Merge pull request #572 from Abhiram824/part_controller_json_update

Update OSC part controller json files to use `input_type` and `input_ref_frame` instead of `control_delta`
ARISE-Initiative · Nov 21, 2024 · 18a11eb · 18a11eb
2 parents 4f7e03f + 0660e82
commit 18a11eb
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/robosuite/controllers/config/default/parts/osc_pose.json b/robosuite/controllers/config/default/parts/osc_pose.json
@@ -12,7 +12,8 @@
     "position_limits": null,
     "orientation_limits": null,
     "uncouple_pos_ori": true,
-    "control_delta": true,
+    "input_type": "delta",
+    "input_ref_frame": "base",
     "interpolation": null,
     "ramp_ratio": 0.2
   }
diff --git a/robosuite/controllers/config/default/parts/osc_position.json b/robosuite/controllers/config/default/parts/osc_position.json
@@ -10,7 +10,8 @@
     "kp_limits": [0, 300],
     "damping_ratio_limits": [0, 10],
     "position_limits": null,
-    "control_delta": true,
+    "input_type": "delta",
+    "input_ref_frame": "base",
     "interpolation": null,
     "ramp_ratio": 0.2
   }