apply config controlType override to parent Demo class

demos/demo.py

@@ -7,7 +7,7 @@
 logger = logging.getLogger(__name__)
 
 import json
-
+from perls2.utils.yaml_config import YamlConfig
 class Demo(object):
     """Abstract class definition for demonstration.
     Demonstrations step an environment according to a series of actions
@@ -38,6 +38,11 @@ def __init__(self,
                  **kwargs):
         self.ctrl_type = ctrl_type
         self.config_file = config_file
+
+        # Overwrite config file controlType
+        self.config = YamlConfig(self.config_file)
+        self.config['world']['controlType'] = self.ctrl_type
+
         self.demo_type = demo_type
         self.test_fn = test_fn
 

demos/joint_demo.py

@@ -3,7 +3,6 @@
 
 from demo_envs import JointDemoEnv
 from demo_path import RampSingleJoint
-from perls2.utils.yaml_config import YamlConfig
 from demo import Demo
 import numpy as np
 import logging
@@ -54,11 +53,7 @@ def __init__(self,
                          demo_type=demo_type,
                          test_fn=test_fn, **kwargs)
 
-        # Overwrite config file controlType
-        config = YamlConfig(config_file)
-        config['world']['controlType'] = self.ctrl_type
-
-        self.env = JointDemoEnv(config=config,
+        self.env = JointDemoEnv(config=self.config,
                                 use_visualizer=True,
                                 name=None,
                                 test_fn=self.test_fn,

demos/osc_demo.py

@@ -89,7 +89,7 @@ def __init__(self,
                          config_file=config_file,
                          **kwargs)
 
-        self.env = OpSpaceDemoEnv(config=config_file,
+        self.env = OpSpaceDemoEnv(config=self.config,
                                   use_visualizer=True,
                                   name=None,
                                   test_fn=self.test_fn,