cabinet, high five, elevator_button, cabinet_handles, cabinet_grasp_p…

…ots, chair tasks
agilexrobotics · Nov 30, 2023 · 1026657 · 1026657
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Showing 2 changed files with 37 additions and 1 deletion.
diff --git a/aloha_scripts/constants.py b/aloha_scripts/constants.py
@@ -40,6 +40,24 @@
         'episode_len': 1500,
         'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
     },
+    'aloha_mobile_cabinet':{
+        'dataset_dir': DATA_DIR + '/aloha_mobile_cabinet',
+        'num_episodes': 50,
+        'episode_len': 1500,
+        'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
+    },
+    'aloha_mobile_high_five':{
+        'dataset_dir': DATA_DIR + '/aloha_mobile_high_five',
+        'num_episodes': 50,
+        'episode_len': 2000,
+        'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
+    },
+    'aloha_mobile_elevator_button':{
+        'dataset_dir': DATA_DIR + '/aloha_mobile_elevator_button',
+        'num_episodes': 50,
+        'episode_len': 800,
+        'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
+    },
     'aloha_mobile_wipe_wine':{
         'dataset_dir': DATA_DIR + '/aloha_mobile_wipe_wine',
         'num_episodes': 50,
@@ -82,6 +100,24 @@
         'num_episodes': 50,
         'episode_len': 8500,
         'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
+    },
+    'aloha_mobile_cabinet_handles':{
+        'dataset_dir': DATA_DIR + '/aloha_mobile_cabinet_handles',
+        'num_episodes': 50,
+        'episode_len': 200,
+        'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
+    },
+    'aloha_mobile_cabinet_grasp_pots':{
+        'dataset_dir': DATA_DIR + '/aloha_mobile_cabinet_grasp_pots',
+        'num_episodes': 50,
+        'episode_len': 200,
+        'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
+    },
+    'aloha_mobile_chair':{
+        'dataset_dir': DATA_DIR + '/aloha_mobile_chair',
+        'num_episodes': 50,
+        'episode_len': 2400,
+        'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist']
     }
 }
 

diff --git a/aloha_scripts/replay_and_record_episodes.py b/aloha_scripts/replay_and_record_episodes.py
@@ -88,7 +88,7 @@ def main(args):
     plt.plot(obs_tracer[:, 0], '-.', label='obs_tracer_linear')
     plt.plot(obs_tracer[:, 1], '-.', label='obs_tracer_angular')
     plt.legend()
-    plt.savefig('replay_and record_episodes_vel_debug.png', dpi=300)
+    plt.savefig('replay_and_record_episodes_vel_debug.png', dpi=300)
 
 
     move_grippers([env.puppet_bot_left, env.puppet_bot_right], [PUPPET_GRIPPER_JOINT_OPEN] * 2, move_time=0.5)  # open