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Feat/controller dependencies #990
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Original file line number | Diff line number | Diff line change |
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@@ -45,8 +45,6 @@ robots: | |
action_normalize: true | ||
action_type: continuous | ||
grasping_mode: physical | ||
rigid_trunk: false | ||
default_trunk_offset: 0.365 | ||
default_arm_pose: diagonal30 | ||
default_reset_mode: tuck | ||
sensor_config: | ||
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@@ -61,8 +59,11 @@ robots: | |
controller_config: | ||
base: | ||
name: DifferentialDriveController | ||
trunk: | ||
name: JointController | ||
arm_0: | ||
name: InverseKinematicsController | ||
dependencies: [trunk] | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Can we change this to |
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gripper_0: | ||
name: MultiFingerGripperController | ||
mode: binary | ||
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@@ -117,7 +117,7 @@ def opacity(self, opacity): | |
if self.has_material(): | ||
self.material.opacity_constant = opacity | ||
else: | ||
self.set_attribute("primvars:displayOpacity", th.tensor([opacity])) | ||
self.set_attribute("primvars:displayOpacity", np.array([opacity])) | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. There is no |
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@property | ||
def points(self): | ||
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I think we shouldn't need this right? Can we remove it? From all of these files?