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Merge remote-tracking branch 'origin/feat/controller-dependencies' into feat/controller-dependencies

This commit is contained in:
cremebrule 2024-10-31 15:31:43 -07:00
parent 35f4999dba e7c13c8681
commit 4a5b59bdc4
2 changed files with 5 additions and 4 deletions
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7
omnigibson/objects/controllable_object.py
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@ -310,9 +310,10 @@ class ControllableObject(BaseObject):
# joint positions / velocities are set # joint positions / velocities are set
for unused_dof in unused_dofs: for unused_dof in unused_dofs:
unused_joint = self._joints[self.dof_names_ordered[unused_dof]] unused_joint = self._joints[self.dof_names_ordered[unused_dof]]
assert not unused_joint.driven, \ assert not unused_joint.driven, (
(f"All unused joints not mapped to any controller should not have DriveAPI attached to it! " f"All unused joints not mapped to any controller should not have DriveAPI attached to it! "
f"However, joint {unused_joint.name} is driven!") f"However, joint {unused_joint.name} is driven!"
)
unused_joint.set_control_type( unused_joint.set_control_type(
control_type=ControlType.NONE, control_type=ControlType.NONE,
kp=None, kp=None,

2
omnigibson/robots/r1.py
View File

@ -195,7 +195,7 @@ class R1(HolonomicBaseRobot, ArticulatedTrunkRobot, MobileManipulationRobot):
@property @property
def base_link_names(self): def base_link_names(self):
return ["base_link"] #, "wheel_link1", "wheel_link2", "wheel_link3"] return ["base_link"] # , "wheel_link1", "wheel_link2", "wheel_link3"]
@property @property
def trunk_link_names(self): def trunk_link_names(self):