Feat/controller dependencies #990
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…to feat/controller-dependencies
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| @@ -117,7 +117,7 @@ def opacity(self, opacity): | |||
| if self.has_material(): | |||
| self.material.opacity_constant = opacity | |||
| else: | |||
| self.set_attribute("primvars:displayOpacity", th.tensor([opacity])) | |||
| self.set_attribute("primvars:displayOpacity", np.array([opacity])) | |||
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There is no np here and it's not allowed either. Does set_attribute not unwrap the tensor?
| dict: Default base joint controller config to control this robot's base. Uses velocity | ||
| control by default. |
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Seems to use position control by default
| cur_orn_mat = T.quat2mat(root_link_orn).T @ T.quat2mat(base_orn) | ||
| cur_pose = th.zeros((2, 4, 4)) | ||
| cur_pose[:, :3, :3] = cur_orn_mat | ||
| cur_pose[:, 3, 3] = 1.0 | ||
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| local_pose = th.zeros((2, 4, 4)) | ||
| local_pose[:] = th.eye(4) | ||
| local_pose[:, :3, 3] = u_vec[self.base_idx].view(2, 3) | ||
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| # Rotate the linear and angular velocity to the desired frame | ||
| lin_vel_global, _ = T.pose_transform(th.zeros(3), cur_orn, u_vec[self.base_idx[:3]], th.tensor([0, 0, 0, 1])) | ||
| ang_vel_global, _ = T.pose_transform(th.zeros(3), cur_orn, u_vec[self.base_idx[3:]], th.tensor([0, 0, 0, 1])) | ||
| global_pose = cur_pose @ local_pose | ||
| lin_vel_global, ang_vel_global = global_pose[0, :3, 3], global_pose[1, :3, 3] |
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Can you explain what's going on here? What was the original thing doing, what's the new one doing? Very hard to follow!
| @@ -115,7 +115,7 @@ def _create_discrete_action_space(self): | |||
| raise ValueError("VX300S does not support discrete actions!") | |||
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| @property | |||
| def controller_order(self): | |||
| def _raw_controller_order(self): | |||
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General question: it seems to me that this could easily be implemented in the manipulation/articulatedtrunk/locomotion etc robot classes since it's always exactly the same thing for every robot? (e.g. each class calls super and appends its extra element).
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Same for default_controllers.
| if name not in self._cache: | ||
| self._cache[name] = self._fcns[name]() | ||
| return self._cache[name] |
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I removed this on purpose: the caching currently already implicitly happens in ControllableObjectViewAPI thanks to its batching mechanism so this actually doesn't do anything except make cache misses just a bit slower.
| @@ -7,10 +7,11 @@ | |||
| import math | |||
| from typing import List, Optional, Tuple | |||
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| import torch | |||
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Lets remove the as th import then
| trunk: | ||
| name: JointController |
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I think we shouldn't need this right? Can we remove it? From all of these files?
| arm_0: | ||
| name: InverseKinematicsController | ||
| dependencies: [trunk] |
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Can we change this to subsume_controllers: to make it very very explicit what's going on? Also in the code that parses these.
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