[fix] fix whole_body_ik config and add a default whole_body_mink_ik config - Githubissues

ARISE-Initiative / robosuite

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

https://robosuite.ai

Other

1.37k stars 429 forks source link

[fix] fix whole_body_ik config and add a default whole_body_mink_ik config #550

Closed Dingry closed 2 weeks ago

Dingry commented 2 weeks ago

What this does

Fix whole_body_ik config bug. Add a default whole_body_mink_ik config so that other robots can also use this control mode.

Title	Label
Fixes #549	(🐛 Bug)

How it was tested

Set input_type=absolute for part controllers in whole_body_ik config
Copied a GR1 mink IK control config as the default whole_body_mink_ik config. A validation function was added for the mink controller to check the keys in the config.

How to checkout & try? (for the reviewer)

python robosuite/scripts/collect_human_demonstrations.py --environment Lift --camera frontview --robots Panda --controller WHOLE_BODY_IK

python robosuite/scripts/collect_human_demonstrations.py --environment Lift --camera frontview --robots Panda --controller WHOLE_BODY_MINK_IK