0003-changes-for-real-robot.patch

From 2db75b6d0e03ef261e69dd783e260be2f4b23447 Mon Sep 17 00:00:00 2001
From: baiheliu <baihe.liu@intel.com>
Date: Mon, 10 Mar 2025 16:45:02 +0800
Subject: [PATCH 3/3] changes for real robot

---
 constants.py        | 8 ++++++++
 imitate_episodes.py | 4 ++--
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/constants.py b/constants.py
index 61926a2..16316f6 100644
--- a/constants.py
+++ b/constants.py
@@ -33,6 +33,14 @@ SIM_TASK_CONFIGS = {
     },
 }
 
+TASK_CONFIGS = {
+    'insertion': {
+        'dataset_dir': DATA_DIR + '/insertion',
+        'num_episodes': 50,
+        'episode_len': 1000,
+        'camera_names': ['cam_high', 'cam_low', 'cam_left_wrist', 'cam_right_wrist']
+    },
+}
 ### Simulation envs fixed constants
 DT = 0.02
 JOINT_NAMES = ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"]
diff --git a/imitate_episodes.py b/imitate_episodes.py
index 3fcc29b..a695204 100644
--- a/imitate_episodes.py
+++ b/imitate_episodes.py
@@ -43,7 +43,7 @@ def main(args):
         from constants import SIM_TASK_CONFIGS
         task_config = SIM_TASK_CONFIGS[task_name]
     else:
-        from aloha_scripts.constants import TASK_CONFIGS
+        from constants import TASK_CONFIGS
         task_config = TASK_CONFIGS[task_name]
     dataset_dir = task_config['dataset_dir']
     num_episodes = task_config['num_episodes']
@@ -344,7 +344,7 @@ def eval_bc(config, ckpt_name, save_episode=True):
                     screen render:{average_latency[0]:.9f}s, process image:{average_latency[1]:.9f}s, model inference:{average_latency[2]:.9f}, query policy:{average_latency[3]:.9f}s, post process:{average_latency[4]:.9f}, env:{average_latency[5]:.9f}')
             plt.close()
         if real_robot:
-            move_grippers([env.puppet_bot_left, env.puppet_bot_right], [PUPPET_GRIPPER_JOINT_OPEN] * 2, moving_time=0.5)  # open
+            move_grippers([env.follower_bot_left, env.follower_bot_right], [PUPPET_GRIPPER_JOINT_OPEN] * 2, moving_time=0.5)  # open
             pass
 
         rewards = np.array(rewards)
-- 
2.34.1