Merge pull request #546 from youliangtan/fix-part-controller-demo

Fix part controller demo

docs/modules/controllers.rst

@@ -222,19 +222,19 @@ Controller Settings
 
 Loading a Controller
 ---------------------
-By default, if no controller configuration is specified during environment creation, then ``JOINT_VELOCITY`` controllers with robot-specific configurations will be used. 
+By default, user will use the `load_composite_controller_config()` method to create a controller configuration.
 
 Using a Default Controller Configuration
 *****************************************
-Any controller can be used with its default configuration, and can be easily loaded into a given environment by calling its name as shown below (where ``controller_name`` is one of acceptable controller ``type`` strings):
+Any controller can be used with its default configuration, and can be easily loaded into a given environment by calling its name as shown below (where ``controller`` is one of acceptable controller ``type`` strings):
 
 .. code-block:: python
 
     import robosuite as suite
-    from robosuite import load_controller_config
+    from robosuite import load_composite_controller_config
 
-    # Load the desired controller's default config as a dict
-    config = load_controller_config(default_controller=controller_name)
+    # Load the desired controller config with default Basic controller
+    config = load_composite_controller_config(controller="BASIC")
 
     # Create environment
     env = suite.make("Lift", robots="Panda", controller_configs=config, ... )
@@ -248,13 +248,13 @@ A custom controller configuration can also be used by simply creating a new conf
 .. code-block:: python
 
     import robosuite as suite
-    from robosuite import load_controller_config
+    from robosuite import load_composite_controller_config
 
     # Path to config file
     controller_fpath = "/your/custom/config/filepath/here/filename.json"
 
     # Import the file as a dict
-    config = load_controller_config(custom_fpath=controller_fpath)
+    config = load_composite_controller_config(controller=controller_fpath)
 
     # Create environment
     env = suite.make("Lift", robots="Panda", controller_configs=config, ... )

robosuite/controllers/composite/composite_controller_factory.py

@@ -62,11 +62,11 @@ def refactor_composite_controller_config(controller_config, robot_type, arms):
     else:
         new_controller_config = {}
         new_controller_config["type"] = "BASIC"
-        new_controller_config["body_parts"] = {}
+        new_controller_config["body_parts_controller_configs"] = {}
 
     for arm in arms:
-        new_controller_config["body_parts"][arm] = copy.deepcopy(controller_config)
-        new_controller_config["body_parts"][arm]["gripper"] = {"type": "GRIP"}
+        new_controller_config["body_parts_controller_configs"][arm] = copy.deepcopy(controller_config)
+        new_controller_config["body_parts_controller_configs"][arm]["gripper"] = {"type": "GRIP"}
     return new_controller_config
 
 
@@ -127,13 +127,13 @@ def load_composite_controller_config(controller: Optional[str] = None, robot: Op
 
     validate_composite_controller_config(composite_controller_config)
     body_parts_controller_configs = composite_controller_config.pop("body_parts_controller_configs", {})
-    composite_controller_config["body_parts"] = {}
+    composite_controller_config["body_parts_controller_configs"] = {}
     for part_name, part_config in body_parts_controller_configs.items():
         if part_name == "arms":
             for arm_name, arm_config in part_config.items():
-                composite_controller_config["body_parts"][arm_name] = arm_config
+                composite_controller_config["body_parts_controller_configs"][arm_name] = arm_config
         else:
-            composite_controller_config["body_parts"][part_name] = part_config
+            composite_controller_config["body_parts_controller_configs"][part_name] = part_config
 
     return composite_controller_config
 

robosuite/controllers/config/default/parts/ik_pose.json

@@ -4,4 +4,4 @@
     "ik_ori_limit": 0.05,
     "interpolation": null,
     "ramp_ratio": 0.2
-  }
+  }

robosuite/controllers/config/default/parts/joint_position.json

@@ -12,4 +12,4 @@
     "qpos_limits": null,
     "interpolation": null,
     "ramp_ratio": 0.2
-  }
+  }

robosuite/controllers/config/default/parts/joint_torque.json

@@ -7,4 +7,4 @@
     "torque_limits": null,
     "interpolation": null,
     "ramp_ratio": 0.2
-  }
+  }

robosuite/controllers/config/default/parts/joint_velocity.json

@@ -8,4 +8,4 @@
     "velocity_limits": [-1,1],
     "interpolation": null,
     "ramp_ratio": 0.2
-  }
+  }

robosuite/controllers/config/default/parts/osc_pose.json

@@ -15,4 +15,4 @@
     "control_delta": true,
     "interpolation": null,
     "ramp_ratio": 0.2
-  }
+  }

robosuite/controllers/config/default/parts/osc_position.json

@@ -13,4 +13,4 @@
     "control_delta": true,
     "interpolation": null,
     "ramp_ratio": 0.2
-  }
+  }

robosuite/robots/fixed_base_robot.py

@@ -49,6 +49,7 @@ def _load_controller(self):
             robot_model=self.robot_model,
             grippers={self.get_gripper_name(arm): self.gripper[arm] for arm in self.arms},
         )
+        print("Loaded composite controller: {}".format(self.composite_controller))
 
         self._load_arm_controllers()
 

robosuite/robots/robot.py

@@ -70,7 +70,10 @@ def __init__(
             self.composite_controller_config = composite_controller_config
         else:
             self.composite_controller_config = load_composite_controller_config(robot=robot_type)
-        self.part_controller_config = copy.deepcopy(self.composite_controller_config.get("body_parts", {}))
+
+        self.part_controller_config = copy.deepcopy(
+            self.composite_controller_config.get("body_parts_controller_configs", {})
+        )
 
         self.gripper = self._input2dict(None)
         self.gripper_type = self._input2dict(gripper_type)
@@ -145,7 +148,9 @@ def _postprocess_part_controller_config(self):
         Remove unused parts that are not in the controller.
         Called by _load_controller() function
         """
-        for part_name, controller_config in self.composite_controller_config.get("body_parts", {}).items():
+        for part_name, controller_config in self.composite_controller_config.get(
+            "body_parts_controller_configs", {}
+        ).items():
             if not self.has_part(part_name):
                 ROBOSUITE_DEFAULT_LOGGER.warn(
                     f'The config has defined for the controller "{part_name}", '

robosuite/scripts/tune_joints.py

@@ -275,14 +275,13 @@ def print_command(char, info):
     print_command("t", "Toggle between robot arms in the environment")
     print_command("r", "Reset active arm joints to all 0s")
     print_command("up/down", "incr/decrement the active joint angle")
-    print_command("right/left", "incr/decrement the delta joint angle per up/down keypress")
     print("")
 
     # Setup printing options for numbers
     np.set_printoptions(formatter={"float": lambda x: "{0:0.3f}".format(x)})
 
     # Define the controller
-    controller_config = robosuite.load_controller_config(default_controller="JOINT_POSITION")
+    controller_config = robosuite.load_composite_controller_config(controller="BASIC")
 
     # make the environment
     env = robosuite.make(

tests/test_controllers/test_variable_impedance.py

@@ -56,7 +56,7 @@ def test_variable_impedance():
         np.random.seed(3)
 
         composite_controller_config = load_composite_controller_config(controller=None, robot="Sawyer")
-        controller_config = composite_controller_config["body_parts"]["right"]
+        controller_config = composite_controller_config["body_parts_controller_configs"]["right"]
         controller_config["type"] = controller_name
         # Manually edit impedance settings
         controller_config["impedance_mode"] = "variable"