diff --git a/judo/controller/__init__.py b/judo/controller/__init__.py index 82c841d3..acd83ce8 100644 --- a/judo/controller/__init__.py +++ b/judo/controller/__init__.py @@ -6,6 +6,7 @@ set_default_caltech_leap_cube_overrides, set_default_cartpole_overrides, set_default_cylinder_push_overrides, + set_default_fr3_bimanual_pick_overrides, set_default_fr3_pick_overrides, set_default_leap_cube_down_overrides, set_default_leap_cube_overrides, @@ -21,6 +22,7 @@ set_default_caltech_leap_cube_overrides() set_default_cartpole_overrides() set_default_cylinder_push_overrides() +set_default_fr3_bimanual_pick_overrides() set_default_fr3_pick_overrides() set_default_leap_cube_overrides() set_default_leap_cube_down_overrides() diff --git a/judo/controller/controller.py b/judo/controller/controller.py index f261baf7..a35d3cc8 100644 --- a/judo/controller/controller.py +++ b/judo/controller/controller.py @@ -28,9 +28,9 @@ class ControllerConfig(OverridableConfig): """Base controller config.""" - horizon: float = 1.0 + horizon: float = 0.3 spline_order: Literal["zero", "linear", "cubic"] = "linear" - control_freq: float = 20.0 + control_freq: float = 5.0 max_opt_iters: int = 1 max_num_traces: int = 5 action_normalizer: Literal["none", "min_max", "running"] = "none" diff --git a/judo/controller/overrides.py b/judo/controller/overrides.py index aa2a14bf..6380ae58 100644 --- a/judo/controller/overrides.py +++ b/judo/controller/overrides.py @@ -79,3 +79,17 @@ def set_default_fr3_pick_overrides() -> None: "control_freq": 20.0, }, ) + + +def set_default_fr3_bimanual_pick_overrides() -> None: + """Sets the default task-specific controller config overrides for the fr3 pick task.""" + set_config_overrides( + "fr3_bimanual_pick", + ControllerConfig, + { + "horizon": 1.3, + "spline_order": "linear", + "max_num_traces": 3, + "control_freq": 40.0, + }, + ) diff --git a/judo/models/xml/fr3_bimanual_pick.xml b/judo/models/xml/fr3_bimanual_pick.xml new file mode 100644 index 00000000..4edb931c --- /dev/null +++ b/judo/models/xml/fr3_bimanual_pick.xml @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/judo/models/xml/fr3_components/fr3.xml b/judo/models/xml/fr3_components/fr3.xml index d8ae83de..8b0634d9 100644 --- a/judo/models/xml/fr3_components/fr3.xml +++ b/judo/models/xml/fr3_components/fr3.xml @@ -79,7 +79,7 @@ - + diff --git a/judo/models/xml/fr3_components/fr3_bis.xml b/judo/models/xml/fr3_components/fr3_bis.xml new file mode 100644 index 00000000..af63a573 --- /dev/null +++ b/judo/models/xml/fr3_components/fr3_bis.xml @@ -0,0 +1,116 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/judo/models/xml/fr3_components/params_and_default.xml b/judo/models/xml/fr3_components/params_and_default.xml index 494af3a9..8d9c4551 100644 --- a/judo/models/xml/fr3_components/params_and_default.xml +++ b/judo/models/xml/fr3_components/params_and_default.xml @@ -1,6 +1,6 @@ -