Piper adaptation new #648
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Piper adaptation new #648
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- Implemented `images_to_video` function to convert image sequences into video files. - Added `save_demonstration_video` function to save demonstration images as a video. - Integrated video saving functionality into the camera control script, allowing for automatic video creation from captured images. - Introduced `play_video` function to enable playback of saved video files using OpenCV. - Updated imports in relevant files to include new video processing utilities. These enhancements improve the functionality for recording and visualizing robot demonstrations.
…ation - Improved the `images_to_video` and `save_demonstration_video` functions for better video creation from image sequences. - Enhanced the camera control script to automatically save captured images as videos. - Added `play_video` functionality for playback of saved videos using OpenCV. - Cleaned up imports to ensure all necessary video processing utilities are included. These updates streamline the video recording and visualization process for robot demonstrations.
…eleoperation - Updated `JoystickInterface` to include a comment for the BTN_EAST button functionality. - Introduced `JoystickIntervention` class to manage joystick actions and gripper control, improving the interaction with the robot. - Modified `PiperRobot` to utilize `JoystickIntervention` for teleoperation, enhancing the robot's control capabilities. - Added a `Rate` class to manage execution frequency for smoother operation. - Refactored the `send_action` method to handle actions more effectively and updated the robot's connection logic. - Removed the obsolete `control_robot_piper.py` script to streamline the codebase. These changes improve the joystick control system and overall robot teleoperation experience.
- Added signal handling in the Logger class for graceful shutdown of wandb logging. - Updated control_utils.py to include additional robot type checks and modified video writer codec for better compatibility. - Improved joystick interface with error handling during process termination and added comments for clarity. - Introduced a LowPassFilter class in PiperRobot for smoother control input handling. - Updated PiperRobot configuration to include leader arm definitions and adjusted camera settings. - Disabled camera display by default in control_robot.py to prevent freezing issues. These changes improve the robustness and usability of the robot control system, enhancing both logging and operational stability.
- Added a check in the PiperRobot class to convert action inputs from torch.Tensor to list format, ensuring compatibility with existing processing logic. - This change improves the flexibility of the robot's action handling, allowing for seamless integration of tensor-based inputs.
- Added debug print statements in the Intel RealSense camera detection to log serial numbers and names of detected cameras. - Refactored the LowPassFilter class in PiperRobot to accept a single orientation parameter instead of separate rx, ry, and rz values, improving code clarity. - Updated the PiperRobot class to apply the LowPassFilter to the robot's state during action execution, enhancing control stability. - Modified the PiperRobot configuration to replace the wrist camera with an Intel RealSense D415, ensuring better camera integration and settings. These changes improve the robot's camera handling and overall control system stability.
- Replaced the LowPassFilter class with a new EulerAngles class to improve signal rectification for orientation data. - Introduced a rectify_signal function to handle signal adjustments based on previous values, enhancing the accuracy of orientation readings. - Updated PiperRobot to utilize the new rectification method during state updates, ensuring more stable control during operation. These changes enhance the robot's orientation handling and improve overall control stability.
- Modified the `rectify_signal` function to adjust the threshold for signal rectification from 350000 to 180000, enhancing the sensitivity of signal adjustments. - This change aims to improve the accuracy of signal handling in the PiperRobot, contributing to better overall control and stability during operation.
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Close it as the original PR was cleaned up |
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What this does
This is a clean version of #645
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