first commit

.gitignore

@@ -0,0 +1,163 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+tags
+.DS_Store
+data
+# video
+configuration.h
+
+# output files
+/test
+/datasets
+/datasets_kitchen
+/datasets_door
+/save
+/runs
+
+/macro
+MUJOCO_LOG.TXT
+
+# backup files
+.not_using
+
+# logger outputs
+wandb
+
+/.vscode

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Mingyo Seo
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -0,0 +1,46 @@
+# LEGATO: Cross-Embodiment Visual Imitation for Whole-Body Manipulation using a Wearable Gripper
+[Mingyo Seo](https://mingyoseo.com), [H. Andy Park](https://www.linkedin.com/in/robodreamer/), [Shenli Yuan](https://yuanshenli.com), [Yuke Zhu](https://yukezhu.me/)†, [Luis Sentis](https://sites.google.com/view/lsentis)†
+
+[Project](https://ut-hcrl.github.io/LEGATO) | [arXiv](https://arxiv.org/abs/2411.03682)
+
+![intro](docs/imgs/overview.png)
+
+## Abstract
+Cross-embodiment imitation learning enables policies trained on specific embodiments to transfer across different robots, unlocking the potential for large-scale imitation learning that is both cost-effective and highly reusable. This paper presents LEGATO, a cross-embodiment imitation learning framework for visuomotor skill transfer across varied kinematic morphologies. We introduce a handheld gripper that unifies action and observation spaces, allowing tasks to be defined consistently across robots. Using this gripper, we train visuomotor policies via imitation learning, applying a motion-invariant transformation to compute the training loss. Gripper motions are then retargeted into high-degree-of-freedom whole-body motions using inverse kinematics for deployment across diverse embodiments. Our evaluations in simulation and real-robot experiments highlight the framework’s effectiveness in learning and transferring visuomotor skills across various robots.
+
+If you find our work useful in your research, please consider [citing](#citing).
+
+
+## Dependencies
+- Python 3.9.2 (recommended)
+- [Robosuite  1.4.1](https://github.com/ARISE-Initiative/robosuite/tree/v1.4.1)
+- [Robomimic 0.3.0](https://github.com/ARISE-Initiative/robomimic/tree/v0.3.0)
+- [PyTorch](https://github.com/pytorch/pytorch)
+- [pytorch3d](https://github.com/facebookresearch/pytorch3d) (We are using [these functions](https://github.com/UT-HCRL/LEGATO/tree/main/pytorch3d) from the original PyTorch3D repository.)
+
+
+## Usage
+Please see [Setup](docs/setup.md) and [Usage](docs/usage.md).
+
+
+## Dataset and pre-trained models
+We provide our demonstration dataset in simulation environment ([link](https://utexas.box.com/s/5twb8okdnfr2uhyf4fj3bh5ohu4w3o4r)) and trained models of the Visuomotor Policies ([link](https://utexas.box.com/s/392bihmqdulcwj5aqndl2w2hohxt1rza)).
+
+
+## License
+
+LEGATO is released under the [MIT License](LICENSE). The `flex_ik_solver` part of this code was produced as part of Mingyo Seo's internship at the Boston Dynamics AI Institute in 2023 and 2024 and is provided "as is" without active maintenance. For questions, please contact [Mingyo Seo](https://mingyoseo.com) or [H. Andy Park](https://www.linkedin.com/in/robodreamer/).
+
+
+## Citing
+```
+@misc{seo2024legato,
+    title={LEGATO: Cross-Embodiment Imitation Using a Grasping Tool},
+    author={Seo, Mingyo and Park, H. Andy and Yuan, Shenli and Zhu, Yuke and
+          and Sentis, Luis},
+    year={2024}
+    eprint={2411.03682},
+    archivePrefix={arXiv},
+    primaryClass={cs.RO}
+}
+```

configs/gripper.yaml

@@ -0,0 +1,37 @@
+# Andy Park
+# Gripper Params table
+
+# !vars
+offsets:
+  - &_EXAMPLE 0
+
+# !main
+system:
+  PORTNAME: '/dev/ttyUSB0'
+  BAUDRATE: 1000000
+  PROTOCOL_VERSION: 2.0 #This should be the same for all dynamixel motors we are interested in
+  ROBOT_NAME: "Dynamixel ARM"
+  RECALIBRATE: False #this sets the startup position to the calibration_enc value if you want to do that
+
+  ANGLE_STANDARD: DEGREE #radians to be supported in future versions, maybe, if Andy isn't lazy
+
+actuator:
+  XM430:
+    counter_per_range: 4096
+    range_deg: 360.0
+
+gripper:
+  finger_left:
+    id: 1
+    series: XM430
+    torque_limit: 0.1
+    velocity_limit: 0.05
+    positive_direction: "CCW"
+    calibration_enc: 0
+  finger_right:
+    id: 2
+    series: XM430
+    torque_limit: 0.1
+    velocity_limit: 0.05
+    positive_direction: "CCW"
+    calibration_enc: 0