mar 29, 2025
f2d22d8
remove lowdim level in obs data
OpenGHz Mar 29, 2025
8fdf8c8
fix get com bson data
OpenGHz Mar 29, 2025
a30f28c
add low dim to action in bson
OpenGHz Mar 29, 2025
d7c0d2c
add ignore base action config
OpenGHz Mar 29, 2025
944df5b
fix base joint names
OpenGHz Mar 29, 2025
48cff91
update
OpenGHz Mar 29, 2025
a051034
update limit and fix default action
OpenGHz Apr 2, 2025
ff25f59
1. fix component types
OpenGHz Apr 9, 2025
4ad0aa2
fix base control
OpenGHz Apr 10, 2025
034fc3f
add com mmk2 bson yaml
OpenGHz Apr 10, 2025
86399c6
fix base action2goal
OpenGHz Apr 10, 2025
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47 changes: 47 additions & 0 deletions configurations/basic_configs/example/robot/airbots/mmk/airbot_com_mmk_bson.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,47 @@
_target_: robots.airbots.airbot_mmk.airbot_com_mmk2_bson.AIRBOTMMK2

ip: "192.168.11.200"

default_action: null

# The order is important
components: ["left_arm", "left_arm_eef", "right_arm", "right_arm_eef", "head", "spine", "base"]

# USB cameras (only color image types)
cameras:
head_camera:
image_types: ["color"]
camera_type: "USB"
video_device: "/dev/video0"
image_width: "640"
image_height: "480"
# left_camera:
# image_types: ["color"]
# camera_type: "USB"
# video_device: "/dev/video2"
# image_width: "640"
# image_height: "480"
# right_camera:
# image_types: ["color"]
# camera_type: "USB"
# video_device: "/dev/video4"
# image_width: "640"
# image_height: "480"

# # RealSense
# cameras:
# head_camera:
# image_types: ["color"]
# camera_type: "REALSENSE"
# serial_no: "'123456'"
# rgb_camera.color_profile: "640,480,30"
# left_camera:
# image_types: ["color"]
# camera_type: "REALSENSE"
# serial_no: "'123456'"
# rgb_camera.color_profile: "640,480,30"
# right_camera:
# image_types: ["color"]
# camera_type: "REALSENSE"
# serial_no: "'123456'"
# rgb_camera.color_profile: "640,480,30"
70 changes: 70 additions & 0 deletions configurations/basic_configs/example/robot/airbots/tok/airbot_tok_demonstration.yaml
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@@ -0,0 +1,70 @@
_target_: robots.airbots.airbot_mmk.airbot_com_mmk2_bson.AIRBOTMMK2

ip: "localhost"

# NOTE: If you want to change the order of each part, be careful to change the order of each observation and action in the data conversion script simultaneously
# components: ["left_arm", "left_arm_eef"]
components: ["left_arm", "left_arm_eef", "right_arm", "right_arm_eef", "base"]

# USB cameras (only color image types)
cameras:
head_camera:
image_types: ["color"]
camera_type: "USB"
video_device: "/dev/video0"
image_width: "640"
image_height: "480"
# left_camera:
# image_types: ["color"]
# camera_type: "USB"
# video_device: "/dev/video2"
# image_width: "640"
# image_height: "480"
# right_camera:
# image_types: ["color"]
# camera_type: "USB"
# video_device: "/dev/video4"
# image_width: "640"
# image_height: "480"

# # RealSense
# cameras:
# head_camera:
# image_types: ["color"]
# camera_type: "REALSENSE"
# serial_no: "'123456'"
# rgb_camera.color_profile: "640,480,30"
# left_camera:
# image_types: ["color"]
# camera_type: "REALSENSE"
# serial_no: "'123456'"
# rgb_camera.color_profile: "640,480,30"
# right_camera:
# image_types: ["color"]
# camera_type: "REALSENSE"
# serial_no: "'123456'"
# rgb_camera.color_profile: "640,480,30"

demonstrate: true

default_action:
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
]
# [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
60 changes: 38 additions & 22 deletions configurations/basic_configs/example/robot/airbots/tok/airbot_tok_ptk.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,29 +3,45 @@ _target_: robots.airbots.airbot_mmk.airbot_com_mmk2_bson.AIRBOTMMK2
ip: "localhost"

# NOTE: If you want to change the order of each part, be careful to change the order of each observation and action in the data conversion script simultaneously
components: ["left_arm", "left_arm_eef", "right_arm", "right_arm_eef"]
components: ["left_arm", "left_arm_eef", "right_arm", "right_arm_eef", "base"]

# USB cameras (only color image types)
cameras:
head_camera: ["color"]
# left_camera: ["color"]
# right_camera: ["color"]
head_camera:
image_types: ["color"]
camera_type: "USB"
video_device: "/dev/video0"
image_width: "640"
image_height: "480"
# left_camera:
# image_types: ["color"]
# camera_type: "USB"
# video_device: "/dev/video2"
# image_width: "640"
# image_height: "480"
# right_camera:
# image_types: ["color"]
# camera_type: "USB"
# video_device: "/dev/video4"
# image_width: "640"
# image_height: "480"

demonstrate: true
# # RealSense
# cameras:
# head_camera:
# image_types: ["color"]
# camera_type: "REALSENSE"
# serial_no: "'123456'"
# rgb_camera.color_profile: "640,480,30"
# left_camera:
# image_types: ["color"]
# camera_type: "REALSENSE"
# serial_no: "'123456'"
# rgb_camera.color_profile: "640,480,30"
# right_camera:
# image_types: ["color"]
# camera_type: "REALSENSE"
# serial_no: "'123456'"
# rgb_camera.color_profile: "640,480,30"

default_action:
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
]
ignore_base_action: true
31 changes: 0 additions & 31 deletions configurations/basic_configs/example/robot/airbots/tok/airbot_tok_ptk_demonstration.yaml
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This file was deleted.

4 changes: 2 additions & 2 deletions configurations/task_configs/config_tools/basic_configer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -145,8 +145,8 @@ def get_all_config(args: dict, stage: str):
# set start joint
if all_config.get("start_joint", None) is None:
init_states = get_init_states(all_config["load_data"], 0)
all_config["start_action"] = init_states[0]
all_config["start_joint"] = init_states[1]
all_config["start_joint"] = init_states[0]
all_config["start_action"] = init_states[1]
# set augmentors
all_config["load_data"]["augmentors"]["image"] = task_funcs["image_augmentor"]
all_config["augmentors_flag"] = {
Expand Down
151 changes: 3 additions & 148 deletions control_robot_bson.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
"""

from habitats.common.robot_devices.cameras.utils import prepare_cv2_imshow

prepare_cv2_imshow()

import argparse
Expand Down Expand Up @@ -570,154 +571,8 @@ def stop_recording(self):
timestamp = 0
start_episode_t = time.perf_counter()
# Record one episode
bson_dict: Dict[str, Dict[str, list]] = {
"id": "734ad1c8-66ee-4479-b3cb-41d16c9b2e22",
"timestamp": 1734076528859,
"metadata": {
"driver_version": "1.0.0",
"operator": "manual",
"station_id": "3784D4BA-87AF-47E7-B86D-42CA1904AA77",
"task": "example",
"topics": {
"/action/head/joint_state": {
"description": "",
"type": "jointstate",
"sn": "",
"firmware_version": "0.0.0",
},
"/action/spine/joint_state": {
"description": "",
"type": "jointstate",
"sn": "",
"firmware_version": "0.0.0",
},
"/action/left_arm/joint_state": {
"description": "replay",
"type": "jointstate",
"sn": "",
"firmware_version": "0.0.0",
},
"/action/left_arm_eef/joint_state": {
"description": "replay",
"type": "jointstate",
"sn": "",
"firmware_version": "0.0.0",
},
"/action/right_arm/joint_state": {
"description": "replay",
"type": "jointstate",
"sn": "",
"firmware_version": "0.0.0",
},
"/action/right_arm_eef/joint_state": {
"description": "replay",
"type": "jointstate",
"sn": "",
"firmware_version": "0.0.0",
},
# "/action/eef/pose": {
# "description": "",
# "type": "jointstate",
# "sn": "",
# "firmware_version": "0.0.0",
# },
# "/action/base/joint_state": {
# "description": "slamtec-athena",
# "type": "jointstate",
# "sn": "",
# "firmware_version": "0.0.0",
# },
"/observation/head/joint_state": {
"description": "",
"type": "jointstate",
"sn": "",
"firmware_version": "0.0.0",
},
"/observation/spine/joint_state": {
"description": "",
"type": "jointstate",
"sn": "",
"firmware_version": "0.0.0",
},
"/observation/left_arm/joint_state": {
"description": "airbot-play-short",
"type": "jointstate",
"sn": "",
"firmware_version": "0.0.0",
},
"/observation/right_arm/joint_state": {
"description": "airbot-play-short",
"type": "jointstate",
"sn": "",
"firmware_version": "0.0.0",
},
"/observation/left_arm_eef/joint_state": {
"description": "airbot-play-short",
"type": "jointstate",
"sn": "",
"firmware_version": "0.0.0",
},
"/observation/right_arm_eef/joint_state": {
"description": "airbot-play-short",
"type": "jointstate",
"sn": "",
"firmware_version": "0.0.0",
},
"/observation/left_arm/pose": {
"description": "",
"type": "pose",
},
"/observation/right_arm/pose": {
"description": "",
"type": "pose",
},
# "/observation/base/joint_state": {
# "description": "slamtec-athena",
# "type": "jointstate",
# "sn": "",
# "firmware_version": "0.0.0",
# },
"/images/head_camera": {
"description": "DSJ-2062-309",
"type": "image",
"width": 640,
"height": 480,
"encoding": "H264",
"distortion_model": None,
"distortion_params": None,
"intrinsics": None,
"fov": 120.0,
"start_time": 1733377253041,
},
# "/images/left_camera": {
# "description": "DSJ-2062-309",
# "type": "image",
# "width": 640,
# "height": 480,
# "encoding": "H264",
# "distortion_model": None,
# "distortion_params": None,
# "intrinsics": None,
# "fov": 120.0,
# "start_time": 1733377253041,
# },
# "/images/right_camera": {
# "description": "DSJ-2062-309",
# "type": "image",
# "width": 640,
# "height": 480,
# "encoding": "H264",
# "distortion_model": None,
# "distortion_params": None,
# "intrinsics": None,
# "fov": 120.0,
# "start_time": 1733377253041,
# },
},
"version": "1.2.1",
},
"data": {},
}
bson_dict: Dict[str, Dict[str, list]] = robot.bson_dict
robot.update_data_meta(bson_dict, robot.capture_observation())
while timestamp < episode_time_s:
start_loop_t = time.perf_counter()

Expand Down
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