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Fix Joint Velocity Bug #236

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merged 1 commit into from
Sep 22, 2021
Merged

Fix Joint Velocity Bug #236

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2 changes: 1 addition & 1 deletion robosuite/controllers/config/joint_velocity.json
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
"input_min": -1,
"output_max": 0.5,
"output_min": -0.5,
"kp": 0.03,
"kp": 3.0,
"velocity_limits": [-1,1],
"interpolation": null,
"ramp_ratio": 0.2
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5 changes: 1 addition & 4 deletions robosuite/controllers/joint_vel.py
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Original file line number Diff line number Diff line change
Expand Up @@ -168,11 +168,8 @@ def run_controller(self):
else:
self.current_vel = np.array(self.goal_vel)

# We clip the current joint velocity to be within a reasonable range for stability
joint_vel = np.clip(self.joint_vel, self.output_min, self.output_max)

# Compute necessary error terms for PID velocity controller
err = self.current_vel - joint_vel
err = self.current_vel - self.joint_vel
derr = err - self.last_err
self.last_err = err
self.derr_buf.push(derr)
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