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Fix: Correct array concatenation in qpos assignment in ik_utils.py #31

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Fix: Correct array concatenation in qpos assignment in ik_utils.py #31

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14 changes: 7 additions & 7 deletions deoxys/deoxys/utils/ik_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ def ik_trajectory_from_T_seq(self, T_seq, start_joint_positions, verbose=True):
assert(len(start_joint_positions) == 7), "start_joint_positions should be a list of 7 elements"
predicted_joints_seq = [np.array(start_joint_positions)]

self.data.qpos[:] = start_joint_positions + [0.04] * 2
self.data.qpos[:] = np.concatenate((start_joint_positions, [0.04] * 2))
gripper_site_id = self.model.site("grip_site").id
jac = np.zeros((6, self.model.nv))

Expand Down Expand Up @@ -68,7 +68,7 @@ def ik_trajectory_delta_position(self, delta_pos, start_joint_positions, num_poi
assert(len(start_joint_positions) == 7), "start_joint_positions should be a list of 7 elements"
predicted_joints_seq = [np.array(start_joint_positions)]

self.data.qpos[:] = start_joint_positions + [0.04] * 2
self.data.qpos[:] = np.concatenate((start_joint_positions, [0.04] * 2))
gripper_site_id = self.model.site("grip_site").id
jac = np.zeros((6, self.model.nv))

Expand All @@ -84,7 +84,7 @@ def ik_trajectory_to_target_position(self, target_pos, start_joint_positions, nu
assert(len(start_joint_positions) == 7), "start_joint_positions should be a list of 7 elements"
predicted_joints_seq = [np.array(start_joint_positions)]

self.data.qpos[:] = start_joint_positions + [0.04] * 2
self.data.qpos[:] = np.concatenate((start_joint_positions, [0.04] * 2))
gripper_site_id = self.model.site("grip_site").id
jac = np.zeros((6, self.model.nv))

Expand Down Expand Up @@ -124,7 +124,7 @@ def simulate_joint_sequence(self, joint_sequence, loop=False, fps=30, render=Tru
mujoco.mjv_defaultFreeCamera(self.model, viewer.cam)
while viewer.is_running():
for joint_conf in joint_sequence:
self.data.qpos[:] = joint_conf.tolist() + [0.04] * 2
self.data.qpos[:] = np.concatenate((joint_conf, [0.04] * 2))
mujoco.mj_step(self.model, self.data, 1)
viewer.sync()
time.sleep(1/fps)
Expand All @@ -139,7 +139,7 @@ def simulate_joint_sequence(self, joint_sequence, loop=False, fps=30, render=Tru
break
else:
for joint_conf in joint_sequence:
self.data.qpos[:] = joint_conf.tolist() + [0.04] * 2
self.data.qpos[:] = np.concatenate((joint_conf, [0.04] * 2))
mujoco.mj_step(self.model, self.data, 1)
gripper_site_id = self.model.site("grip_site").id
# mujoco.mj_fwdPosition(model, data)
Expand All @@ -166,7 +166,7 @@ def inverse_kinematics(self, model, data, target_mat, target_pos, reset_joint_po
site_xquat = np.empty(4, dtype=dtype)
neg_site_xquat = np.empty(4, dtype=dtype)
error_rot_quat = np.empty(4, dtype=dtype)
data.qpos[:] = reset_joint_positions + [0.04] * 2
data.qpos[:] = np.concatenate((reset_joint_positions ,[0.04] * 2))

mujoco.mj_fwdPosition(model, data)
gripper_site_id = model.site("grip_site").id
Expand Down Expand Up @@ -245,4 +245,4 @@ def interpolate_dense_traj(self, joint_seq, minimal_displacement=0.005):
new_joint_seq.append(new_joint)
new_joint_seq.append(joint_seq[-1])
print("increased joint sequence from {} to {}".format(len(joint_seq), len(new_joint_seq)))
return new_joint_seq
return new_joint_seq