12 lines
589 B
Python
12 lines
589 B
Python
"""Local correction for dex 0.5.0 PositionOptimizer's inconsistent loss/gradient."""
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import numpy as np
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from dex_retargeting.optimizer import PositionOptimizer
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class ConsistentPositionOptimizer(PositionOptimizer):
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def get_objective_function(self,target_pos,fixed_qpos,last_qpos):
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original=super().get_objective_function(target_pos,fixed_qpos,last_qpos)
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def objective(x,grad):
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# Upstream already includes this term's gradient, but omits its value.
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return original(x,grad)+self.norm_delta*float(np.sum((x-last_qpos)**2))
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return objective
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