update null joint controller default args in robot classes

StanfordVL · Dec 19, 2024 · 1c67bba · 1c67bba
1 parent 8faa0a9
commit 1c67bba
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Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/omnigibson/robots/active_camera_robot.py b/omnigibson/robots/active_camera_robot.py
@@ -96,7 +96,7 @@ def _default_camera_null_joint_controller_config(self):
             "motor_type": "position",
             "control_limits": self.control_limits,
             "dof_idx": self.camera_control_idx,
-            "default_command": self.reset_joint_pos[self.camera_control_idx],
+            "default_goal": self.reset_joint_pos[self.camera_control_idx],
             "use_impedances": False,
         }
 

diff --git a/omnigibson/robots/articulated_trunk_robot.py b/omnigibson/robots/articulated_trunk_robot.py
@@ -143,7 +143,7 @@ def _default_trunk_null_joint_controller_config(self):
             "motor_type": "position",
             "control_limits": self.control_limits,
             "dof_idx": self.trunk_control_idx,
-            "default_command": self.reset_joint_pos[self.trunk_control_idx],
+            "default_goal": self.reset_joint_pos[self.trunk_control_idx],
             "use_impedances": False,
         }
 

diff --git a/omnigibson/robots/locomotion_robot.py b/omnigibson/robots/locomotion_robot.py
@@ -100,7 +100,7 @@ def _default_base_null_joint_controller_config(self):
             "motor_type": "velocity",
             "control_limits": self.control_limits,
             "dof_idx": self.base_control_idx,
-            "default_command": th.zeros(len(self.base_control_idx)),
+            "default_goal": th.zeros(len(self.base_control_idx)),
             "use_impedances": False,
         }
 

diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py
@@ -1090,7 +1090,7 @@ def _default_arm_null_joint_controller_configs(self):
                 "motor_type": "position",
                 "control_limits": self.control_limits,
                 "dof_idx": self.arm_control_idx[arm],
-                "default_command": self.reset_joint_pos[self.arm_control_idx[arm]],
+                "default_goal": self.reset_joint_pos[self.arm_control_idx[arm]],
                 "use_impedances": False,
             }
         return dic
@@ -1153,7 +1153,7 @@ def _default_gripper_null_controller_configs(self):
                 "motor_type": "velocity",
                 "control_limits": self.control_limits,
                 "dof_idx": self.gripper_control_idx[arm],
-                "default_command": th.zeros(len(self.gripper_control_idx[arm])),
+                "default_goal": th.zeros(len(self.gripper_control_idx[arm])),
                 "use_impedances": False,
             }
         return dic