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Fixed default control for orientation in OSC #232

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merged 1 commit into from
Jun 29, 2021
Merged

Fixed default control for orientation in OSC #232

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4 changes: 2 additions & 2 deletions robosuite/controllers/osc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -234,7 +234,7 @@ def set_goal(self, action, set_pos=None, set_ori=None):
scaled_delta = self.scale_action(delta)
if not self.use_ori and set_ori is None:
# Set default control for ori since user isn't actively controlling ori
set_ori = np.array([[0, -1., 0.], [-1., 0., 0.], [0., 0., 1.]])
set_ori = np.array([[0., 1., 0.], [1., 0., 0.], [0., 0., -1.]])
else:
scaled_delta = []
# Else, interpret actions as absolute values
Expand All @@ -244,7 +244,7 @@ def set_goal(self, action, set_pos=None, set_ori=None):
# Set default control for ori if we're only using position control
if set_ori is None:
set_ori = T.quat2mat(T.axisangle2quat(delta[3:6])) if self.use_ori else \
np.array([[0, -1., 0.], [-1., 0., 0.], [0., 0., 1.]])
np.array([[0., 1., 0.], [1., 0., 0.], [0., 0., -1.]])
# No scaling of values since these are absolute values
scaled_delta = delta

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