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real-stanford / umi-on-legs

UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
https://umi-on-legs.github.io/
MIT License
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Some constraints not enabled due to type bug. #1

Closed EGalahad closed 3 months ago

EGalahad commented 3 months ago

image

As shown in the sceenshot, the constraints specifies more entries than the ones accepted by self.constraint, this likely is caused by the type of some constraint.values() is not a class, but a dict of arguments.

I wonder if this is these constraints are missed out intentionally or is this a bug?

huy-ha commented 3 months ago

Yep, this is intentional. Since the Hydra config system automatically instantiate dictionaries with a _target_ field into an object of that type, this partial function type filtering removes all of the constraints that were disabled by removing the _target_ field.

EGalahad commented 3 months ago

I see, cool!