updated experiments to reflect new organization

SudeepDasari · Dec 5, 2018 · 3fa8ec9 · 3fa8ec9
1 parent 3e7b02c
commit 3fa8ec9
Show file tree

Hide file tree

Showing 7 changed files with 9 additions and 8 deletions.
diff --git a/data_collection/sawyer/hard_object_data/hparams.py b/data_collection/sawyer/hard_object_data/hparams.py
@@ -3,7 +3,7 @@
 import os.path
 from visual_mpc.policy.random.gaussian import GaussianPolicy
 from visual_mpc.agent.general_agent import GeneralAgent
-from envs.sawyer_robot.autograsp_sawyer_env import AutograspSawyerEnv
+from visual_mpc.envs.sawyer_robot.autograsp_sawyer_env import AutograspSawyerEnv
 
 
 if 'VMPC_DATA_DIR' in os.environ:

diff --git a/data_collection/sawyer/towel_data/hparams.py b/data_collection/sawyer/towel_data/hparams.py
@@ -4,7 +4,7 @@
 import numpy as np
 from visual_mpc.policy.random.random_fold_policy import RandomFoldPolicy
 from visual_mpc.agent.general_agent import GeneralAgent
-from envs.sawyer_robot.autograsp_sawyer_env import AutograspSawyerEnv
+from visual_mpc.envs.sawyer_robot.autograsp_sawyer_env import AutograspSawyerEnv
 
 
 if 'VMPC_DATA_DIR' in os.environ:

diff --git a/data_collection/sim/grasp_reflex_lblocks/hparams.py b/data_collection/sim/grasp_reflex_lblocks/hparams.py
@@ -1,9 +1,8 @@
 """ Hyperparameters for Large Scale Data Collection (LSDC) """
 import os.path
-import numpy as np
 from visual_mpc.policy.random.gaussian import GaussianPolicy
 from visual_mpc.agent.general_agent import GeneralAgent
-from envs.mujoco_env.cartgripper_env.autograsp_env import AutograspCartgripperEnv
+from visual_mpc.envs.mujoco_env.cartgripper_env.autograsp_env import AutograspCartgripperEnv
 
 
 BASE_DIR = '/'.join(str.split(__file__, '/')[:-1])
@@ -15,6 +14,8 @@
     'object_mass': 0.5,
     'friction': 1.0,
     'finger_sensors': True,
+    'minlen': 0.03,
+    'maxlen': 0.08,
     'autograsp': {'zthresh': -0.06, 'touchthresh': 0.0, 'reopen': True}
 }
 
@@ -26,6 +27,7 @@
     'image_height' : 48,
     'image_width' : 64,
     'gen_xml': 400,   #generate xml every nth trajecotry
+    'make_final_gif': ''
 }
 
 policy = {

diff --git a/experiments/sawyer/mixed_objects/hparams_deformable_objects.py b/experiments/sawyer/mixed_objects/hparams_deformable_objects.py
@@ -1,7 +1,7 @@
 import numpy as np
 import os
 from visual_mpc.agent.benchmarking_agent import BenchmarkAgent
-from envs.sawyer_robot.autograsp_sawyer_env import AutograspSawyerEnv
+from visual_mpc.envs.sawyer_robot.autograsp_sawyer_env import AutograspSawyerEnv
 from visual_mpc.policy.cem_controllers.samplers.folding_sampler import FoldingSampler
 from visual_mpc.policy.cem_controllers.cem_controller_vidpred import CEM_Controller_Vidpred
 BASE_DIR = '/'.join(str.split(__file__, '/')[:-1])

diff --git a/experiments/sawyer/mixed_objects/hparams_hardobjects.py b/experiments/sawyer/mixed_objects/hparams_hardobjects.py
@@ -1,7 +1,7 @@
 import numpy as np
 import os
 from visual_mpc.agent.benchmarking_agent import BenchmarkAgent
-from envs.sawyer_robot.autograsp_sawyer_env import AutograspSawyerEnv
+from visual_mpc.envs.sawyer_robot.autograsp_sawyer_env import AutograspSawyerEnv
 from visual_mpc.policy.cem_controllers.samplers.folding_sampler import FoldingSampler
 from visual_mpc.policy.cem_controllers.cem_controller_vidpred import CEM_Controller_Vidpred
 

diff --git a/experiments/sawyer/registration_experiments/conf.py b/experiments/sawyer/registration_experiments/conf.py
@@ -1,4 +1,3 @@
-import os
 from visual_mpc.video_prediction.setup_predictor import setup_predictor
 from visual_mpc.video_prediction.vpred_model_interface import VPred_Model_Interface
 from video_prediction.models.indep_multi_savp_model import IndepMultiSAVPVideoPredictionModel

diff --git a/experiments/sawyer/registration_experiments/hparams.py b/experiments/sawyer/registration_experiments/hparams.py
@@ -1,6 +1,6 @@
 import os
 from visual_mpc.agent.benchmarking_agent import BenchmarkAgent
-from envs.sawyer_robot.autograsp_sawyer_env import AutograspSawyerEnv
+from visual_mpc.envs.sawyer_robot.autograsp_sawyer_env import AutograspSawyerEnv
 from visual_mpc.policy.cem_controllers.register_gtruth_controller import Register_Gtruth_Controller