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OmniGibson
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[pre-commit.ci] auto fixes from pre-commit.com hooks 

for more information, see https://pre-commit.ci
This commit is contained in:
pre-commit-ci[bot] 2024-10-04 04:01:44 +00:00
parent aee049d9b7
commit af4f4a5a54
1 changed files with 4 additions and 2 deletions
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6
omnigibson/action_primitives/starter_semantic_action_primitives.py
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@ -1468,13 +1468,15 @@ class StarterSemanticActionPrimitives(BaseActionPrimitiveSet):
(self.robot.get_eef_position(arm), self.robot.get_eef_orientation(arm))
)
delta_pos = target_pos - current_pos
delta_orn = orientation_error(T.quat2mat(T.axisangle2quat(target_orn_axisangle)), T.quat2mat(current_orn))
delta_orn = orientation_error(
T.quat2mat(T.axisangle2quat(target_orn_axisangle)), T.quat2mat(current_orn)
)
if controller.mode == "pose_delta_ori":
partial_action = th.cat((delta_pos, delta_orn))
elif controller.mode in "pose_absolute_ori":
partial_action = th.cat((delta_pos, target_orn_axisangle))
elif controller.mode == "absolute_pose":
partial_action = th.cat((target_pos, target_orn_axisangle))
partial_action = th.cat((target_pos, target_orn_axisangle))
else:
raise ValueError("Unexpected IK control mode")
else: