From 0660e828de51de69d1ce0a08ef829c2a68ddf622 Mon Sep 17 00:00:00 2001 From: Abhiram824 Date: Wed, 20 Nov 2024 23:00:32 -0600 Subject: [PATCH] update part controller jsons --- robosuite/controllers/config/default/parts/osc_pose.json | 3 ++- robosuite/controllers/config/default/parts/osc_position.json | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/robosuite/controllers/config/default/parts/osc_pose.json b/robosuite/controllers/config/default/parts/osc_pose.json index 94098779b8..8cd29dfaec 100644 --- 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 index 0eb12b667f..42b314a792 100644 --- 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 }