repo_name stringlengths 1 62 | dataset stringclasses 1
value | lang stringclasses 11
values | pr_id int64 1 20.1k | owner stringlengths 2 34 | reviewer stringlengths 2 39 | diff_hunk stringlengths 15 262k | code_review_comment stringlengths 1 99.6k |
|---|---|---|---|---|---|---|---|
vectordb | github_2023 | cpp | 52 | epsilla-cloud | richard-epsilla | @@ -0,0 +1,537 @@
+#include <iostream>
+#include <sstream>
+#include <algorithm>
+#include <regex>
+#include <stack>
+#include <queue>
+#include <unordered_map>
+#include <vector>
+#include <boost/algorithm/string/join.hpp>
+
+#include "db/catalog/meta_types.hpp"
+#include "logger/logger.hpp"
+#include "utils/status.hp... | Wrong indentation |
vectordb | github_2023 | cpp | 52 | epsilla-cloud | richard-epsilla | @@ -0,0 +1,537 @@
+#include <iostream>
+#include <sstream>
+#include <algorithm>
+#include <regex>
+#include <stack>
+#include <queue>
+#include <unordered_map>
+#include <vector>
+#include <boost/algorithm/string/join.hpp>
+
+#include "db/catalog/meta_types.hpp"
+#include "logger/logger.hpp"
+#include "utils/status.hp... | Rename to node_stack |
vectordb | github_2023 | cpp | 52 | epsilla-cloud | richard-epsilla | @@ -0,0 +1,537 @@
+#include <iostream>
+#include <sstream>
+#include <algorithm>
+#include <regex>
+#include <stack>
+#include <queue>
+#include <unordered_map>
+#include <vector>
+#include <boost/algorithm/string/join.hpp>
+
+#include "db/catalog/meta_types.hpp"
+#include "logger/logger.hpp"
+#include "utils/status.hp... | rename to operator_stack |
vectordb | github_2023 | cpp | 52 | epsilla-cloud | richard-epsilla | @@ -1,12 +1,14 @@
-#pragma once | Why removed this line? It is important to avoid duplicated include causing compiler issues |
vectordb | github_2023 | cpp | 52 | epsilla-cloud | richard-epsilla | @@ -718,15 +726,30 @@ bool VecSearchExecutor::BruteForceSearch(const float *query_data, const int64_t
return true;
}
-Status VecSearchExecutor::Search(const float *query_data, const ConcurrentBitset &deleted, const size_t limit, const int64_t total_vector, int64_t &result_size) {
+Status VecSearchExecutor::Search... | Forgot to tell TopKeyboard to remove this comment, let's comment it out or change it into debug log |
vectordb | github_2023 | cpp | 52 | epsilla-cloud | richard-epsilla | @@ -0,0 +1,44 @@
+#include <any>
+#include <unordered_map>
+#include <vector>
+
+#include "expr_types.hpp"
+
+namespace vectordb {
+namespace query {
+namespace expr {
+
+class ExprEvaluator {
+ public:
+ explicit ExprEvaluator(
+ std::vector<ExprNodePtr>& nodes,
+ std::unordered_map<std::string, size_t>& fi... | No need to use & here for a primitive type field, as the copy is very cheap |
vectordb | github_2023 | cpp | 52 | epsilla-cloud | richard-epsilla | @@ -0,0 +1,193 @@
+#include "expr_evaluator.hpp"
+
+#include <cmath>
+#include <iostream>
+
+namespace vectordb {
+namespace query {
+namespace expr {
+
+ExprEvaluator::ExprEvaluator(
+ std::vector<ExprNodePtr>& nodes,
+ std::unordered_map<std::string, size_t>& field_name_mem_offset_map,
+ int64_t& primitive_o... | Can make the function name GetRealNumberFieldValue to cover double and float |
vectordb | github_2023 | python | 50 | epsilla-cloud | richard-epsilla | @@ -34,6 +34,22 @@
limit=2,
with_distance=True
)
+
+print(code, response)
+
+pk_to_delete = [1, 2, 3, 4]
+print("deleting pk ", pk_to_delete)
+code = epsilla.delete_by_pk(table_name="MyTable", primary_keys=pk_to_delete) | Can we call this just delete? And use primary_keys and future filter condition as positional parameters to distinguish which underneath function to call? |
vectordb | github_2023 | cpp | 50 | epsilla-cloud | richard-epsilla | @@ -334,6 +334,39 @@ class WebController : public oatpp::web::server::api::ApiController {
return createDtoResponse(Status::CODE_200, status_dto);
}
+ ADD_CORS(DeleteRecordsByPK)
+
+ ENDPOINT("POST", "/api/{db_name}/data/delete/pk", DeleteRecordsByPK, | Can we just use ""/api/{db_name}/data/delete"? Later we can use whether primaryKeys exist and whether filter condition exists to distinguish which underneath function to call |
vectordb | github_2023 | cpp | 50 | epsilla-cloud | richard-epsilla | @@ -189,6 +195,11 @@ TableSegmentMVP::TableSegmentMVP(meta::TableSchema& table_schema, const std::str
// Read the string table
for (auto i = 0; i < record_number_; ++i) {
+ // skip deleted entry
+ if (deleted_->test(i)) { | Can we skip? If we skip reading the file, the file cursor will messed up? |
vectordb | github_2023 | cpp | 50 | epsilla-cloud | richard-epsilla | @@ -133,6 +134,57 @@ Status DBServer::Insert(const std::string& db_name,
return table->Insert(records);
}
+Status DBServer::DeleteByPK(const std::string& db_name, const std::string& table_name, vectordb::Json& pkList) {
+ auto db = GetDB(db_name);
+ if (db == nullptr) {
+ return Status(DB_UNEXPECTED_ERROR, "... | "Primary key not found" |
vectordb | github_2023 | cpp | 50 | epsilla-cloud | richard-epsilla | @@ -133,6 +134,57 @@ Status DBServer::Insert(const std::string& db_name,
return table->Insert(records);
}
+Status DBServer::DeleteByPK(const std::string& db_name, const std::string& table_name, vectordb::Json& pkList) {
+ auto db = GetDB(db_name);
+ if (db == nullptr) {
+ return Status(DB_UNEXPECTED_ERROR, "... | PK -> Primary key
pos -> field position |
vectordb | github_2023 | cpp | 50 | epsilla-cloud | richard-epsilla | @@ -133,6 +134,57 @@ Status DBServer::Insert(const std::string& db_name,
return table->Insert(records);
}
+Status DBServer::DeleteByPK(const std::string& db_name, const std::string& table_name, vectordb::Json& pkList) {
+ auto db = GetDB(db_name);
+ if (db == nullptr) {
+ return Status(DB_UNEXPECTED_ERROR, "... | Same here |
vectordb | github_2023 | cpp | 50 | epsilla-cloud | richard-epsilla | @@ -133,6 +134,57 @@ Status DBServer::Insert(const std::string& db_name,
return table->Insert(records);
}
+Status DBServer::DeleteByPK(const std::string& db_name, const std::string& table_name, vectordb::Json& pkList) {
+ auto db = GetDB(db_name);
+ if (db == nullptr) {
+ return Status(DB_UNEXPECTED_ERROR, "... | Unexpected primary key type |
vectordb | github_2023 | cpp | 50 | epsilla-cloud | richard-epsilla | @@ -694,32 +695,43 @@ bool VecSearchExecutor::BruteForceSearch(const float *query_data, const int64_t
float dist = fstdistfunc_(vector_table_ + dimension_ * v_id, query_data, dist_func_param_);
brute_force_queue_[v_id - start] = Candidate(v_id, dist, false);
}
+
+ // compacting the result with 2 pointers ... | Does frequent resize have performance problem? |
vectordb | github_2023 | cpp | 50 | epsilla-cloud | ricki-epsilla | @@ -334,38 +334,38 @@ class WebController : public oatpp::web::server::api::ApiController {
return createDtoResponse(Status::CODE_200, status_dto);
}
- // TODO: implement with corresponding function later.
- ADD_CORS(DeleteRecordsByID)
+ ADD_CORS(DeleteRecordsByPK)
- ENDPOINT("POST", "/api/{db_name}/dat... | add payload validation check.
```suggestion
auto valid = requestBody.LoadFromString(body);
if (!valid) {
status_dto->statusCode = Status::CODE_400.code;
status_dto->message = "Invalid payload.";
return createDtoResponse(Status::CODE_400, status_dto);
}
``` |
vectordb | github_2023 | cpp | 42 | epsilla-cloud | richard-epsilla | @@ -52,6 +52,10 @@ Status TableSegmentMVP::Init(meta::TableSchema& table_schema, int64_t size_limit
if (field_schema.field_type_ == meta::FieldType::STRING) {
field_id_mem_offset_map_[field_schema.id_] = string_num_;
field_name_mem_offset_map_[field_schema.name_] = string_num_;
+ if (field_schem... | Assert will crash the engine. Can we use semantic check during schema creation to avoid it? |
vectordb | github_2023 | cpp | 42 | epsilla-cloud | richard-epsilla | @@ -306,9 +393,17 @@ Status TableSegmentMVP::Insert(meta::TableSchema& table_schema, Json& records, i
}
}
++cursor;
+
+ LOOP_END : {}
+ // nothing should be done at the end of block
}
record_number_.store(cursor);
- return Status::OK();
+ auto msg = std::string("loading done. added entries:... | auto msg = "Successfully inserted " + std::to_string(new_record_size - skipped_entry) + records."
if (skipped_entry > 0) {
msg += "Skipped " + std::to_string(skipped_entry) + " records with primary key values that already exist."
} |
vectordb | github_2023 | cpp | 28 | epsilla-cloud | richard-epsilla | @@ -58,7 +58,7 @@ class WriteAheadLog {
RotateFile();
}
int64_t next = global_counter_.IncrementAndGet();
- fprintf(file_, "%lld %d %s\n", next, type, entry.c_str());
+ fprintf(file_, "%ld %d %s\n", next, type, entry.c_str()); | This part is interesting. lld will not warning on macos. ld will not warning on linux. Cannot satisfy both |
vectordb | github_2023 | cpp | 28 | epsilla-cloud | richard-epsilla | @@ -0,0 +1,34 @@
+#define PY_SSIZE_T_CLEAN
+#include <Python.h>
+#include <string>
+#include <memory>
+#include "db/db_server.hpp"
+static PyObject *EpsillaError;
+
+static PyObject *spam_system(PyObject *self, PyObject *args);
+static PyObject *load_db(PyObject *self, PyObject *args);
+static PyObject *use_db(PyObject... | There is also drop_table and unload_db |
vectordb | github_2023 | cpp | 28 | epsilla-cloud | richard-epsilla | @@ -0,0 +1,34 @@
+#define PY_SSIZE_T_CLEAN
+#include <Python.h>
+#include <string>
+#include <memory>
+#include "db/db_server.hpp"
+static PyObject *EpsillaError;
+
+static PyObject *spam_system(PyObject *self, PyObject *args);
+static PyObject *load_db(PyObject *self, PyObject *args);
+static PyObject *use_db(PyObject... | Why not all functions above exposed here? |
vectordb | github_2023 | cpp | 28 | epsilla-cloud | richard-epsilla | @@ -68,6 +55,101 @@ static PyObject *use_db(PyObject *self, PyObject *args)
db_name = namePtr;
return PyLong_FromLong(0);
}
-static PyObject *create_table(PyObject *self, PyObject *args) {}
+static PyObject *create_table(PyObject *self, PyObject *args) | does this mean we will need reimplement the interface and keep the native C++ and python binding implementation in sync from now on? |
vectordb | github_2023 | cpp | 23 | epsilla-cloud | richard-epsilla | @@ -183,6 +184,10 @@ Status BasicMetaImpl::LoadDatabase(std::string& db_catalog_path, const std::stri
if (databases_.find(db_name) != databases_.end()) {
return Status(DB_UNEXPECTED_ERROR, "DB already exists: " + db_name);
}
+ std::regex pattern("[A-Za-z_][A-Za-z_0-9]*"); | Can we have a validator function like isValidName for all name checks? |
vectordb | github_2023 | cpp | 23 | epsilla-cloud | richard-epsilla | @@ -259,6 +264,77 @@ Status BasicMetaImpl::DropDatabase(const std::string& db_name) {
return Status::OK();
}
+Status ValidateSchema(TableSchema& table_schema) {
+ // 1. Check table name
+ std::regex pattern("[A-Za-z_][A-Za-z_0-9]*"); | Same here |
vectordb | github_2023 | cpp | 23 | epsilla-cloud | richard-epsilla | @@ -259,6 +264,77 @@ Status BasicMetaImpl::DropDatabase(const std::string& db_name) {
return Status::OK();
}
+Status ValidateSchema(TableSchema& table_schema) {
+ // 1. Check table name
+ std::regex pattern("[A-Za-z_][A-Za-z_0-9]*");
+ if (!std::regex_match(table_schema.name_, pattern)) {
+ return Status(DB... | Typo: duplicated |
vectordb | github_2023 | cpp | 23 | epsilla-cloud | richard-epsilla | @@ -259,6 +264,77 @@ Status BasicMetaImpl::DropDatabase(const std::string& db_name) {
return Status::OK();
}
+Status ValidateSchema(TableSchema& table_schema) {
+ // 1. Check table name
+ std::regex pattern("[A-Za-z_][A-Za-z_0-9]*");
+ if (!std::regex_match(table_schema.name_, pattern)) {
+ return Status(DB... | field -> fields |
vectordb | github_2023 | cpp | 23 | epsilla-cloud | richard-epsilla | @@ -259,6 +264,77 @@ Status BasicMetaImpl::DropDatabase(const std::string& db_name) {
return Status::OK();
}
+Status ValidateSchema(TableSchema& table_schema) {
+ // 1. Check table name
+ std::regex pattern("[A-Za-z_][A-Za-z_0-9]*");
+ if (!std::regex_match(table_schema.name_, pattern)) {
+ return Status(DB... | Same here |
NetAdmin | github_2023 | csharp | 177 | nsnail | nsnail | @@ -0,0 +1,32 @@
+namespace NetAdmin.Domain.DbMaps.Adm;
+
+/// <summary>
+/// 女朋友表
+/// </summary>
+[Table(Name = Chars.FLG_DB_TABLE_NAME_PREFIX + nameof(Adm_GirlFriends))]
+public record Adm_GirlFriends : VersionEntity
+{
+ /// <summary>
+ /// 姓名
+ /// </summary>
+ [Column(DbType = Chars.FLG_DB_FIELD_T... | 很好，有个小细节 ； 每个字段上请打上这两个特性， 因为dto都是继承于table entity类， 未避免字段暴露到客户端， 默认启用json忽略，csv导出忽略。
[CsvIgnore]
[JsonIgnore]
####################################
如需要输出到客户端，或接收客户端输入，才在Rsp或者Req 对象override时，取消忽略
[JsonIgnore(Condition = JsonIgnoreCondition.Never)] 或 [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritin... |
quic | github_2023 | c | 18 | lxin | lxin | @@ -5,26 +5,63 @@
#include <stdlib.h>
#include <stdio.h>
#include <errno.h>
-
+#include <netdb.h>
#include <netinet/quic.h>
+static const char *parse_address(
+ char const *address, char const *port, struct sockaddr_storage *sas)
+{
+ struct addrinfo hints = {0};
+ struct addrinfo *res;
+ int rc;
+
+ hints.ai_fla... | You can simplify:
get_port() -> return ntohs(((struct sockaddr_in *)sas)->sin_port)
set_port() -> ((struct sockaddr_in *)sas)->sin_port = htons(port);
as sin_port in struct sockaddr_in and sin6_port in struct sockaddr_in6 are located at the same offset.
also, please add a blank line between functions.
same... |
quic | github_2023 | c | 18 | lxin | lxin | @@ -227,10 +268,10 @@ static int do_server(int argc, char *argv[])
printf("socket getsockname error %d\n", errno);
return -1;
}
- printf("LOCAL PORT %d\n", ntohs(sa.sin_port));
- if (preferred_port != ntohs(sa.sin_port)) {
+ printf("LOCAL PORT %d\n", get_port(&sa));
+ if (preferred_port != get_port(&sa))... | any reason why this line is commented out? |
quic | github_2023 | c | 18 | lxin | lxin | @@ -5,15 +5,34 @@
#include <stdlib.h>
#include <stdio.h>
#include <errno.h>
-
+#include <netdb.h>
#include <netinet/quic.h>
+static const char *parse_address(
+ char const *address, char const *port, struct sockaddr_storage *sas)
+{
+ struct addrinfo hints = {0};
+ struct addrinfo *res;
+ int rc;
+
+ hints.ai_fla... | same here, please add a blank line. |
quic | github_2023 | c | 5 | lxin | lxin | @@ -380,12 +381,12 @@ void quic_outq_retransmit(struct sock *sk)
}
next:
- skb = outq->retransmit_skb ?: skb_peek(head);
+ skb = outq->retransmit_skb ?: __skb_dequeue(head);
if (!skb)
return quic_outq_flush(sk);
- __skb_unlink(skb, head); | nice change |
quic | github_2023 | c | 5 | lxin | lxin | @@ -499,6 +502,9 @@ int quic_crypto_decrypt(struct quic_crypto *crypto, struct sk_buff *skb,
u8 *key, *iv, *hp_key;
int err;
+ if (!crypto->recv_ready)
+ return -EINVAL;
+
hp_key = crypto->rx_hp_key; | the packets shouldn't arrive here if crypto->recv_ready is false, as in quic_packet_process()/quic_packet_handshake_process(), it will be put into a backlog_list:
APP DATA:
```
if (!quic_crypto(sk, QUIC_CRYPTO_APP)->recv_ready) {
__skb_queue_tail(&quic_inq(sk)->backlog_list, skb);
... |
quic | github_2023 | c | 5 | lxin | lxin | @@ -474,6 +474,9 @@ int quic_crypto_encrypt(struct quic_crypto *crypto, struct sk_buff *skb,
u8 *key, *iv, *hp_key;
int err;
+ if (!crypto->send_ready)
+ return -EINVAL;
+ | the design is to dequeue and transmit packets only when crypto->send_ready is set, and the packet shouldn't arrive here if it's not set. The check is in quic_outq_transmit_data():
```
if (!quic_crypto(sk, level)->send_ready)
return;
```
so for APP DATA, it will stay in the sk_write_queue ... |
quic | github_2023 | c | 5 | lxin | lxin | @@ -395,9 +396,11 @@ void quic_outq_retransmit(struct sock *sk)
goto next;
}
- quic_packet_config(sk, snd_cb->level);
- quic_packet_tail(sk, skb);
- quic_packet_flush(sk);
+ if (quic_crypto(sk, level)->send_ready) {
+ quic_packet_config(sk, level);
+ quic_packet_tail(sk, skb);
+ quic_packet_flush(sk);
+ } | 0-RTT DATA is special.
According to rfc9000:
1. Packets that a client sends with 0-RTT packet protection MUST be acknowledged by the server in packets protected by 1-RTT keys.
2. All 0-RTT and 1-RTT (APP) packets are sharing Application data space (quic_pnmap(sk, QUIC_CRYPTO_APP) in this repo), but they're using ... |
quic | github_2023 | c | 5 | lxin | lxin | @@ -509,6 +510,7 @@ static struct sk_buff *quic_packet_create(struct sock *sk, struct quic_packet_in
continue;
}
quic_outq_rtx_tail(sk, fskb);
+ QUIC_SND_CB(fskb)->level = packet->level; | Never change QUIC_SND_CB(fskb)->level once fskb was created. For 0-RTT DATA, it will be ACKed by 1-RTT packet, for which it needs to match both QUIC_SND_CB(fskb)->level and packet_number in quic_outq_retransmit_check().
In fact, here in quic_packet_create() `packet->level` is always QUIC_CRYPTO_APP, in quic_packet_... |
quic | github_2023 | c | 4 | lxin | lxin | @@ -1639,18 +1637,18 @@ static void quic_shutdown(struct sock *sk, int how)
inet_sk_set_state(sk, QUIC_SS_CLOSED);
}
-static int quic_ioctl(struct sock *sk, int cmd, int *karg)
+static int quic_ioctl(struct sock *sk, int cmd, unsigned long arg)
{ | I was using the latest upstream kernel, it has been changed to "int (*ioctl)(struct sock *sk, int cmd, int *karg)" in kernel 6.4 in this commit:
https://lore.kernel.org/lkml/20230609200010.27991-1-kuniyu@amazon.com/T/
This quic implementation is not in the upstream kernel yet and for now we expect this to be used... |
serl_franka_controllers | github_2023 | others | 1 | rail-berkeley | youliangtan | @@ -0,0 +1,115 @@
+cmake_minimum_required(VERSION 3.4)
+project(serl_franka_controllers)
+
+set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_CXX_STANDARD 14) | does this work with higher CXXX version (e.g. 17 or 20), for forward compatibility |
serl_franka_controllers | github_2023 | others | 1 | rail-berkeley | youliangtan | @@ -0,0 +1,44 @@
+<?xml version="1.0"?>
+<package format="2">
+ <name>serl_franka_controllers</name>
+ <version>0.8.0</version>
+ <description>serl_franka_controllers provides example code for controlling Franka Emika research robots with ros_control</description>
+ <maintainer email="support@franka.de">Franka Emik... | Clean this, remove unessasary lines. and maybe add the license to this repo too |
serl | github_2023 | python | 65 | rail-berkeley | jianlanluo | @@ -223,10 +226,15 @@ def compute_reward(self, obs) -> bool:
current_pose = np.hstack([current_pose[:3], euler_angles])
delta = np.abs(current_pose - self._TARGET_POSE)
if np.all(delta < self._REWARD_THRESHOLD):
- return True
+ reward = 1
else:
# pr... | we should make a flag if enabling this reward or not, otherwise it'll apply this thing across the board even you don't need a gripper |
serl | github_2023 | python | 38 | rail-berkeley | jianlanluo | @@ -94,3 +94,12 @@ def transform_action(self, action: np.ndarray):
action = np.array(action) # in case action is a jax read-only array
action[:6] = self.adjoint_matrix @ action[:6]
return action
+
+ def transform_action_inv(self, action: np.ndarray):
+ """ | can you add description that this assumes last dimension is gripper open/close? |
serl | github_2023 | python | 38 | rail-berkeley | jianlanluo | @@ -49,8 +49,10 @@
raise PermissionError(f"No permission to write to {file_dir}")
while success_count < success_needed:
- next_obs, rew, done, truncated, info = env.step(action=np.zeros((6,)))
- actions = info["intervene_action"]
+ actions = np.zeros((6,))
+ next_obs, rew, do... | how does this code run correctly without issues previously?
if "intervene_action" is None, the previous code always assumes
`actions = info["intervene_action"]`
and this doesn't throw out errors?
|
serl | github_2023 | python | 38 | rail-berkeley | jianlanluo | @@ -44,7 +44,7 @@ def step(self, action: np.ndarray):
# this is to convert the spacemouse intervention action
if "intervene_action" in info:
- info["intervene_action"] = self.transform_action(info["intervene_action"])
+ info["intervene_action"] = self.transform_action_inv(info[... | same for other function in this class, please indicate in function docstring the leading six dimension are [\delta x, \delta y, ...] last one is gripper open/close (discrete?) |
serl | github_2023 | python | 38 | rail-berkeley | jianlanluo | @@ -202,14 +202,17 @@ def action(self, action: np.ndarray) -> np.ndarray:
expert_a = np.concatenate((expert_a, gripper_action), axis=0)
if time.time() - self.last_intervene < 0.5:
- return expert_a
+ return expert_a, True
- return action
+ return action, Fal... | `replaced` is always False? |
serl | github_2023 | python | 32 | rail-berkeley | youliangtan | @@ -88,13 +91,43 @@ def print_green(x):
return print("\033[92m {}\033[00m".format(x))
+SHOULD_PAUSE = False # flag to pause actor/learner agents | For proper impl of this, I would use:
```
from threading import Lock
mutex = Lock()
``` |
serl | github_2023 | python | 32 | rail-berkeley | youliangtan | @@ -88,13 +91,43 @@ def print_green(x):
return print("\033[92m {}\033[00m".format(x))
+SHOULD_PAUSE = False # flag to pause actor/learner agents
+
+
+def pause_client(a, b):
+ """Set flag to pause actor/learner agents at next iteration"""
+ global SHOULD_PAUSE
+ SHOULD_PAUSE = True
+ print("Reques... | I didnt try it on my pc. can we just have a single keyboard listener for this. It seems that we can simplify the code without having both `pause_client` and `on_press` fn. It would be good to just have a single `on_press_pause` function.
Also, what is the exact keyboard key to pause this operation? |
serl | github_2023 | python | 32 | rail-berkeley | youliangtan | @@ -92,31 +92,26 @@ def print_green(x):
SHOULD_PAUSE = False # flag to pause actor/learner agents
+PAUSE_LOCK = threading.Lock() | Oh srry, i meant using [`threading Event`](https://docs.python.org/3/library/threading.html#event-objects), which is easier than having 2 variables. Also, can rename it to `PAUSE_EVENT_FLAG`. Personally i dont like using global, but i think this should be okay since it mainly serves as an example. Thanks |
serl | github_2023 | python | 28 | rail-berkeley | youliangtan | @@ -53,13 +54,28 @@
obs = next_obs
if done:
- print(rew)
success_count += rew
+ total_count += 1
+ print(
+ f"{rew}\tGot {success_count} successes of {total_count} trials. {success_needed} successes needed."
+ )
pba... | Is it easier if we check the dir exists beforehand? else create the dir if it doesnt exist. something like
```py
if os.path.exists(DATA_DIRECTORY):
shutil.rmtree(DATA_DIRECTORY)
os.makedirs(DATA_DIRECTORY)
``` |
serl | github_2023 | python | 23 | rail-berkeley | jianlanluo | @@ -0,0 +1,21 @@
+""" Test the spacemouse output. """
+
+import time
+import numpy as np
+from serl_robot_infra.franka_env.spacemouse.spacemouse_expert import SpaceMouseExpert
+np.set_printoptions(precision=3, suppress=True) | can you move this to test_spacemouse() ? this should be only locally valid |
serl | github_2023 | python | 23 | rail-berkeley | jianlanluo | @@ -0,0 +1,21 @@
+""" Test the spacemouse output. """
+
+import time
+import numpy as np
+from serl_robot_infra.franka_env.spacemouse.spacemouse_expert import SpaceMouseExpert
+np.set_printoptions(precision=3, suppress=True)
+
+def test_spacemouse():
+ """ Test the SpaceMouseExpert class. """ | can you add detailed descriptions? |
serl | github_2023 | python | 23 | rail-berkeley | jianlanluo | @@ -0,0 +1,33 @@
+""" Test the spacemouse output. """
+
+
+def test_spacemouse():
+ """Test the SpaceMouseExpert class.
+
+ This interactive test prints the action and buttons of the spacemouse at a rate of 10Hz.
+ The user is expected to move the spacemouse and press its buttons while the test is running.
+ ... | import should be on top of the file |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,447 @@
+"""
+This file starts a control server running on the real time PC connected to the franka robot.
+In a screen run `python franka_server.py`
+"""
+import os
+import sys
+from flask import Flask, request, jsonify
+import numpy as np
+import rospy
+import time
+import subprocess
+from scipy.spatial.tra... | this is assume 10HZ, so 10s ?
probably don't use this hardcoding |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,447 @@
+"""
+This file starts a control server running on the real time PC connected to the franka robot.
+In a screen run `python franka_server.py`
+"""
+import os
+import sys
+from flask import Flask, request, jsonify
+import numpy as np
+import rospy
+import time
+import subprocess
+from scipy.spatial.tra... | change the variable name to make it more informative |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,447 @@
+"""
+This file starts a control server running on the real time PC connected to the franka robot.
+In a screen run `python franka_server.py`
+"""
+import os
+import sys
+from flask import Flask, request, jsonify
+import numpy as np
+import rospy
+import time
+import subprocess
+from scipy.spatial.tra... | can you reorganize this block of code ? make it a function and move to main >? |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,447 @@
+"""
+This file starts a control server running on the real time PC connected to the franka robot.
+In a screen run `python franka_server.py`
+"""
+import os
+import sys
+from flask import Flask, request, jsonify
+import numpy as np
+import rospy
+import time
+import subprocess
+from scipy.spatial.tra... | are these even used ?
delete if not used |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,300 @@
+import gym
+from gym import spaces
+import numpy as np
+from franka_robotiq_env import FrankaRobotiq
+import time
+from scipy.spatial.transform import Rotation
+import requests
+import copy
+import cv2
+from camera.video_capture import VideoCapture
+from camera.rs_capture import RSCapture
+import que... | rewrite this function
1) make timeout an argument
2) make required precision an argument |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,300 @@
+import gym
+from gym import spaces
+import numpy as np
+from franka_robotiq_env import FrankaRobotiq
+import time
+from scipy.spatial.transform import Rotation
+import requests
+import copy
+import cv2
+from camera.video_capture import VideoCapture
+from camera.rs_capture import RSCapture
+import que... | make this configurable |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,300 @@
+import gym
+from gym import spaces
+import numpy as np
+from franka_robotiq_env import FrankaRobotiq
+import time
+from scipy.spatial.transform import Rotation
+import requests
+import copy
+import cv2
+from camera.video_capture import VideoCapture
+from camera.rs_capture import RSCapture
+import que... | rewrite , removing hardcoding |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,300 @@
+import gym
+from gym import spaces
+import numpy as np
+from franka_robotiq_env import FrankaRobotiq
+import time
+from scipy.spatial.transform import Rotation
+import requests
+import copy
+import cv2
+from camera.video_capture import VideoCapture
+from camera.rs_capture import RSCapture
+import que... | is this even used after UR5 cable routing ? |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,300 @@
+import gym
+from gym import spaces
+import numpy as np
+from franka_robotiq_env import FrankaRobotiq
+import time
+from scipy.spatial.transform import Rotation
+import requests
+import copy
+import cv2
+from camera.video_capture import VideoCapture
+from camera.rs_capture import RSCapture
+import que... | clean up |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,247 @@
+import gym
+from gym import spaces
+import numpy as np
+from franka_robotiq_env import FrankaRobotiq
+import time
+from scipy.spatial.transform import Rotation
+import requests
+import copy
+import cv2
+from camera.video_capture import VideoCapture
+from camera.rs_capture import RSCapture
+import que... | same redo this function |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,130 @@
+import gym
+from gym import spaces
+import numpy as np
+# from franka.scripts.spacemouse_teleop import SpaceMouseExpert
+import time
+from franka_robotiq_env import FrankaRobotiq
+import copy
+import requests
+
+class PCBEnv(FrankaRobotiq):
+ def __init__(self):
+
+ super().__init__()
+ ... | if reset / get img was called across all envs, should make another file, and import those from that file in env.py |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,267 @@
+import time
+from gym import Env, spaces
+import gym
+import numpy as np
+from gym.spaces import Box
+import copy
+from robot_infra.spacemouse.spacemouse_teleop import SpaceMouseExpert
+from scipy.spatial.transform import Rotation as R
+
+
+class ProxyEnv(Env):
+ def __init__(self, wrapped_env):
+... | clean up |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,267 @@
+import time
+from gym import Env, spaces
+import gym
+import numpy as np
+from gym.spaces import Box
+import copy
+from robot_infra.spacemouse.spacemouse_teleop import SpaceMouseExpert
+from scipy.spatial.transform import Rotation as R
+
+
+class ProxyEnv(Env):
+ def __init__(self, wrapped_env):
+... | we should probably do this in the env side |
serl | github_2023 | python | 5 | rail-berkeley | jianlanluo | @@ -0,0 +1,267 @@
+import time
+from gym import Env, spaces
+import gym
+import numpy as np
+from gym.spaces import Box
+import copy
+from robot_infra.spacemouse.spacemouse_teleop import SpaceMouseExpert
+from scipy.spatial.transform import Rotation as R
+
+
+class ProxyEnv(Env):
+ def __init__(self, wrapped_env):
+... | what are you doing here? F/T is always in EE frame |
serl | github_2023 | python | 5 | rail-berkeley | youliangtan | @@ -0,0 +1,472 @@
+"""Gym Interface for Franka"""
+import numpy as np
+import gym
+from pyquaternion import Quaternion
+import cv2
+import copy
+from scipy.spatial.transform import Rotation
+import time
+import requests
+from gym import core, spaces
+from camera.video_capture import VideoCapture
+from camera.rs_capture... | Rename this `FrankaRobotiqEnv` |
serl | github_2023 | python | 5 | rail-berkeley | youliangtan | @@ -0,0 +1,472 @@
+"""Gym Interface for Franka"""
+import numpy as np
+import gym
+from pyquaternion import Quaternion
+import cv2
+import copy
+from scipy.spatial.transform import Rotation
+import time
+import requests
+from gym import core, spaces
+from camera.video_capture import VideoCapture
+from camera.rs_capture... | Move `euler_2_quat` and `quat_2_euler` to a `utils.py` |
serl | github_2023 | python | 5 | rail-berkeley | youliangtan | @@ -0,0 +1,472 @@
+"""Gym Interface for Franka"""
+import numpy as np
+import gym
+from pyquaternion import Quaternion
+import cv2
+import copy
+from scipy.spatial.transform import Rotation
+import time
+import requests
+from gym import core, spaces
+from camera.video_capture import VideoCapture
+from camera.rs_capture... | This entire code block is quite unreadable. Requires more cleanup (e.g. what is jpos). Add those val (retry_count, tolerance, thresh, etc.) as configs/params and also add comments. type cast `jpos: np.narray` is always recommended |
serl | github_2023 | python | 5 | rail-berkeley | youliangtan | @@ -0,0 +1,447 @@
+"""
+This file starts a control server running on the real time PC connected to the franka robot.
+In a screen run `python franka_server.py`
+"""
+import os
+import sys
+from flask import Flask, request, jsonify
+import numpy as np
+import rospy
+import time
+import subprocess
+from scipy.spatial.tra... | use `argparser` |
serl | github_2023 | python | 5 | rail-berkeley | youliangtan | @@ -0,0 +1,17 @@
+from setuptools import setup
+setup(name='franka_env', | Now `serl` is organized as
- serl
- `franka_sim`
- `serl_launcher`
- `examples`
- `franka_env` (TODO, or other names, serl_franka_infra)
Thus, if it make sense try to organize the robot code into a separate pkg, and add executables to `examples` or `scripts`
|
serl | github_2023 | python | 5 | rail-berkeley | youliangtan | @@ -0,0 +1,472 @@
+"""Gym Interface for Franka"""
+import numpy as np
+import gym
+from pyquaternion import Quaternion
+import cv2
+import copy
+from scipy.spatial.transform import Rotation
+import time
+import requests
+from gym import core, spaces
+from camera.video_capture import VideoCapture
+from camera.rs_capture... | Hard coded `serial_num` again. should have all these in a init_rs() function. All these detailed impl of getting the cam can be placed in `rs_capture.py` too |
serl | github_2023 | python | 5 | rail-berkeley | youliangtan | @@ -0,0 +1,447 @@
+"""
+This file starts a control server running on the real time PC connected to the franka robot.
+In a screen run `python franka_server.py`
+"""
+import os
+import sys
+from flask import Flask, request, jsonify
+import numpy as np
+import rospy
+import time
+import subprocess
+from scipy.spatial.tra... | have all these being placed within `if __name__ == '__main__':`?
Also, if this script `flask` server script is getting too long, would split both the flask server and "robot ros server" into 2 different scripts. I would also `rospy.init_node()` the node in the class init. |
serl | github_2023 | python | 5 | rail-berkeley | youliangtan | @@ -0,0 +1,447 @@
+"""
+This file starts a control server running on the real time PC connected to the franka robot.
+In a screen run `python franka_server.py`
+"""
+import os
+import sys
+from flask import Flask, request, jsonify
+import numpy as np
+import rospy
+import time
+import subprocess
+from scipy.spatial.tra... | if these print out is getting overwhelming, can consider use `logging.debug()` |
serl | github_2023 | python | 12 | rail-berkeley | youliangtan | @@ -0,0 +1,104 @@
+import gymnasium as gym
+from tqdm import tqdm
+import numpy as np
+import copy
+import pickle as pkl
+import datetime
+
+import franka_env
+
+from franka_env.envs.relative_env import RelativeFrame
+from franka_env.envs.wrappers import (
+ SpacemouseIntervention,
+ Quat2EulerWrapper,
+)
+
+from... | use `serl_launcher` |
serl | github_2023 | python | 12 | rail-berkeley | youliangtan | @@ -0,0 +1,110 @@
+import gymnasium as gym
+from tqdm import tqdm
+import numpy as np
+import copy
+import pickle as pkl
+import datetime
+
+import franka_env
+
+from franka_env.envs.relative_env import RelativeFrame
+from franka_env.envs.wrappers import (
+ SpacemouseIntervention,
+ Quat2EulerWrapper,
+ FWBWF... | same, use `serl_launcher`, same for all imports in this PR |
serl | github_2023 | python | 12 | rail-berkeley | youliangtan | @@ -0,0 +1,110 @@
+import gymnasium as gym
+from tqdm import tqdm
+import numpy as np
+import copy
+import pickle as pkl
+import datetime
+
+import franka_env
+
+from franka_env.envs.relative_env import RelativeFrame
+from franka_env.envs.wrappers import (
+ SpacemouseIntervention,
+ Quat2EulerWrapper,
+ FWBWF... | Do we need to provide these demos pkl files in the release? |
serl | github_2023 | python | 12 | rail-berkeley | youliangtan | @@ -0,0 +1,170 @@
+import numpy as np
+import time
+import requests
+import copy
+import cv2
+import queue
+import gymnasium as gym
+
+from franka_env.envs.franka_env import FrankaEnv
+from franka_env.utils.rotations import euler_2_quat
+from franka_env.envs.bin_relocation_env.config import BinEnvConfig
+
+
+class Fran... | hardcoded, use config.ypy |
serl | github_2023 | python | 12 | rail-berkeley | youliangtan | @@ -0,0 +1,110 @@
+import gymnasium as gym
+from tqdm import tqdm
+import numpy as np
+import copy
+import pickle as pkl
+import datetime
+
+import franka_env
+
+from franka_env.envs.relative_env import RelativeFrame
+from franka_env.envs.wrappers import (
+ SpacemouseIntervention,
+ Quat2EulerWrapper,
+ FWBWF... | both `checkpoint_path` not used |
serl | github_2023 | python | 12 | rail-berkeley | youliangtan | @@ -0,0 +1,68 @@
+import gymnasium as gym
+from tqdm import tqdm
+import numpy as np
+import copy
+
+import franka_env
+
+from franka_env.envs.relative_env import RelativeFrame
+from franka_env.envs.wrappers import (
+ SpacemouseIntervention,
+ Quat2EulerWrapper,
+ FWBWFrontCameraBinaryRewardClassifierWrapper,... | same, unused checkpoint path |
serl | github_2023 | python | 12 | rail-berkeley | youliangtan | @@ -0,0 +1,26 @@
+import gymnasium as gym
+from gymnasium.core import Env
+from copy import deepcopy
+
+
+class FrontCameraWrapper(gym.ObservationWrapper):
+ def __init__(self, env: Env):
+ super().__init__(env)
+ front_obs_space = {
+ k: space for k, space in self.observation_space.items() ... | Does the `async_drq_randomized.py` for bin reloc just uses front img as obs space?
If so, is it better if directly overload the `self.observation_space` with `self.front_observation_space`? and update observation?
|
serl | github_2023 | python | 12 | rail-berkeley | youliangtan | @@ -7,6 +7,47 @@
from franka_env.spacemouse.spacemouse_expert import SpaceMouseExpert
from franka_env.utils.rotations import quat_2_euler
+sigmoid = lambda x: 1 / (1 + np.exp(-x))
+
+
+class FWBWFrontCameraBinaryRewardClassifierWrapper(gym.Wrapper):
+ """
+ This wrapper uses the front camera images to compute... | add a simple comment indicates reward classifier for forward-backward reward cls |
serl | github_2023 | python | 12 | rail-berkeley | youliangtan | @@ -0,0 +1,127 @@
+import gymnasium as gym
+from tqdm import tqdm
+import numpy as np
+import copy
+import pickle as pkl
+import datetime
+
+import franka_env
+
+from franka_env.envs.relative_env import RelativeFrame
+from franka_env.envs.wrappers import (
+ SpacemouseIntervention,
+ Quat2EulerWrapper,
+)
+
+from... | Here it is also recording failed transitions? I think we can combine `record_goals_images.py` and `record_failed_images.py` |
serl | github_2023 | python | 12 | rail-berkeley | youliangtan | @@ -0,0 +1,159 @@
+import pickle as pkl
+import jax
+from jax import numpy as jnp
+import flax.linen as nn
+from flax.training.train_state import TrainState
+from flax.core import frozen_dict
+from flax.training import checkpoints
+import optax
+from tqdm import tqdm
+import gymnasium as gym
+import os
+from absl impor... | is okay to hardcode for now, but at least make the path configurable as `DEFINE_string()` flag |
serl | github_2023 | others | 7 | rail-berkeley | youliangtan | @@ -0,0 +1,25 @@
+# SERL Robot Infra
+
+All robot code is structured as follows:
+There is a Flask server which sends commands to the robot via ROS. There is a gym env for the robot which communicates with the Flask server via post requests.
+
+- `robot_server`: hosts a Flask server which sends commands to the robot vi... | Update this to use: `serl_franka_controllers` https://github.com/rail-berkeley/serl_franka_controllers |
serl | github_2023 | others | 7 | rail-berkeley | youliangtan | @@ -0,0 +1,25 @@
+# SERL Robot Infra
+
+All robot code is structured as follows:
+There is a Flask server which sends commands to the robot via ROS. There is a gym env for the robot which communicates with the Flask server via post requests.
+
+- `robot_server`: hosts a Flask server which sends commands to the robot vi... | Can add this:
```mermaid
graph LR
A[Robot] <-- ROS --> B[Robot Server]
B <-- HTTP --> C[Gym Env]
C <-- Lib --> D[RL Policy]
```
|
serl | github_2023 | python | 7 | rail-berkeley | youliangtan | @@ -0,0 +1,362 @@
+"""Gym Interface for Franka"""
+import numpy as np
+import gymnasium as gym
+import cv2
+import copy
+from scipy.spatial.transform import Rotation
+import time
+import requests
+from gymnasium import spaces
+import queue
+import threading
+from datetime import datetime
+
+from franka_env.camera.video... | I added a `DefaultEnvConfig` in the base env class here. I'm still thinking of the best way for users to configure this. ideally, they should be a separate config or --flags.
|
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,28 @@
+import threading
+import pyspacemouse
+import numpy as np
+
+
+class SpaceMouseExpert:
+ def __init__(self):
+ pyspacemouse.open()
+
+ self.state_lock = threading.Lock()
+ self.latest_data = {"action": np.zeros(6), "buttons": [0, 0]}
+ # Start a thread to continuously re... | can we add a justification here? it looks this is very specific to the way how we use our spacemouse |
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,83 @@
+import numpy as np
+import gymnasium as gym
+from gymnasium import spaces
+import time
+import requests
+import copy
+
+from franka_env.envs.franka_robotiq_env import FrankaRobotiqEnv
+from franka_env.utils.rotations import euler_2_quat
+
+
+class FrankaRobotiqPCBInsert(FrankaRobotiqEnv):
+ def __i... | crop_image() should be optional |
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,83 @@
+import numpy as np
+import gymnasium as gym
+from gymnasium import spaces
+import time
+import requests
+import copy
+
+from franka_env.envs.franka_robotiq_env import FrankaRobotiqEnv
+from franka_env.utils.rotations import euler_2_quat
+
+
+class FrankaRobotiqPCBInsert(FrankaRobotiqEnv):
+ def __i... | like i said in the PR comments, we should probably get another python file and use a ConfigDict to encompass all experiment-related parameters, when we launch our experiments, we should only need python --config xxx.py |
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,83 @@
+import numpy as np
+import gymnasium as gym
+from gymnasium import spaces
+import time
+import requests
+import copy
+
+from franka_env.envs.franka_robotiq_env import FrankaRobotiqEnv
+from franka_env.utils.rotations import euler_2_quat
+
+
+class FrankaRobotiqPCBInsert(FrankaRobotiqEnv):
+ def __i... | fix this |
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,40 @@
+import numpy as np
+import gymnasium as gym
+from gymnasium import spaces
+
+from franka_env.envs.franka_robotiq_env import FrankaRobotiqEnv
+from franka_env.utils.rotations import euler_2_quat
+
+
+class FrankaRobotiqPegInsert(FrankaRobotiqEnv):
+ def __init__(self, **kwargs):
+ super().__i... | abstract this away in config file |
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,362 @@
+"""Gym Interface for Franka"""
+import numpy as np
+import gymnasium as gym
+import cv2
+import copy
+from scipy.spatial.transform import Rotation
+import time
+import requests
+from gymnasium import spaces
+import queue
+import threading
+from datetime import datetime
+
+from franka_env.camera.video... | configurable in a py file
|
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,362 @@
+"""Gym Interface for Franka"""
+import numpy as np
+import gymnasium as gym
+import cv2
+import copy
+from scipy.spatial.transform import Rotation
+import time
+import requests
+from gymnasium import spaces
+import queue
+import threading
+from datetime import datetime
+
+from franka_env.camera.video... | what is old_sign doing here ?
|
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,362 @@
+"""Gym Interface for Franka"""
+import numpy as np
+import gymnasium as gym
+import cv2
+import copy
+from scipy.spatial.transform import Rotation
+import time
+import requests
+from gymnasium import spaces
+import queue
+import threading
+from datetime import datetime
+
+from franka_env.camera.video... | why can't we just clip rotation all at once? |
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,362 @@
+"""Gym Interface for Franka"""
+import numpy as np
+import gymnasium as gym
+import cv2
+import copy
+from scipy.spatial.transform import Rotation
+import time
+import requests
+from gymnasium import spaces
+import queue
+import threading
+from datetime import datetime
+
+from franka_env.camera.video... | optional |
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,135 @@
+from scipy.spatial.transform import Rotation as R
+import gymnasium as gym
+import numpy as np
+from gym import Env
+
+
+class RelativeFrame(gym.Wrapper):
+ """
+ This wrapper makes the observation and action relative to the end-effector frame.
+ This wrapper is expected to be used on top of... | delete |
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,135 @@
+from scipy.spatial.transform import Rotation as R
+import gymnasium as gym
+import numpy as np
+from gym import Env
+
+
+class RelativeFrame(gym.Wrapper):
+ """
+ This wrapper makes the observation and action relative to the end-effector frame.
+ This wrapper is expected to be used on top of... | you can do this with together with homogenous transformation |
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,135 @@
+from scipy.spatial.transform import Rotation as R
+import gymnasium as gym
+import numpy as np
+from gym import Env
+
+
+class RelativeFrame(gym.Wrapper):
+ """
+ This wrapper makes the observation and action relative to the end-effector frame.
+ This wrapper is expected to be used on top of... | if it's a jax read-only array, can you convert to np array anyway? |
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,135 @@
+from scipy.spatial.transform import Rotation as R
+import gymnasium as gym
+import numpy as np
+from gym import Env
+
+
+class RelativeFrame(gym.Wrapper):
+ """
+ This wrapper makes the observation and action relative to the end-effector frame.
+ This wrapper is expected to be used on top of... | what is T matrix? make the name more informative |
serl | github_2023 | python | 7 | rail-berkeley | jianlanluo | @@ -0,0 +1,135 @@
+from scipy.spatial.transform import Rotation as R
+import gymnasium as gym
+import numpy as np
+from gym import Env
+
+
+class RelativeFrame(gym.Wrapper):
+ """
+ This wrapper makes the observation and action relative to the end-effector frame.
+ This wrapper is expected to be used on top of... | do you really need to write a function of this ? |
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