Fix to cfg path to run from root perls2 directory.

StanfordVL · Feb 1, 2021 · 0783d3e · 0783d3e
1 parent 396925a
commit 0783d3e
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Showing 7 changed files with 20 additions and 16 deletions.
diff --git a/cfg/default_panda_controller.yaml b/cfg/default_panda_controller.yaml
@@ -8,8 +8,8 @@ panda_controller:
       damping: 1.0 #1 #0.5 #1 #0.5 # Damping factor [0,1]
       input_max: 1.0
       input_min: -1.0
-      output_max: 0.05
-      output_min: -0.05
+      output_max: 0.1
+      output_min: -0.1
     JointVelocity:
       kv: 10.0 #0.5
       input_max: 1.0

diff --git a/demos/demo.py b/demos/demo.py
@@ -34,7 +34,7 @@ def __init__(self,
                  ctrl_type,
                  demo_type,
                  test_fn,
-                 config_file="demo_control_cfg.yaml",
+                 config_file="demos/demo_control_cfg.yaml",
                  **kwargs):
         self.ctrl_type = ctrl_type
         self.config_file = config_file

diff --git a/demos/joint_demo.py b/demos/joint_demo.py
@@ -39,7 +39,7 @@ class JointSpaceDemo(Demo):
     def __init__(self,
                  ctrl_type,
                  demo_type,
-                 config_file="demo_control_cfg.yaml",
+                 config_file="demos/demo_control_cfg.yaml",
                  delta_val=0.005, num_steps=30,
                  test_fn='set_joint_delta',
                  **kwargs):
@@ -208,7 +208,7 @@ class SingleJointDemo(JointSpaceDemo):
     """Joint Space demonstration for a single joint.
     """
     def __init__(self,
-                 config_file="demo_control_cfg.yaml",
+                 config_file="demos/demo_control_cfg.yaml",
                  delta_val=0.005, num_steps=30,
                  test_fn='set_joint_delta',
                  joint_num=6,
@@ -248,7 +248,7 @@ class GravityCompDemo(JointSpaceDemo):
     """Gravity Compensation to demonstrate "floating" arm.
     """
     def __init__(self,
-                 config_file="demo_control_cfg.yaml",
+                 config_file="demos/demo_control_cfg.yaml",
                  num_steps=100,
                  **kwargs):
 
@@ -280,7 +280,7 @@ def get_action(self, goal_state, current_state):
 
 class JointImpDemoSeq(SingleJointDemo):
     def __init__(self,
-             config_file="demo_control_cfg.yaml",
+             config_file="demos/demo_control_cfg.yaml",
              delta_val=0.005, num_steps=30,
              test_fn='set_joint_delta',
              **kwargs):

diff --git a/examples/simple_reach/simple_reach_env.py b/examples/simple_reach/simple_reach_env.py
@@ -6,9 +6,7 @@
 import math
 import numpy as np
 from perls2.utils.yaml_config import YamlConfig
-
 from perls2.envs.env import Env
-
 import gym.spaces as spaces
 import logging
 

diff --git a/examples/switch_sim_real_reach/run_switch_sim_real.py b/examples/switch_sim_real_reach/run_switch_sim_real.py
@@ -30,7 +30,7 @@ def get_action(observation):
     return action
 
 
-env = SwitchSimRealEnv('./sim_real_reach.yaml', True, None)
+env = SwitchSimRealEnv('examples/switch_sim_real_reach/sim_real_reach.yaml', True, None)
 
 # Lists for saving demonstrations
 training_list = []

diff --git a/examples/switch_sim_real_reach/sim_real_reach.yaml b/examples/switch_sim_real_reach/sim_real_reach.yaml
@@ -1,13 +1,20 @@
 # Cfg file for SimpleReachEnv
 world:
   type: 'Real'
-  robot: 'sawyer'
+  robot: 'panda'
+  controlType: 'EEImpedance'
 data_dir: '../../data'
 # Simulation parameters
 sim_params:
   time_step: 0.001 #0.004166  # 1./240.
   steps_per_action: 20 # policy to sim update ratio
-  MAX_STEPS: 10
+  MAX_STEPS: 500
+
+policy_freq: 20 # For gazebo?
+control_freq: 500 # Hz
+
+# If set up has Kinect camera
+real_camera: False
 
 # Robots are specified by types and urdf locations
 # also may include intial setup like poses and orientations

diff --git a/examples/switch_sim_real_reach/switch_sim_real_env.py b/examples/switch_sim_real_reach/switch_sim_real_env.py
@@ -1,6 +1,5 @@
 import time
 import math
-import pybullet
 import numpy as np
 from perls2.utils.yaml_config import YamlConfig
 import logging
@@ -53,8 +52,8 @@ def __init__(self,
         self._initial_ee_orn = self.robot_interface.ee_orientation
 
         # For randomizing goal position in real world cases.
-        self.goal_upper_bound = np.add(self.reset_position, [0.1, 0.0, 0])
-        self.goal_lower_bound = np.add(self.reset_position, [-0.1, -0.0, 0])
+        self.goal_upper_bound = np.add(self.reset_position, [0.2, 0.0, 0])
+        self.goal_lower_bound = np.add(self.reset_position, [0.1, -0.0, 0])
 
     def reset(self):
         """Reset the environment.
@@ -208,7 +207,7 @@ def _check_termination(self):
             print("Done - success!")
             return True
         if (self.num_steps > self.MAX_STEPS):
-            print("Done - max steps reached.")
+            print("Done - max steps reached.\n Final dist to goal \t{}".format(abs_dist))
             return True
         else:
             return False