Skip to content

[fix] fix using bugs of the "get_aligned_pose" and "_prepare_warpping" function #217

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
yuecideng merged 2 commits into from
Apr 6, 2026
+5 −3
Merged

[fix] fix using bugs of the "get_aligned_pose" and "_prepare_warpping" function #217

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
4997fe7
[fix] fix using bug of the get_aligned_pose function
wuxinxin27 Apr 5, 2026
875f4d9
Merge branch 'main' into fix_get_aligned_pose
yuecideng Apr 6, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion embodichain/lab/gym/envs/action_bank/configurable_action.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -694,7 +694,7 @@ def _prepare_warpping(self, env):
if hasattr(env, "affordance_datas"):
for affordance_name, affordance_value in env.affordance_datas.items():
# NOTE: take only first arena's affordance data
if affordance_value.ndim == 3:
if hasattr(affordance_value, "ndim") and affordance_value.ndim == 3:
affordance_value = affordance_value[0]
if isinstance(affordance_value, torch.Tensor):
affordance_value = np.asarray(affordance_value.cpu())
Expand Down
6 changes: 4 additions & 2 deletions embodichain/lab/gym/utils/misc.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -488,7 +488,7 @@ def get_aligned_pose(
rotation_axis_norm = np.linalg.norm(rotation_axis)
if rotation_axis_norm >= 1e-5:
rotation_axis = rotation_axis / rotation_axis_norm
rotation_angle = np.arccos(pose_to_change[:3, 2].dot(align_vector))
rotation_angle = np.arccos(pose_to_change[:3, pose_axis].dot(align_vector))
pose_to_change[:3, :3] = (
R.from_rotvec(rotation_axis * rotation_angle).as_matrix()
@ pose_to_change[:3, :3]
Expand Down Expand Up @@ -537,7 +537,9 @@ def get_changed_pose(
pose_to_change, pose_change_value, *change_partition[1:]
)
elif change_mode == "align":
get_aligned_pose(pose_to_change, pose_change_value, change_partition[1])
pose_to_change = get_aligned_pose(
pose_to_change, pose_change_value, change_partition[1]
)
else:
# TODO
log_error(f"The {change_mode} change mode haven't realized yet!")
Expand Down
Loading