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[Fix] Fix trajectory conversion to ee-based controllers #23

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merged 1 commit into from
Sep 5, 2022
Merged

[Fix] Fix trajectory conversion to ee-based controllers #23

merged 1 commit into from
Sep 5, 2022

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Jiayuan-Gu
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I've tested with two environments: PlugCharger-v0 and TurnFaucet-v0

PlugCharger-v0

python tools/replay_trajectory.py --traj-path demos/rigid_body_envs/PlugCharger-v0.h5 -c pd_ee_delta_pose --vis --verbose

The original success rate is low with ee-based controllers. Now it almost works 100%.

PlugCharger-v0

python tools/replay_trajectory.py --traj-path demos/rigid_body_envs/TurnFaucet-v0/5001.h5 -c  pd_ee_target_delta_pose --vis --verbose

The success rate improves for both motion planning trajectories (5001, 5002) and MPC ones (5000).

@Jiayuan-Gu Jiayuan-Gu linked an issue Sep 4, 2022 that may be closed by this pull request
Converting demonstration to ee does not work #20
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tongzhoumu
tongzhoumu approved these changes Sep 5, 2022
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Should work on Panda, but needs to re-consider if using mobile agents.

@Jiayuan-Gu
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Should work on Panda, but needs to re-consider if using mobile agents.

I agree with it. It is also what I have considered. I find all needs to be re-designed when mobile agents are introduced.

@Jiayuan-Gu Jiayuan-Gu merged commit 98ee462 into main Sep 5, 2022
@Jiayuan-Gu Jiayuan-Gu deleted the fix-convert-control-mode branch September 6, 2022 02:29
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@tongzhoumu tongzhoumu tongzhoumu approved these changes

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Converting demonstration to ee does not work
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@Jiayuan-Gu @tongzhoumu