fix object control so that zero efforts are applied for non-driven jo… #269
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ChengshuLi
approved these changes
Oct 20, 2023
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@cremebrule So sorry for the belated reply. Left some minor comments/questions. Feel free to merge.
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| # Set zero efforts | ||
| joint.set_effort(0, normalized=False) |
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Could you remind me when ctrl_type will be NONE again?
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| # If not driven, set torque equal to zero as well | ||
| if not self.driven: | ||
| self.set_effort(np.zeros(self.n_dof)) |
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why not always set torque to 0?
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looping in @cgokmen . You mentioned we actually shouldn't set efforts directly now?
| @@ -124,7 +124,7 @@ def get_camera_params(viewport): | |||
| view_proj_mat = helpers.get_view_proj_mat(view_params) | |||
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| return { | |||
| "pose": np.array(prim_tf), | |||
| "pose": np.array(prim_tf).T, | |||
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I think empirically I just observed that the prim_tf is a transposed homogeneous matrix wrt to what we normally expect I think
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