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ARISE-Initiative / robosuite

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
https://robosuite.ai
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fix delta control for mink control #551

Open snasiriany opened 2 weeks ago

snasiriany commented 2 weeks ago

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 commented 2 weeks ago

Original PR for absolute control: https://github.com/ARISE-Initiative/robosuite-dev/pull/124#discussion_r1813202426