우선 main branch로 이동하고 변경 사항을 최신화하자

git checkout main
git pull origin main

만약 로컬 브랜치와 원격 브랜치가 서로 다른 방향으로 변경 이력이 생긴 경우 git pull origin main 명령을 실행했을 때 아래와 같이 어떻게 해당 변경 이력을 정리할지 명시적으로 결정해달라고 하는데

hint: You have divergent branches and need to specify how to reconcile them.
hint: You can do so by running one of the following commands sometime before
hint: your next pull:
hint: 
hint:   git config pull.rebase false  # merge (the default strategy)
hint:   git config pull.rebase true   # rebase
hint:   git config pull.ff only       # fast-forward only
hint: 
hint: You can replace "git config" with "git config --global" to set a default
hint: preference for all repositories. You can also pass --rebase, --no-rebase,
hint: or --ff-only on the command line to override the configured default per
hint: invocation.

이럴 경우 아래 코드를 실행하여 Git이 자동으로 Merge Commit을 만들어서 로컬과 원격의 변경 이력을 합치게 하자.

git pull origin main --no-rebase

만약, 충돌이 일어나면 작업하던 branch에서 충돌을 해결해줘야 한다.

이렇게 해결이 되면 다시 git pull한 후 작업하던 branch로 checkout한 후 main branch와 merge하면 끝

git pull origin main
git checkout <작업브랜치>
git merge main

import pathlib

### Task parameters
# DATA_DIR = '<put your data dir here>'
# DATA_DIR = '/home/hyunjin/gact_ws/src/G-ACT/dataset'
DATA_DIR = '/media/hyunjin/T7'
TASK_CONFIGS = {
    'rby1_tissue':{
        'dataset_dir': DATA_DIR + '/rby1_tissue_hdf5',
        'num_episodes': 50,
        'episode_len': 600,
        'camera_names': ['left', 'right', 'front']
    },
    'rby1_transfer':{
        'dataset_dir': DATA_DIR + '/rby1_transfer_l515_line',
        'num_episodes': 50,
        'episode_len': 600,
        'camera_names': ['left', 'right', 'front']
    },
    'rby1_click_pen':{
        'dataset_dir': DATA_DIR + '/rby1_click_pen',
        'num_episodes': 50,
        'episode_len': 600,
        'camera_names': ['left', 'right', 'front']
    }
}

### Simulation envs fixed constants
DT = 0.02
JOINT_NAMES = ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"]
START_ARM_POSE = [0, -0.96, 1.16, 0, -0.3, 0, 0.02239, -0.02239,  0, -0.96, 1.16, 0, -0.3, 0, 0.02239, -0.02239]

XML_DIR = str(pathlib.Path(__file__).parent.resolve()) + '/assets/' # note: absolute path

# Left finger position limits (qpos[7]), right_finger = -1 * left_finger
MASTER_GRIPPER_POSITION_OPEN = 0.02417
MASTER_GRIPPER_POSITION_CLOSE = 0.01244
PUPPET_GRIPPER_POSITION_OPEN = 0.05800
PUPPET_GRIPPER_POSITION_CLOSE = 0.01844

# Gripper joint limits (qpos[6])
MASTER_GRIPPER_JOINT_OPEN = 0.3083
MASTER_GRIPPER_JOINT_CLOSE = -0.6842
PUPPET_GRIPPER_JOINT_OPEN = 1.4910
PUPPET_GRIPPER_JOINT_CLOSE = -0.6213

############################ Helper functions ############################

MASTER_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_POSITION_CLOSE) / (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE)
PUPPET_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_POSITION_CLOSE) / (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE)
MASTER_GRIPPER_POSITION_UNNORMALIZE_FN = lambda x: x * (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE) + MASTER_GRIPPER_POSITION_CLOSE
PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN = lambda x: x * (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE) + PUPPET_GRIPPER_POSITION_CLOSE
MASTER2PUPPET_POSITION_FN = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(MASTER_GRIPPER_POSITION_NORMALIZE_FN(x))

MASTER_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE)
PUPPET_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE)
MASTER_GRIPPER_JOINT_UNNORMALIZE_FN = lambda x: x * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE
PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN = lambda x: x * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE
MASTER2PUPPET_JOINT_FN = lambda x: PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN(MASTER_GRIPPER_JOINT_NORMALIZE_FN(x))

MASTER_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE)
PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE)

MASTER_POS2JOINT = lambda x: MASTER_GRIPPER_POSITION_NORMALIZE_FN(x) * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE
MASTER_JOINT2POS = lambda x: MASTER_GRIPPER_POSITION_UNNORMALIZE_FN((x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE))
PUPPET_POS2JOINT = lambda x: PUPPET_GRIPPER_POSITION_NORMALIZE_FN(x) * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE
PUPPET_JOINT2POS = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN((x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE))

MASTER_GRIPPER_JOINT_MID = (MASTER_GRIPPER_JOINT_OPEN + MASTER_GRIPPER_JOINT_CLOSE)/2