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fix act_id indexing #167

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fix act_id indexing #167

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14 changes: 4 additions & 10 deletions robohive/robot/robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -555,13 +555,12 @@ def remap_space(self, input_vec, input_type:str, input_space:str, output_space:s


# Normalize actions from absolute space to unit space
def normalize_actions(self, controls, out_space='sim', unnormalize=False):
def normalize_actions(self, controls, unnormalize=False):
"""
Normalize actions from absolute space to unit space
Recover actions from unit space to absolute space; if unnormalize==True
in_space for controls has to be 'sim'
"""
act_id = -1
controls_out = controls.copy()
for name, device in self.robot_config.items():
if name == "default_robot":
Expand All @@ -573,10 +572,8 @@ def normalize_actions(self, controls, out_space='sim', unnormalize=False):
raise TypeError("only pos act supported")
else:
for actuator in device['actuator']:
act_id += 1
in_id = actuator['sim_id']
# output ordering is as per the config order for hdr
out_id = actuator['sim_id'] if out_space == 'sim' else act_id
out_id = actuator['sim_id']

if self._act_mode == "pos":
act_mid = (actuator['pos_range'][1]+actuator['pos_range'][0])/2.0
Expand Down Expand Up @@ -606,15 +603,14 @@ def process_actuator(self, controls, step_duration,
normalized=True,
position_limits=True,
velocity_limits=True,
out_space='sim'):
out_space='sim'): # out_space kept for API compatibility; output is always sim_id-indexed
"""
Process the actuation demands to
(1) Remap provided controls to actuation space,
(2) Enforces hardware position and velocity limits on the controls
"""
# last_obs = self.get_sensor_from_cache(-1)
processed_controls = controls.copy()
act_id = -1
for name, device in self.robot_config.items():
if name == "default_robot":
if self._act_mode == "pos":
Expand All @@ -625,10 +621,8 @@ def process_actuator(self, controls, step_duration,
raise TypeError("only pos act supported")
else:
for actuator in device['actuator']:
act_id += 1
in_id = actuator['sim_id']
# output ordering is as per the config order for hdr
out_id = actuator['sim_id'] if out_space == 'sim' else act_id
out_id = actuator['sim_id']

control = controls[in_id]
if self._act_mode == "pos":
Expand Down
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