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[fix] fix the toque unit in joint_pos controller #750

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[fix] fix the toque unit in joint_pos controller #750

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8 changes: 4 additions & 4 deletions robosuite/controllers/parts/generic/joint_pos.py
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Original file line number Diff line number Diff line change
Expand Up @@ -261,11 +261,11 @@ def run_controller(self):
vel_pos_error = -self.joint_vel
desired_torque = np.multiply(np.array(position_error), np.array(self.kp)) + np.multiply(vel_pos_error, self.kd)

# Return desired torques plus gravity compensations
# Return desired torques plus gravity compensation
# Note: the desired torques here is actually desired accelerations
self.torques = np.dot(self.mass_matrix, desired_torque)
if self.use_torque_compensation:
self.torques = np.dot(self.mass_matrix, desired_torque) + self.torque_compensation
else:
self.torques = desired_torque
self.torques += self.torque_compensation

# Always run superclass call for any cleanups at the end
super().run_controller()
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