Better configuration for each arm

examples/keyboard/dataflow.yml

@@ -0,0 +1,14 @@
+nodes:
+  - id: keyboard
+    build: pip install -e ../../node-hub/dora-keyboard
+    path: dora-keyboard
+    outputs:
+      - char
+    env:
+      DISPLAY: $DISPLAY
+
+  - id: rerun
+    path: dora-rerun
+    build: pip install -e ../../node-hub/dora-rerun
+    inputs:
+      text_input: keyboard/char

examples/urdf/franka.yml

@@ -16,6 +16,9 @@ nodes:
       - raw_control
     inputs:
       tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
 
   - id: pytorch_kinematics
     build: pip install -e ../../node-hub/dora-pytorch-kinematics
@@ -28,5 +31,5 @@ nodes:
       MODEL_NAME: "panda_description"
       END_EFFECTOR_LINK: "panda_link8"
       TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
-      POSITION_TOLERANCE: 0.01
-      ROTATION_TOLERANCE: 0.01
+      POSITION_TOLERANCE: 0.001
+      ROTATION_TOLERANCE: 0.001

examples/urdf/kuka.yml

@@ -16,6 +16,9 @@ nodes:
       - raw_control
     inputs:
       tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.02
+      MAX_ANGULAR_SPEED: 0.10
 
   - id: pytorch_kinematics
     build: pip install -e ../../node-hub/dora-pytorch-kinematics

examples/urdf/piper.yml

@@ -16,6 +16,9 @@ nodes:
       - raw_control
     inputs:
       tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
 
   - id: pytorch_kinematics
     build: pip install -e ../../node-hub/dora-pytorch-kinematics

examples/urdf/so_arm101.yml

@@ -16,6 +16,9 @@ nodes:
       - raw_control
     inputs:
       tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
 
   - id: pytorch_kinematics
     build: pip install -e ../../node-hub/dora-pytorch-kinematics
@@ -29,4 +32,4 @@ nodes:
       END_EFFECTOR_LINK: "gripper"
       TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
       POSITION_TOLERANCE: 0.01
-      ROTATION_TOLERANCE: 0.01
+      ROTATION_TOLERANCE: 0.03

examples/urdf/ur5.yml

@@ -16,6 +16,9 @@ nodes:
       - raw_control
     inputs:
       tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
 
   - id: pytorch_kinematics
     build: pip install -e ../../node-hub/dora-pytorch-kinematics
@@ -28,3 +31,5 @@ nodes:
       MODEL_NAME: "ur5_description"
       END_EFFECTOR_LINK: "tool0"
       TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
+      POSITION_TOLERANCE: 0.001
+      ROTATION_TOLERANCE: 0.001

examples/urdf/z1.yml

@@ -16,6 +16,9 @@ nodes:
       - raw_control
     inputs:
       tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
 
   - id: pytorch_kinematics
     build: pip install -e ../../node-hub/dora-pytorch-kinematics
@@ -26,5 +29,7 @@ nodes:
       - cmd_vel
     env:
       MODEL_NAME: "z1_description"
-      END_EFFECTOR_LINK: "link05"
+      END_EFFECTOR_LINK: "link06"
       TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
+      POSITION_TOLERANCE: 0.001
+      ROTATION_TOLERANCE: 0.001

node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py

@@ -374,7 +374,7 @@ def main():
                 target = robot.compute_fk(last_known_state)
                 target = (
                     np.array(get_xyz_rpy_array_from_transform3d(target).detach())
-                    + target_vel / 10
+                    + target_vel
                 )
                 target = pa.array(target.ravel(), type=pa.float32())
                 target = pk.Transform3d(

node-hub/gamepad/gamepad/main.py

@@ -5,7 +5,11 @@ import json
 import pyarrow as pa
 import pygame
 from dora import Node
+import os
 
+MAX_LINEAR_SPEED = float(os.getenv("MAX_LINEAR_SPEED", "0.05"))
+MAX_ANGULAR_SPEED = float(os.getenv("MAX_ANGULAR_SPEED", "0.8"))
+JOYSTICK_DEADZONE = float(os.getenv("JOYSTICK_DEADZONE", "0.2"))    
 
 class Controller:
     """Controller mapping."""
@@ -50,9 +54,6 @@ def main():
 
     controller = Controller()
 
-    move_speed = 0.05  # Fixed increment for D-pad
-    max_linear_z_speed = 0.1  # Maximum linear Z speed
-    max_angular_speed = 0.8  # Maximum angular speed
 
     print(f"Detected controller: {joystick.get_name()}")
     print(f"Number of axes: {joystick.get_numaxes()}")
@@ -90,39 +91,39 @@ def main():
         # 5. Left stick vertical for rotation around X
         # 6. Left stick horizontal for rotation around Y
 
-        deadzone = 0.05
+        deadzone = JOYSTICK_DEADZONE
 
         # Linear X velocity from D-pad vertical
         linear_x = 0.0
         if dpad_y != 0:
-            linear_x = dpad_y * move_speed
+            linear_x = dpad_y * MAX_LINEAR_SPEED
 
         # Linear Y velocity from D-pad horizontal
         linear_y = 0.0
         if dpad_x != 0:
-            linear_y = dpad_x * move_speed
+            linear_y = dpad_x * MAX_LINEAR_SPEED
 
         # Linear Z velocity from right stick vertical
         right_y = -joystick.get_axis(controller.axisNames["RIGHT-Y"])
         right_y = 0.0 if abs(right_y) < deadzone else right_y
-        linear_z = right_y * max_linear_z_speed
+        linear_z = right_y * MAX_LINEAR_SPEED
 
         # Angular Z velocity (rotation) from right stick horizontal
         right_x = -joystick.get_axis(controller.axisNames["RIGHT-X"])
         right_x = 0.0 if abs(right_x) < deadzone else right_x
         angular_z = (
-            right_x * max_angular_speed
+            right_x * MAX_ANGULAR_SPEED
         )  # TODO: Make z non zero, but on my gamepad the value is never zero
 
         # Angular X velocity from left stick vertical
         left_y = -joystick.get_axis(controller.axisNames["LEFT-Y"])
         left_y = 0.0 if abs(left_y) < deadzone else left_y
-        angular_x = left_y * max_angular_speed
+        angular_x = left_y * MAX_ANGULAR_SPEED
 
         # Angular Y velocity from left stick horizontal
         left_x = -joystick.get_axis(controller.axisNames["LEFT-X"])
         left_x = 0.0 if abs(left_x) < deadzone else left_x
-        angular_y = left_x * max_angular_speed
+        angular_y = left_x * MAX_ANGULAR_SPEED
 
         cmd_vel = [linear_x, linear_y, linear_z, angular_x, angular_y, angular_z]
         if any(cmd_vel):