Fix part controller demo

.gitignore

@@ -17,7 +17,6 @@ eggs/
 .eggs/
 lib/
 lib64/
-parts/
 !robosuite/controllers/parts
 sdist/
 var/

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

@@ -75,13 +75,13 @@ 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

@@ -0,0 +1,7 @@
+{
+  "type" : "IK_POSE",
+  "ik_pos_limit": 0.02,
+  "ik_ori_limit": 0.05,
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

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

@@ -0,0 +1,15 @@
+{
+  "type": "JOINT_POSITION",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.05,
+  "output_min": -0.05,
+  "kp": 50,
+  "damping_ratio": 1,
+  "impedance_mode": "fixed",
+  "kp_limits": [0, 300],
+  "damping_ratio_limits": [0, 10],
+  "qpos_limits": null,
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

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

@@ -0,0 +1,10 @@
+{
+  "type": "JOINT_TORQUE",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.1,
+  "output_min": -0.1,
+  "torque_limits": null,
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

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

@@ -0,0 +1,11 @@
+{
+  "type" : "JOINT_VELOCITY",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.5,
+  "output_min": -0.5,
+  "kp": 3.0,
+  "velocity_limits": [-1,1],
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

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

@@ -0,0 +1,18 @@
+{
+  "type": "OSC_POSE",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": [0.05, 0.05, 0.05, 0.5, 0.5, 0.5],
+  "output_min": [-0.05, -0.05, -0.05, -0.5, -0.5, -0.5],
+  "kp": 150,
+  "damping_ratio": 1,
+  "impedance_mode": "fixed",
+  "kp_limits": [0, 300],
+  "damping_ratio_limits": [0, 10],
+  "position_limits": null,
+  "orientation_limits": null,
+  "uncouple_pos_ori": true,
+  "control_delta": true,
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

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

@@ -0,0 +1,16 @@
+{
+  "type": "OSC_POSITION",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": [0.05, 0.05, 0.05],
+  "output_min": [-0.05, -0.05, -0.05],
+  "kp": 150,
+  "damping_ratio": 1,
+  "impedance_mode": "fixed",
+  "kp_limits": [0, 300],
+  "damping_ratio_limits": [0, 10],
+  "position_limits": null,
+  "control_delta": true,
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/default_baxter.json

@@ -0,0 +1,11 @@
+{
+  "type": "JOINT_VELOCITY",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.5,
+  "output_min": -0.5,
+  "kp": 0.03,
+  "velocity_limits": [-1, 1],
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/default_iiwa.json

@@ -0,0 +1,11 @@
+{
+  "type" : "JOINT_VELOCITY",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.5,
+  "output_min": -0.5,
+  "kp": 0.03,
+  "velocity_limits": [-1,1],
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/default_jaco (copy).json

@@ -0,0 +1,11 @@
+{
+  "type" : "JOINT_VELOCITY",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.5,
+  "output_min": -0.5,
+  "kp": 0.03,
+  "velocity_limits": [-1,1],
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/default_jaco.json

@@ -0,0 +1,11 @@
+{
+  "type" : "JOINT_VELOCITY",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.5,
+  "output_min": -0.5,
+  "kp": 0.03,
+  "velocity_limits": [-1,1],
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/default_kinova3.json

@@ -0,0 +1,11 @@
+{
+  "type" : "JOINT_VELOCITY",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.5,
+  "output_min": -0.5,
+  "kp": 0.03,
+  "velocity_limits": [-1,1],
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/default_panda.json

@@ -0,0 +1,11 @@
+{
+  "type" : "JOINT_VELOCITY",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.5,
+  "output_min": -0.5,
+  "kp": 0.03,
+  "velocity_limits": [-1,1],
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/default_sawyer.json

@@ -0,0 +1,11 @@
+{
+  "type" : "JOINT_VELOCITY",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.5,
+  "output_min": -0.5,
+  "kp": 0.03,
+  "velocity_limits": [-1,1],
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/default_ur5e.json

@@ -0,0 +1,11 @@
+{
+  "type" : "JOINT_VELOCITY",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.5,
+  "output_min": -0.5,
+  "kp": 0.03,
+  "velocity_limits": [-1,1],
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/ik_pose.json

@@ -0,0 +1,7 @@
+{
+  "type" : "IK_POSE",
+  "ik_pos_limit": 0.02,
+  "ik_ori_limit": 0.05,
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/joint_position.json

@@ -0,0 +1,15 @@
+{
+  "type": "JOINT_POSITION",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.05,
+  "output_min": -0.05,
+  "kp": 50,
+  "damping_ratio": 1,
+  "impedance_mode": "fixed",
+  "kp_limits": [0, 300],
+  "damping_ratio_limits": [0, 10],
+  "qpos_limits": null,
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/joint_torque.json

@@ -0,0 +1,10 @@
+{
+  "type": "JOINT_TORQUE",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.1,
+  "output_min": -0.1,
+  "torque_limits": null,
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/joint_velocity.json

@@ -0,0 +1,11 @@
+{
+  "type" : "JOINT_VELOCITY",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": 0.5,
+  "output_min": -0.5,
+  "kp": 3.0,
+  "velocity_limits": [-1,1],
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/osc_pose.json

@@ -0,0 +1,18 @@
+{
+  "type": "OSC_POSE",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": [0.05, 0.05, 0.05, 0.5, 0.5, 0.5],
+  "output_min": [-0.05, -0.05, -0.05, -0.5, -0.5, -0.5],
+  "kp": 150,
+  "damping_ratio": 1,
+  "impedance_mode": "fixed",
+  "kp_limits": [0, 300],
+  "damping_ratio_limits": [0, 10],
+  "position_limits": null,
+  "orientation_limits": null,
+  "uncouple_pos_ori": true,
+  "control_delta": true,
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/config/parts/osc_position.json

@@ -0,0 +1,16 @@
+{
+  "type": "OSC_POSITION",
+  "input_max": 1,
+  "input_min": -1,
+  "output_max": [0.05, 0.05, 0.05],
+  "output_min": [-0.05, -0.05, -0.05],
+  "kp": 150,
+  "damping_ratio": 1,
+  "impedance_mode": "fixed",
+  "kp_limits": [0, 300],
+  "damping_ratio_limits": [0, 10],
+  "position_limits": null,
+  "control_delta": true,
+  "interpolation": null,
+  "ramp_ratio": 0.2
+}

robosuite/controllers/parts/controller_factory.py

@@ -52,7 +52,7 @@ def load_part_controller_config(custom_fpath=None, default_controller=None):
 
         # Store the default controller config fpath associated with the requested controller
         custom_fpath = os.path.join(
-            os.path.dirname(__file__), "..", "controllers/config/parts/{}.json".format(default_controller.lower())
+            os.path.dirname(__file__), "..", "config/default/parts/{}.json".format(default_controller.lower())
         )
 
     # Assert that the fpath to load the controller is not empty

robosuite/demos/demo_control.py

@@ -89,10 +89,22 @@
     joint_dim = 6 if options["robots"] == "UR5e" else (16 if options["robots"] == "GR1" else 7)
 
     # Choose controller
-    controller_name = choose_controller()
+    controller_name = choose_part_controller()
+    part_controller_config = suite.load_part_controller_config(default_controller=controller_name)
+    # explicitly set the gripper type
+    part_controller_config["gripper"] = dict(
+        type="GRIP",
+    )
 
     # Load the desired controller
-    options["controller_configs"] = suite.load_part_controller_config(default_controller=controller_name)
+    controller_config = dict(
+        type="BASIC",
+        body_parts_controller_configs=dict(
+            left=part_controller_config,  # refer to arm
+            right=part_controller_config,  # refer to arm
+        ),
+    )
+    options["controller_configs"] = controller_config
 
     # Define the pre-defined controller actions to use (action_dim, num_test_steps, test_value)
     controller_settings = {

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()