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Make following arm targets in empty_action optional #963

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merged 2 commits into from
Oct 18, 2024
Merged

Make following arm targets in empty_action optional #963

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5b6ac5a
Make following arm targets in empty_action optional
cgokmen Oct 10, 2024
99c575e
Merge branch 'og-develop' into empty-action
cgokmen Oct 18, 2024
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7 changes: 5 additions & 2 deletions omnigibson/action_primitives/starter_semantic_action_primitives.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1450,17 +1450,20 @@ def _get_head_goal_q(self, target_obj_pose):

return [head1_joint_goal, head2_joint_goal]

def _empty_action(self):
def _empty_action(self, follow_arm_targets=True):
"""
Generate a no-op action that will keep the robot still but aim to move the arms to the saved pose targets, if possible

Args:
follow_arm_targets (bool): Whether to move the arms to the saved pose targets or keep them still.

Returns:
th.tensor or None: Action array for one step for the robot to do nothing
"""
action = th.zeros(self.robot.action_dim)
for name, controller in self.robot._controllers.items():
# if desired arm targets are available, generate an action that moves the arms to the saved pose targets
if name in self._arm_targets:
if follow_arm_targets and name in self._arm_targets:
if isinstance(controller, InverseKinematicsController):
arm = name.replace("arm_", "")
target_pos, target_orn_axisangle = self._arm_targets[name]
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