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haosulab · Jan 24, 2024 · c80b3d1 · c80b3d1
1 parent fba9ee8
commit c80b3d1
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/mani_skill2/agents/controllers/pd_base_vel.py b/mani_skill2/agents/controllers/pd_base_vel.py
@@ -30,5 +30,7 @@ def set_action(self, action: Array):
         vel = (rot_mat @ action[:, :2].unsqueeze(-1)).squeeze(-1)
         new_action = torch.hstack([vel, action[:, 2:]])
         self.articulation.set_joint_drive_velocity_targets(new_action, self.joints)
+
+
 class PDBaseVelControllerConfig(PDJointVelControllerConfig):
     controller_cls = PDBaseVelController
diff --git a/mani_skill2/agents/robots/fetch/fetch.py b/mani_skill2/agents/robots/fetch/fetch.py
@@ -134,7 +134,7 @@ def controller_configs(self):
             self.arm_damping,
             self.arm_force_limit,
             ee_link=self.ee_link_name,
-            urdf_path=self.urdf_path
+            urdf_path=self.urdf_path,
         )
         arm_pd_ee_delta_pose = PDEEPoseControllerConfig(
             self.arm_joint_names,
@@ -145,7 +145,7 @@ def controller_configs(self):
             self.arm_damping,
             self.arm_force_limit,
             ee_link=self.ee_link_name,
-            urdf_path=self.urdf_path
+            urdf_path=self.urdf_path,
         )
 
         arm_pd_ee_target_delta_pos = deepcopy(arm_pd_ee_delta_pos)