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fix delta control for mink control #551

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snasiriany opened this issue Nov 6, 2024 · 1 comment
Open

fix delta control for mink control #551

snasiriany opened this issue Nov 6, 2024 · 1 comment

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@snasiriany
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Steps to reproduce:

  1. Go to controllers/config/robots/default_gr1_fixed_lower_body.json and set ik_input_type=delta and ik_input_ref_frame to either world or base.
  2. Then run
mjpython robosuite/scripts/collect_human_demonstrations.py --environment Lift --robots GR1FixedLowerBody --device spacemouse --camera frontview

The behavior is broken. It works fine with absolute control. Needs to be fixed.
@kevin-thankyou-lin
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Original PR for absolute control: https://github.com/ARISE-Initiative/robosuite-dev/pull/124#discussion_r1813202426

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@snasiriany @kevin-thankyou-lin