diff --git a/roboimi/assets/models/manipulators/DianaMed/BiDianaMed_rethink.xml b/roboimi/assets/models/manipulators/DianaMed/BiDianaMed_rethink.xml index 1668bc8..7b5e55a 100644 --- a/roboimi/assets/models/manipulators/DianaMed/BiDianaMed_rethink.xml +++ b/roboimi/assets/models/manipulators/DianaMed/BiDianaMed_rethink.xml @@ -76,7 +76,7 @@ - + diff --git a/roboimi/demos/diana_air_insert_policy.py b/roboimi/demos/diana_air_insert_policy.py index 9d72f46..f8ffaa4 100644 --- a/roboimi/demos/diana_air_insert_policy.py +++ b/roboimi/demos/diana_air_insert_policy.py @@ -13,8 +13,8 @@ class TestAirInsertPolicy(PolicyBase): SOCKET_HOLD_Z = 0.85 PEG_INSERT_START_OFFSET = np.array([0.105, 0.0, 0.0], dtype=np.float64) INSERT_START_T = 650 - INSERT_END_T = 700 - LEFT_SOCKET_GRIPPER_CLOSED = -70 + INSERT_END_T = 730 + LEFT_SOCKET_GRIPPER_CLOSED = -100 RIGHT_PEG_GRIPPER_CLOSED = -100 SOCKET_APPROACH_Z = 1.05 EPISODE_END_T = 1000 diff --git a/roboimi/demos/diana_record_sim_episodes.py b/roboimi/demos/diana_record_sim_episodes.py index c712031..1b0dad3 100644 --- a/roboimi/demos/diana_record_sim_episodes.py +++ b/roboimi/demos/diana_record_sim_episodes.py @@ -39,7 +39,7 @@ def main(task_name='sim_transfer'): inject_noise = False episode_len = task_cfg['episode_len'] - camera_names = ['left_side', 'r_vis', 'top', 'front'] + camera_names = task_cfg['camera_names'] image_size = (256, 256) if task_name in {'sim_transfer', 'sim_air_insert_socket_peg'}: print(task_name) diff --git a/roboimi/utils/act_ex_utils.py b/roboimi/utils/act_ex_utils.py index 5ca0ba3..47fa832 100644 --- a/roboimi/utils/act_ex_utils.py +++ b/roboimi/utils/act_ex_utils.py @@ -41,12 +41,12 @@ def sample_transfer_pose(): def sample_air_insert_socket_peg_state(): socket_position = np.random.uniform( - low=np.array([-0.14, 0.89, 0.472], dtype=np.float32), - high=np.array([-0.10, 0.94, 0.472], dtype=np.float32), + low=np.array([-0.20, 0.80, 0.472], dtype=np.float32), + high=np.array([-0.10, 1.00, 0.472], dtype=np.float32), ) peg_position = np.random.uniform( - low=np.array([0.10, 0.85, 0.46], dtype=np.float32), - high=np.array([0.16, 0.94, 0.46], dtype=np.float32), + low=np.array([0.10, 0.80, 0.46], dtype=np.float32), + high=np.array([0.20, 1.00, 0.46], dtype=np.float32), ) socket_quat = np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float32) peg_quat = np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float32) diff --git a/roboimi/utils/constants.py b/roboimi/utils/constants.py index 0096f94..e6d6d2c 100644 --- a/roboimi/utils/constants.py +++ b/roboimi/utils/constants.py @@ -26,8 +26,8 @@ SIM_TASK_CONFIGS = { 'sim_air_insert_socket_peg': { 'dataset_dir': DATASET_DIR + '/sim_air_insert_socket_peg', 'num_episodes': 20, - 'episode_len': 1000, - 'camera_names': ['top', 'r_vis', 'front'], + 'episode_len': 750, + 'camera_names': ['l_vis', 'r_vis', 'front'], 'xml_dir': HOME_PATH + '/assets' }, diff --git a/tests/test_air_insert_env.py b/tests/test_air_insert_env.py index 5ff33a7..c0f3b28 100644 --- a/tests/test_air_insert_env.py +++ b/tests/test_air_insert_env.py @@ -19,7 +19,8 @@ class AirInsertTaskRegistrationTest(unittest.TestCase): def test_sim_task_configs_registers_air_insert_socket_peg(self): self.assertIn(TASK_NAME, SIM_TASK_CONFIGS) self.assertNotIn("sim_air_insert_ring_bar", SIM_TASK_CONFIGS) - self.assertGreaterEqual(SIM_TASK_CONFIGS[TASK_NAME]["episode_len"], 1000) + self.assertEqual(SIM_TASK_CONFIGS[TASK_NAME]["episode_len"], 750) + self.assertEqual(SIM_TASK_CONFIGS[TASK_NAME]["camera_names"], ["l_vis", "r_vis", "front"]) self.assertTrue(SIM_TASK_CONFIGS[TASK_NAME]["dataset_dir"].endswith("/sim_air_insert_socket_peg")) def test_sample_air_insert_socket_peg_state_returns_explicit_named_mapping(self):