exteneded paramters list for warp dphys

ctu-vras · Jun 14, 2024 · d6b7d0e · d6b7d0e
1 parent 78ae708
commit d6b7d0e
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Showing 2 changed files with 13 additions and 6 deletions.
diff --git a/launch/dphysics.launch b/launch/dphysics.launch
@@ -15,8 +15,8 @@
             robot_clearance: 0.132
             hm_topic: $(arg hm_topic)
             hm_frame: $(arg hm_frame)
-            linear_vels: [0.5, 0.5, 0.5, -0.4]
-            angular_vels: [0.0, 0.3, -0.3, 0.0]
+            linear_vels: [0.5, 0.5, 0.5, -0.4, 0.0]
+            angular_vels: [0.0, 0.3, -0.3, 0.0, 0.2]
             total_sim_time: $(arg total_sim_time)
             max_age: $(arg max_age)
         </rosparam>
@@ -28,8 +28,10 @@
             hm_frame: $(arg hm_frame)
             max_age: $(arg max_age)
             total_sim_time: $(arg total_sim_time)
-            n_sim_trajs: 40
+            n_sim_trajs: 60
             allow_backward: true
+            linear_vel: 0.5
+            angular_vel_max: 0.6
             device: $(arg device)
         </rosparam>
     </node>

diff --git a/nodes/diff_physics_warp b/nodes/diff_physics_warp
@@ -101,9 +101,10 @@ class DiffPhysicsWarp:
             v_l = vels[i] - r * omegas[i]
             track_vels[i, :, 0], track_vels[i, :, 1] = v_r, v_l
 
-        # control input to rotate 180 degrees
-        track_vels[-1, :, 0] = -linear_vel
-        track_vels[-1, :, 1] = linear_vel
+        if not allow_backward:
+            # control input to rotate 180 degrees
+            track_vels[-1, :, 0] = -linear_vel
+            track_vels[-1, :, 1] = linear_vel
 
         return track_vels
 
@@ -254,6 +255,8 @@ def main():
     total_sim_time = rospy.get_param('~total_sim_time', 10.0)
     n_sim_trajs = rospy.get_param('~n_sim_trajs', 40)
     allow_backward = rospy.get_param('~allow_backward', True)
+    linear_vel = rospy.get_param('~linear_vel', 0.5)
+    angular_vel_max = rospy.get_param('~angular_vel_max', 0.5)
     device = rospy.get_param('~device', 'cuda' if torch.cuda.is_available() else 'cpu')
 
     node = DiffPhysicsWarp(robot=robot, robot_clearance=robot_clearance,
@@ -262,6 +265,8 @@ def main():
                            total_sim_time=total_sim_time,
                            n_sim_trajs=n_sim_trajs,
                            allow_backward=allow_backward,
+                           linear_vel=linear_vel,
+                           angular_vel_max=angular_vel_max,
                            device=device)
     node.spin()